CN111993400A - Flexible mechanical arm with tail end force feedback - Google Patents
Flexible mechanical arm with tail end force feedback Download PDFInfo
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- CN111993400A CN111993400A CN202010804221.XA CN202010804221A CN111993400A CN 111993400 A CN111993400 A CN 111993400A CN 202010804221 A CN202010804221 A CN 202010804221A CN 111993400 A CN111993400 A CN 111993400A
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- force feedback
- gimbal
- sensor
- universal joint
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention relates to a flexible mechanical arm with tail end force feedback, which comprises a rope driving box; a knuckle arm segment having a plurality of modular joints, a fixed end of the knuckle arm segment being connected to the cable drive box; and the terminal assembly is arranged at the free terminal of the articulated arm segment and comprises a force feedback sensor and a sensor mounting block for fixing the bottom of the force feedback sensor. The invention provides an improved flexible mechanical arm with a tail end force feedback structure, so that the tail end of a joint arm section can complete a certain task, a tail end force feedback sensor arranged at the tail end of the joint arm section can complete the acquisition of related force information, and the force information is provided for related tasks.
Description
Technical Field
The invention relates to a flexible mechanical arm with tail end force feedback, and belongs to the technical field of flexible robots.
Background
The existing rope-driven flexible mechanical arm is mainly applied to a load camera, a clamping tool and the like in a narrow unstructured space with oil stains or radiation, the arm rod part of the mechanical arm is generally not provided with a corner measuring element, so the movement precision is not very high, the application scene of the rope-driven flexible mechanical arm is seriously restricted, and meanwhile, the tail end of the general rope-driven flexible mechanical arm is not provided with a force feedback device, so the tail end of the mechanical arm collides with an obstacle and is not provided with feedback information to cause mechanical arm damage. The theoretical research experiment of the rope-driven flexible mechanical arm is also severely restricted without a force feedback device.
Disclosure of Invention
The invention provides a flexible mechanical arm with tail end force feedback, and aims to at least solve one of technical problems in the prior art.
The technical scheme of the invention is a flexible mechanical arm with tail end force feedback, which comprises: a rope drive box; a knuckle arm segment having a plurality of modular joints, a fixed end of the knuckle arm segment being connected to the cable drive box; the tail end assembly is arranged at the free tail end of the joint arm segment and comprises a force feedback sensor and a sensor mounting block for fixing the bottom of the force feedback sensor; wherein each of the plurality of modular joints comprises a hollow cylindrical support column, a first support plate fixed to one end of the support column, a second support plate fixed to the other end of the support column, two first gimbal members fixed to the first support plate and symmetrically arranged with respect to a central axis of the support column, two second gimbal members fixed to the second support plate and symmetrically arranged with respect to the central axis of the support column, and a square gimbal bracket connected between the two modular joints; wherein the sensor mounting block is supported by a second gimbal member of the modular joint at the free end of the articulated arm segment; wherein the first and second gimbal supports each have a shaft hole, the shaft holes of the first and second gimbal supports each have a shaft hole matching a rotating shaft at each side portion, such that one side portion of the gimbal support is pivotably connected to the first gimbal support of one modular joint through the rotating shaft and the other adjacent side portion of the gimbal support is pivotably connected to the second gimbal support of another modular joint through the rotating shaft; and wherein the rotary shaft is rotatable relative to a side portion of the gimbal bracket, the rotary shaft is fixed to the first gimbal member or the second gimbal member, and an encoder rotor connected to the rotary shaft and an encoder stator fixed to the gimbal bracket are provided in the gimbal bracket, the encoder stator being adapted to the encoder rotor to output an electrical signal associated with a rotational angle of the rotary shaft.
Further, the force feedback sensor includes: a one-way force sensor, a three-dimensional force sensor, or a six-dimensional force sensor.
Furthermore, a second universal joint support piece of the modular joint at the free tail end of the joint arm section is connected with the sensor mounting block in a mode of inserting a fixed pin shaft, and the bottom of the sensor mounting block is kept in contact with a second support plate of the modular joint at the free tail end of the joint arm section;
the force feedback sensor is arranged on the top of the sensor mounting block;
the force feedback sensor is connected to an end tool that includes a sensing handle or mechanical grip.
Further, the encoder rotor comprises a sector part, a circular part and a circular hole which is concentric with the sector part and the circular part;
the rotating shaft comprises an extension shaft arranged in the universal joint support, and the extension shaft is matched with the round hole of the encoder rotor, so that the extension shaft can penetrate through the round hole and keep mechanical fit;
the peripheral wall of the circular part is provided with a lock hole, and the encoder rotor is fixedly connected with the extension shaft of the rotating shaft through a screw fastened by the lock hole.
Further, the included angle formed by the straight edges of the sectors ranges between 60 degrees and 90 degrees.
Furthermore, the square universal joint support is provided with two symmetrical shafts which are vertical to each other, and the shaft holes of the adjacent side parts of the universal joint are respectively superposed with the symmetrical shafts;
forming inner extensions from adjacent inner walls of said gimbal bracket, each inner extension having a mounting plane perpendicular to an axis of the shaft hole of the gimbal bracket, the mounting plane passing through a pair of mounting holes;
the mounting plane is fixedly connected with the encoder stator, so that a gap is kept between the encoder stator and the encoder rotor;
and chamfers are formed between the adjacent side parts of the universal joint brackets.
Further, the mounting plane of the inner extension part of the universal joint support keeps a preset distance with one of the symmetrical axes of the universal joint support.
Further, the rope drive case includes:
a cylindrical scaffold having a layered structure, the top layer of the cylindrical scaffold being connected to the knuckle arm segment;
the stay cord assembly is connected with the joint arm section, and a cord of the stay cord assembly penetrates through the top layer of the cylindrical support to be connected to the modular joint of the joint arm section;
the transmission components are arranged in the middle layer of the cylindrical bracket and connected with the pull rope components;
a plurality of motor components which are arranged at the bottom layer of the cylindrical bracket and are connected with the transmission component in a coupling mode,
the motor assemblies and the transmission assemblies are the same in number and are distributed along the central axis of the cylindrical bracket.
Further, each of said drive assemblies comprises:
the guide rail sliding block mechanism and the ball screw mechanism are arranged along the central axis direction of the cylindrical bracket;
the connecting piece is fixed with the slide block of the guide rail slide block mechanism and the movable nut of the ball screw mechanism;
the connecting piece is connected with the pull rope assembly, and the screw rod of each ball screw mechanism is connected with the output end of the motor of each motor assembly.
Further, an installation space for an additional encoder is arranged on the top layer or the middle layer of the rope driving box.
In the scheme of the invention, the rope driving box converts the linear motion of the motor into the linear motion of the rope driving the joint arm section, the joint arm section is formed by modularly connecting the joint arm sections in series based on a cross universal joint, the tail end force feedback sensor can collect contact force information between the joint arm section and the environment, and the tail end force feedback sensor can select a one-way force sensor or a three-dimensional/six-dimensional force sensor according to the requirement. When the rope driving box drives the rope passing through the joint arm section to move, the rope drives the joint arm section to move.
The invention has the beneficial effects that:
the improved flexible mechanical arm with the tail end force feedback structure is provided, so that the tail end of the joint arm section can complete a certain task, and a tail end force feedback sensor arranged at the tail end of the joint arm section can complete the acquisition of related force information and provide force information for related tasks; the joint structure of arm is compact and small, gives consideration to setting up split type encoder at every modularization joint, creates the condition for improving motion control accuracy.
Drawings
FIG. 1 is a general schematic diagram of a flexible robotic arm according to an embodiment of the invention.
FIG. 2 is a detailed perspective view of an articulated arm segment of a flexible robotic arm according to an embodiment of the invention.
Figure 3 is a detailed perspective view of a tip assembly of a flexible robotic arm in accordance with an embodiment of the present invention.
Fig. 4 is a detailed perspective view of a flexible robot arm cable drive cassette according to an embodiment of the present invention.
Figure 5 is an enlarged partial view of the articulated arm segment shown in figure 2 in perspective view in area a.
FIG. 6 is a perspective view of a gimbal assembly of a knuckle arm segment according to an embodiment of the present invention.
FIG. 7 is a top view of a gimbal assembly of a knuckle arm segment according to an embodiment of the present invention.
FIG. 8 is a cross-sectional view of the gimbal assembly of FIG. 7 taken along the indicated section line.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the positional relationship of the components of the present invention with respect to each other in the drawings.
Furthermore, 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. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
Referring to fig. 1, in some embodiments, a flexible robotic arm according to the present invention includes a cable drive box 100, an articulated arm segment 200, and a tip assembly 300. The rope drive box 100 includes a plurality of motor assemblies 120 and a plurality of transmission assemblies 130 that are evenly spaced along a central axis, wherein a motor output shaft of each motor assembly 120 and an input shaft of each transmission assembly 130 are coupled. The articulated arm segment 200 is made up of a plurality of modular joints connected in series, with the joints being connected in a manner similar to the pivotal connection of a cross-universal joint. The fixed end of the articulated arm section 200 is also connected to the cable drive box 10 in a cardanic manner, and the cable (or cable 141) led out from the transmission assembly 130 of the cable drive box 100 is connected to the respective modular joint. The tip assembly 300 is disposed at the free end of the articulated arm segment 200. The tip assembly 300 includes a force feedback sensor 302 and a sensor mounting block 304 that secures the bottom of the force feedback sensor 302. In this embodiment, the rotational motion of the motor in the cable drive cabinet 100 is converted to linear motion by the transmission assembly 130 for pulling the cable into linear motion, which in turn drives the respective modular articulation of the articulated arm segments 200. Wherein, upon accomplishing a certain task at the end of the articulated arm segment 200, the end force feedback sensor 302 may collect contact force information between the end of the articulated arm segment 200 and an external environmental object.
Referring to fig. 2, in an embodiment, a plurality of modular joints with the same specification may be connected in series to form a joint arm segment 200, and the joint arm segment may be spliced into mechanical arms with different lengths as required. Therefore, the method has good mechanical replaceability and compatibility, increases the reuse rate of parts and reduces the mechanical cost.
Referring to fig. 2 and 5, each of the modular joints includes a pillar 208 having a hollow cylindrical shape, a first support plate 209 fixed to a lower end of the pillar 208 (the up-down orientation described here is a relative position with reference to the drawings), a second support plate 207 fixed to an upper end of the pillar 208, two first gimbal mounts 201 fixed to the first support plate 209 and arranged symmetrically with respect to a central axis of the pillar 208, two second gimbal mounts 206 fixed to the second support plate 207 and arranged symmetrically with respect to the central axis of the pillar 208, and a gimbal mount 204 having a symmetrical square shape connected between the two modular joints. The gimbal bracket 204 is preferably a square structure having four sides. Thus, the first gimbal support 201 of one joint and the second gimbal support 206 of the other joint are coupled by the gimbal bracket 204 to form a gimbal-like connection (see fig. 5). Specifically, each of the first gimbal mount 201 and the second gimbal mount 206 has a shaft hole, the shaft holes of the first gimbal mount 201 and the second gimbal mount 206 each have an axis perpendicular to the central axis of the strut 208, and the gimbal bracket 204 has a shaft hole matching a rotating shaft 205 at each side portion, so that one side portion of the gimbal bracket 204 is pivotably connected to the first gimbal mount 201 of one modular joint through the rotating shaft 205, and the other adjacent side portion of the gimbal bracket 204 is pivotably connected to the second gimbal mount 206 of the other modular joint through the rotating shaft 205. Preferably, a chamfer 2042 is formed between adjacent sides of the gimbal bracket 204 to increase the range of motion of the gimbal and reduce motion interference.
Further, an encoder rotor 203 connected to the rotating shaft 205 and an encoder stator 202 fixed to the gimbal bracket 204 are provided in the gimbal bracket 204, and the encoder stator 202 is adapted to the encoder rotor 203 to output an electric signal associated with a rotation angle of the rotating shaft 205.
Referring to fig. 1-3, in some embodiments, the force feedback sensor 302 includes: a one-way force sensor, a three-dimensional force sensor, or (preferably) a six-dimensional force sensor. The sensor mounting block 304 may be a block-shaped structure supported between the two second gimbal supports 206 (upper supports) of the modular joint at the free end of the articulated arm segment 200. Referring to fig. 3, in a preferred embodiment, the connection between the second gimbal support 206 and the sensor mounting block 304 is by way of an interposed fixed pin 303, and the bottom of the sensor mounting block 304 is held in contact with the upper support plate of the modular joint at the free end of the articulated arm segment 200. The force feedback sensor 302 has threaded holes arranged in a flange-like manner. The force feedback sensor 302 may be fixedly mounted on top of the sensor mounting block 304 by bolts.
It can be understood that the mounting mode of inserting the fixed pin shaft 303 can be used for conveniently and quickly mounting and dismounting the sensor mounting block 304; meanwhile, the bottom of the sensor mounting block 304 is in contact with the upper supporting plate to form stable support of two shafts and one surface, so that the force feedback sensor 302 and the connection between the mounting block and the knuckle arm section 200 are more stable, the looseness of the sensor mounting block 304 and the knuckle arm section 200 caused by the fact that the force feedback sensor 302 is touched by external force is reduced, and the looseness of the sensor mounting block 304 and the knuckle arm section 200 is avoided.
With continued reference to fig. 1 and 3, the force feedback sensor 302 is connected to an end tool that includes a sensing knob 301, a mechanical grip 305, an electrical connector (such as a charging plug), or some form of tooling fixture. For example, the sensing knob 301 functions to facilitate grasping by a human hand or as an operating tool for contacting some object; mechanical grips 305 may be used to grip an object.
It will be appreciated that the force feedback sensor 302 is mounted at the end of the articulated arm segment 200 and functions to directly measure the contact force between the articulated arm segment 200 and the environment, and is capable of measuring the contact force in real time at a rate that provides feedback information for the control of the flexible arm. The mounting parts of the force feedback sensor 302 have good interchangeability, and can be used for mounting different types of force feedback sensors 302, or other tools can be mounted without mounting the force feedback sensor 302, so that the flexible arm can complete different tasks conveniently.
Referring now to FIG. 4, only a portion of the drive assembly 130 is shown for ease of description. In one embodiment, the rope drive box 100 further comprises: a cylindrical stent 110 having a layered structure, the top layer of the cylindrical stent 110 being connected to the knuckle arm segment 200; a pull-cord assembly 140 connected to the knuckle arm segment 200, the cord 141 of the pull-cord assembly 140 extending through the top layer of the cylindrical bracket 110 to connect to the modular knuckle of the knuckle arm segment 200. A plurality of transmission assemblies 130 are disposed in the middle layer of the cylindrical support 110 and are connected to a pull cord assembly 140. A plurality of motor assemblies 120 are disposed at the bottom of the cylindrical support 110 and are coupled to a drive assembly 130. Further, each transmission assembly 130 includes: a rail slider 133 mechanism and a ball screw mechanism 132 arranged in the central axis direction of the cylindrical bracket 110; a connecting member 135 fixed to the slider 133 of the rail slider 133 mechanism and the movable nut 134 of the ball screw mechanism 132; wherein the connecting member 135 is connected to the pulling rope assembly 140, and the screw of each ball screw mechanism 132 is connected to the output terminal of the motor of each motor assembly 120.
It will be appreciated that the rotation of the motor is translated into linear motion of the drive cable by the ball screw and rail slider 133 mechanism and is of modular design. Because the modules which realize the conversion from rotation to straight line are all the same and uniformly distributed, the follow-up maintenance and expansion are convenient. The modules in the rope drive box 100 are reserved with a sufficient space for installing a tension sensor or other measuring means. For example, the upper space of the rope driving box 100 reserves the installation space of the encoder, which facilitates the subsequent direct motor rotation angle measurement.
Referring to fig. 5-8, in one embodiment, the symmetrical square gimbal bracket 204 has two symmetry axes (two center lines shown in fig. 7) perpendicular to each other, and the shaft holes of the adjacent side portions of the gimbal coincide with the symmetry axes, respectively. The encoder rotor 203 may be an axisymmetric sheet-like shape including a sector 2031, a circular 2032, and a circular hole concentric with both the sector 2031 and the circular 2032. The rotating shaft 205 mounted on the side of the gimbal bracket 204 includes an extension shaft 2051 for being disposed in the gimbal bracket 204. The extension shaft 2051 is matched with a circular hole of the encoder rotor 203 so that the extension shaft 2051 can penetrate the circular hole and maintain a mechanical fit (such as a clearance fit) without rattling. As shown in fig. 7, a circumferential wall of the circular portion 2032 is provided with a screw hole 2033 having a thread, and the encoder rotor 203 is fixedly connected to the extension shaft 2051 of the rotation shaft 205 by a screw (e.g., a jackscrew) fastened through the screw hole. Preferably, when the modular joints of the joint arm segments 200 are all arranged in a straight vertical arrangement (as shown in fig. 1), the initial position of the sector 2031 of the sensor rotor is set such that the sector 2031 is symmetrical with respect to the axis of the adjacent shaft bore (as shown in fig. 8).
Referring to fig. 6 and 7, in one embodiment, inner extensions 2041 are formed from the inner wall of the gimbal bracket 204, each inner extension 2041 having a mounting plane perpendicular to the shaft hole axis of the gimbal bracket 204, the mounting plane passing through a pair of mounting holes 2043. A plate member (e.g., a sheet-like circuit board) to which the encoder stator 202 is fixedly attached is fixed to the mounting plane while a gap is maintained between the encoder stator 202 and the encoder rotor 203. The plate of the encoder stator 202 is provided with encoder electronics for detecting the configuration of the sectors 2031 of the encoder rotor 203. It will be appreciated that the relative position between the surface of the sector 2031 and the encoder stator 202 can generate an electrical signal to reflect the rotation angle of the shaft 205.
Referring to fig. 7, in a preferred embodiment, two inner extensions 2041 are formed on adjacent inner walls of the gimbal bracket 204, and the mounting plane of the inner extensions 2041 of the gimbal bracket 204 is maintained at a predetermined distance d from the vertical axis of symmetry of the gimbal bracket 204 such that the mounting plane is closer to the remaining two inner walls where the inner extensions 2041 are not formed. Thus, more space can be provided in the joint support, and the encoder stator 202 can be assembled through the mounting hole 2043 of the inner extension 2041 by the hands of an assembler conveniently penetrating into the space.
It is noted that the shaft 205 is able to rotate relative to the side of the gimbal mount 204, the shaft 205 being fixed to the coaxial gimbal mount. Specifically, as clearly shown in fig. 5, the shaft ends of the second gimbal support 206 and the rotating shaft 205 are respectively provided with threaded holes, so that the rotating shaft 205 and the second gimbal support 206 can be locked together by two screws by using the two threaded holes. Thus, the angle of relative rotation between the gimbal mount 204 and the stanchion 208 of the modular joint may be equivalent to the angle of relative rotation between the encoder rotor 203 and the encoder stator 202 associated with the shaft 205.
Referring to fig. 8, in one embodiment, the intersection point of the extension lines of the two straight edges of the sector portion 2031 of the sensor rotor is near the edge of the circular portion 2032, and the angle a formed by the two straight edges ranges between 60 degrees and 90 degrees. Therefore, a limit signal can be formed between the edge of the sector 2031 of the sensor rotor and the encoder electronics of the encoder stator 202, and the relative rotation angle between the modular joints can be prevented from exceeding the allowable range by the motion control.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present disclosure should be included in the scope of the present disclosure as long as the technical effects of the present invention are achieved by the same means. Are intended to fall within the scope of the present invention. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A flexible mechanical arm with tip force feedback, comprising:
a rope drive box (100);
a knuckle arm segment (200) having a plurality of modular joints, a fixed end of the knuckle arm segment (200) being connected to the rope drive box (100);
a tip assembly (300) disposed at a free end of the articulated arm segment (200), the tip assembly (300) including a force feedback sensor (302) and a sensor mounting block (304) securing a bottom of the force feedback sensor (302);
wherein each of the plurality of modular joints comprises a hollow cylindrical strut (208), a first support plate (209) fixed to one end of the strut (208), a second support plate (207) fixed to the other end of the strut (208), two first gimbal supports (201) fixed to the first support plate (209) and symmetrically arranged with respect to a central axis of the strut (208), two second gimbal supports (206) fixed to the second support plate (207) and symmetrically arranged with respect to the central axis of the strut (208), and a square gimbal bracket (204) connected between the two modular joints;
wherein the sensor mounting block (304) is supported by a second gimbal support (206) of the modular joint at the free end of the articulated arm segment (200);
wherein the first gimbal mount (201) and the second gimbal mount (206) each have an axial hole, the axial holes of the first gimbal mount (201) and the second gimbal mount (206) each have an axial hole that matches a rotating shaft (205) at each side, such that one side of the gimbal mount (204) is pivotably connected to the first gimbal mount (201) of one modular joint by the rotating shaft (205) and the other adjacent side of the gimbal mount (204) is pivotably connected to the second gimbal mount (206) of another modular joint by the rotating shaft (205); and is
The rotating shaft (205) can rotate relative to the side of the universal joint support (204), the rotating shaft (205) is fixed with a first universal joint support (201) or a second universal joint support (206) which are coaxial, an encoder rotor (203) connected to the rotating shaft (205) and an encoder stator (202) fixed with the universal joint support (204) are arranged in the universal joint support (204), and the encoder stator (202) is matched with the encoder rotor (203) to output an electric signal related to the rotating angle of the rotating shaft (205).
2. The flexible robotic arm with tip force feedback as claimed in claim 1, wherein said force feedback sensor (302) comprises: a one-way force sensor, a three-dimensional force sensor, or a six-dimensional force sensor.
3. The flexible robotic arm with tip force feedback of claim 1, wherein:
the second universal joint support (206) of the modular joint at the free end of the articulated arm section (200) is connected with the sensor mounting block (304) in a mode of inserting a fixing pin shaft (303), and the bottom of the sensor mounting block (304) is kept in contact with the second support plate (207) of the modular joint at the free end of the articulated arm section (200);
the force feedback sensor (302) is arranged on the top of the sensor mounting block (304);
the force feedback sensor (302) is connected to an end tool that includes a sensing knob (301) or a mechanical grip (305).
4. The flexible robotic arm with tip force feedback of claim 1, wherein:
the encoder rotor (203) comprises a sector part (2031), a circular part (2032) and a circular hole concentric with the sector part (2031) and the circular part (2032);
the rotating shaft (205) comprises an extension shaft (2051) arranged in a universal joint support (204), the extension shaft (2051) is matched with a round hole of the encoder rotor (203), so that the extension shaft (2051) can pass through the round hole and keep mechanical fit;
the circumferential wall of the circular part (2032) is provided with a lock hole (2033), and the encoder rotor (203) is fixedly connected with the extension shaft (2051) of the rotating shaft (205) through a screw fastened by the lock hole (2033).
5. The flexible robotic arm with tip force feedback of claim 4,
the included angle formed by the straight line edge of the fan-shaped part (2031) ranges from 60 degrees to 90 degrees.
6. The flexible robotic arm with tip force feedback as claimed in claim 1 or 4, wherein:
the square universal joint support (204) is provided with two symmetrical shafts which are vertical to each other, and the shaft holes of the adjacent side parts of the universal joint are respectively superposed with the symmetrical shafts;
forming inner extensions (2041) from adjacent inner walls of the gimbal bracket (204), each inner extension (2041) having a mounting plane perpendicular to an axis of the shaft hole of the gimbal bracket (204), the mounting plane passing through a pair of mounting holes (2043);
the encoder stator (202) is fixedly connected to the mounting plane, so that a gap is kept between the encoder stator (202) and the encoder rotor (203);
a chamfer (2042) is formed between the adjacent side parts of the universal joint support (204).
7. The flexible robotic arm with tip force feedback of claim 6,
the mounting plane of the inner extension part (2041) of the universal joint support (204) keeps a preset distance (d) with one of the symmetry axes of the universal joint support (204).
8. The flexible robotic arm with tip force feedback as claimed in claim 1, wherein said cable drive box (100) comprises:
a cylindrical stent (110) having a layered structure, a top layer of the cylindrical stent (110) being connected to the articulated arm segment (200);
a pull rope assembly (140) connected with the joint arm section (200), wherein a rope line (141) of the pull rope assembly (140) penetrates through the top layer of the cylindrical support (110) and is connected to the modular joint of the joint arm section (200);
a plurality of transmission assemblies (130) which are arranged in the middle layer of the cylindrical bracket (110) and connected with the pull rope assembly (140);
a plurality of motor components (120) which are arranged at the bottom layer of the cylindrical bracket (110) and are connected with the transmission component (130) in a coupling mode,
the motor assemblies (120) and the transmission assemblies (130) are the same in number and are distributed along the central axis of the cylindrical bracket (110).
9. The flexible robotic arm with tip force feedback as claimed in claim 8, wherein each said transmission assembly (130) comprises:
a guide rail slider (133) mechanism and a ball screw mechanism (132) arranged in the central axis direction of the cylindrical bracket (110);
a connecting piece (135) fixed with the slide block (133) of the guide rail slide block (133) mechanism and the movable nut (134) of the ball screw mechanism (132);
the connecting piece (135) is connected with the pull rope assembly (140), and the screw rod of each ball screw mechanism (132) is connected with the output end of the motor of each motor assembly (120).
10. The flexible robot arm with end force feedback as claimed in claim 1, wherein an installation space for an additional encoder is provided at a top layer or a middle layer of the rope driving box (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010804221.XA CN111993400A (en) | 2020-08-11 | 2020-08-11 | Flexible mechanical arm with tail end force feedback |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010804221.XA CN111993400A (en) | 2020-08-11 | 2020-08-11 | Flexible mechanical arm with tail end force feedback |
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| CN111993400A true CN111993400A (en) | 2020-11-27 |
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| CN202010804221.XA Pending CN111993400A (en) | 2020-08-11 | 2020-08-11 | Flexible mechanical arm with tail end force feedback |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043270A (en) * | 2021-02-23 | 2021-06-29 | 哈尔滨工业大学（深圳） | Automatic high-precision resetting method of rope-driven flexible mechanical arm based on tooling condition |
| CN114367963A (en) * | 2022-02-18 | 2022-04-19 | 哈尔滨工业大学（深圳） | Series flexible arm with rope-driven ball rolling joint with position sensing capability |
| WO2022204869A1 (en) * | 2021-03-29 | 2022-10-06 | 深圳高性能医疗器械国家研究院有限公司 | Force feedback apparatus, and application thereof |
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