CN201224104Y - Force feedback three-DOF hand controlled regulator mechanism - Google Patents
Force feedback three-DOF hand controlled regulator mechanism Download PDFInfo
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- CN201224104Y CN201224104Y CNU2008200411564U CN200820041156U CN201224104Y CN 201224104 Y CN201224104 Y CN 201224104Y CN U2008200411564 U CNU2008200411564 U CN U2008200411564U CN 200820041156 U CN200820041156 U CN 200820041156U CN 201224104 Y CN201224104 Y CN 201224104Y
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Abstract
Disclosed is a force feedback 3-dof hand controller, comprising a diamond connecting rod mechanism subassembly, a hand part mechanism, a balance weight, a bracket, a handgrip connector and a balance weight connector. The diamond connecting rod mechanism subassembly includes a first diamond connecting rod mechanism group, a second diamond connecting rod mechanism group, and a third diamond connecting rod mechanism group. The second diamond connecting rod mechanism group is parallel to the third diamond connecting rod mechanism group. The first diamond connecting rod mechanism group is perpendicular to the second and the third diamond connecting rod mechanism groups. Gimbals are arranged on the first and the second diamond connecting rod mechanism groups which are respectively connected with a first and a second force moment feedback motors through the gimbals. The first and the second force moment feedback motors are connected with the bracket. A third force moment feedback motor is arranged on any one of the diamond connecting rod mechanisms. The balance weight is arranged on the balance weight connector, and the hand part mechanism is arranged on the handgrip connector. Gimbals are connected at two ends of any one of the diamond connecting rod mechanisms; two ends of the diamond connecting rod are respectively connected with one end of the gimbals; the other ends of the gimbals at one end of the diamond connecting rod mechanism are connected with the balance weight connector; and the other ends of the gimbals at the other ends of the diamond connecting rod mechanism are connected with the handgrip connector.
Description
Technical field
The utility model is a kind of mechanism of force feedback hand controlled device of Three Degree Of Freedom, the force feedback hand controlled device of the universal isomery formula mechanism in especially a kind of human-computer interface device that is applied to robot control.
Background technology
Along with the extensive use of interactive teleoperation robot, the human-computer interface device that needs are a large amount of with power feel feedback effect.The manual device of data glove and robot is the human-computer interface device of two kinds of common teleoperation robots, because the variation that data glove can't be measured the human arm joint, and lack effective power feel feedback, therefore, the manual device of robot is the most effective human-computer interface device of realizing teleoperation robot control, it follows the tracks of the motion of staff on the one hand as the virtual machine hand in control instruction control manipulator or the virtual reality by the positional information of measure operator hand, on the other hand, power feel and tactile data that robot is fed back convert power or the moment that directly acts on staff to, make the operator be created in the power feel/sense of touch telepresenc effect that machine far away is manually done " on the spot in person " of scene or virtual robot working site, thereby realize control, perhaps in virtual environment, produce the real impression that touches robot band sensation.The manual device of robot can be divided into two kinds of isomorphism formula and isomery formulas, and existing hand controller mostly is the isomorphism formula, and isomorphism formula hand controller has the identical structure and the free degree with manipulator far away, takes the joint---the type of drive in joint.Though robot isomorphism formula hand controller control is simple, the robot control that it can only be used for specific model lacks versatility.Therefore, universal hand controller all adopts the isomery mode different with the robot architecture, and existing isomery formula hand controller has form of a stroke or a combination of strokes operation lever structure, parallel-connection structure, series/parallel mixed structure, incorporate closed chain formula structure and based on the isomery formula hand controller of Delta mechanism.The shortcoming of preceding four kinds of isomery formula hand controllers is to exist translation and the motion coupling between the rotation and the coupling of power that can't overcome, a kind of isomery formula hand controller shortcoming based on Delta mechanism in back is that working space is little, can't overcome the influence of gravity, and control is complicated.
Technology contents
Technical problem the utility model provides a kind of mechanism that helps improving the force feedback Three Degree Of Freedom hand controller of certainty of measurement, and this device operation is light, and inertia is little, gravity self-balancing, agravic interference.
The mechanism of a kind of force feedback Three Degree Of Freedom of technical scheme hand controller is made up of link in rhomb form mechanism assembly, hand organization, counterweight, support, handle connector and counterweight connector.The link in rhomb form mechanism assembly comprises first group of link in rhomb form mechanism, second group of link in rhomb form mechanism and the 3rd group of link in rhomb form mechanism.Second group of link in rhomb form mechanism and the 3rd group of link in rhomb form mechanism are parallel to each other, and first group of link in rhomb form mechanism is vertical with above-mentioned second and third group link in rhomb form mechanism.And, with second and third group link in rhomb form plane, mechanism place or parallel with it plane is the XOZ coordinate plane, with first group of plane, link in rhomb form mechanism place or parallel with it plane is the XOY coordinate plane, with the perpendicular plane of XOZ coordinate plane and XOY coordinate plane be the YOZ plane.In first group of link in rhomb form mechanism and second group of link in rhomb form mechanism, be respectively equipped with 1 dimension free degree universal joint around the Y-axis rotation, around 1 dimension free degree universal joint of Z axle rotation, and first group of link in rhomb form mechanism is connected with the output shaft of first moment feedback motor by 1 dimension free degree universal joint around the Y-axis rotation, second group of link in rhomb form mechanism is connected with the output shaft of second moment feedback motor by 1 dimension free degree universal joint around the rotation of Z axle, and the pedestal of the pedestal of first moment feedback motor and second moment feedback motor is connected with support respectively.Between the 3rd group of link in rhomb form mechanism and support, be provided with 2 dimension free degree universal joints, described 1 dimension free degree universal joint, around 1 dimension free degree universal joint of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints of Y-axis and the rotation of Z axle around the Y-axis rotation around the rotation of Y-axis and Z axle.Be provided with the 3rd moment feedback motor in the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly, the pedestal of the 3rd moment feedback motor is connected with a link in rhomb form forming link in rhomb form mechanism, the output shaft of the 3rd moment feedback motor is connected with another root link in rhomb form of forming link in rhomb form mechanism, and being used for being provided with the 3rd moment, to feed back two link in rhomb forms of link in rhomb form mechanism of motor adjacent.The two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly are connected with around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively and are connected with ends around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively.32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector, and the opposite side of counterweight connector is connected with counterweight.32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector, and the opposite side of handle connector is connected with hand organization.
Beneficial effect (1) the utility model is realized three-dimensional translating by three groups of link in rhomb form mechanisms, has simplified the complexity of mechanism.Three groups of link in rhomb form mechanisms that the utility model adopted have constituted parallel leverage, the place links to each other with support with moment feedback motor by universal joint in the middle of three groups of link in rhomb form mechanisms, make the center of gravity of three groups of link in rhomb form mechanisms fall within on the support, thereby, three groups of link in rhomb form mechanisms have the characteristics of gravity self-balancing under the acting in conjunction of support and counterweight, avoid gravity to influence of the present utility model, helped the raising of certainty of measurement.This technical scheme of the present utility model combines with moment feedback motor technology measure, the utility model is become have the hand controller of force feedback function, it can avoid complicated position measurement and power to feel in the reproducing control process complicated coupled relation between the motion, has improved certainty of measurement and power and has felt the authenticity of perception.(2) the utility model adopts the technical scheme of link in rhomb form mechanism, in effect by moment feedback motor and the link in rhomb form mechanism between the adjacent connecting rod variation of angle realize that the rotation of link in rhomb form mechanism is with flexible, thereby realize the motion of hand organization, compare with the mechanism of existing hand controller and have the advantage that volume is little, working space is big.(3) hand organization that the utility model adopted is easy to operate, realized the moment feedback function of wrist easily, the utility model is after the technical measures that adopted moment feedback motor, make the utility model become force feedback hand controlled device, and said structure have the advantage of being convenient to control motor realization moment feedback.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the structural representation of the utility model link in rhomb form mechanism assembly embodiment.
Fig. 3 is the structural representation of first group of link in rhomb form mechanism for implementing of the utility model example.
Fig. 4 is the structural representation of the embodiment of bindiny mechanism of the utility model the 3rd moment feedback motor.
Fig. 5 is the structural representation of the embodiment of bindiny mechanism of the utility model first moment feedback motor.
Fig. 6 is the structural representation of the embodiment of bindiny mechanism of the utility model 2 dimension free degree universal joints.
" Δ " mark represents that this place maintains static among the figure, the concrete connected mode that links to each other with support that adopts.
Specific embodiments
A kind of mechanism of force feedback Three Degree Of Freedom hand controller is made up of link in rhomb form mechanism assembly 1, hand organization 2, counterweight 3, support 4, handle connector 5 and counterweight connector 6.Link in rhomb form mechanism assembly 1 comprises first group of link in rhomb form mechanism 13, second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12.Second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12 are parallel to each other, and first group of link in rhomb form mechanism 13 is vertical with above-mentioned second and third group link in rhomb form mechanism 11,12.And, with second and third group link in rhomb form mechanism plane, 11,12 place or parallel with it plane is the XOZ coordinate plane, with first group of link in rhomb form mechanism plane, 13 place or parallel with it plane is the XOY coordinate plane, with the perpendicular plane of XOZ coordinate plane and XOY coordinate plane be the YOZ plane.In first group of link in rhomb form mechanism 13 and second group of link in rhomb form mechanism 11, be respectively equipped with 1 dimension free degree universal joint 132 around the Y-axis rotation, around 1 dimension free degree universal joint 112 of Z axle rotation.And first group of link in rhomb form mechanism 13 is connected with the output shaft of first moment feedback motor 131 by 1 dimension free degree universal joint 132 around the Y-axis rotation, second group of link in rhomb form mechanism 11 is connected with the output shaft of second moment feedback motor 111 by 1 dimension free degree universal joint 112 around the rotation of Z axle, and the pedestal of the pedestal of first moment feedback motor 131 and second moment feedback motor 111 is connected with support 4 respectively.Between the 3rd group of link in rhomb form mechanism 12 and support 4, be provided with 2 dimension free degree universal joints 122 around Y-axis and the rotation of Z axle.Described 1 dimension free degree universal joint 132 around Y-axis rotation, around 1 dimension free degree universal joint 112 of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints 122 of Y-axis and the rotation of Z axle.Be provided with the 3rd moment feedback motor 133 in the arbitrary link in rhomb form mechanism in link in rhomb form mechanism assembly 1, the pedestal of the 3rd moment feedback motor 133 is connected with a link in rhomb form forming link in rhomb form mechanism, the output shaft of the 3rd moment feedback motor 133 is connected with another rhombus root connecting rod of forming link in rhomb form mechanism, and being used for being provided with the 3rd moment, to feed back two link in rhomb forms of link in rhomb form mechanism of motor 133 adjacent.The two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly 1 are connected with around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively and are connected with ends around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively.32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector 6, and the opposite side of counterweight connector 6 is connected with counterweight 3.32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector 5, and the opposite side of handle connector 5 is connected with hand organization 2.In addition, on first moment feedback motor 131, second moment feedback motor 111 and the 3rd moment feedback motor 133, be respectively equipped with first photoelectric coded disk 137, second photoelectric coded disk 115 and the 3rd photoelectric coded disk 138.
With reference to the accompanying drawings, specific embodiments of the present utility model is made more detailed explanation:
With reference to Fig. 1, present embodiment relates to a kind of mechanism of force feedback Three Degree Of Freedom hand controller, is made up of link in rhomb form mechanism assembly 1, hand organization 2, counterweight 3, support 4, handle connector 5 and counterweight connector 6.Link in rhomb form mechanism assembly 1 comprises first group of link in rhomb form mechanism 13, second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12, second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12 are parallel to each other, and first group of link in rhomb form mechanism 13 is vertical with above-mentioned second and third group link in rhomb form mechanism 11,12.With second and third group link in rhomb form mechanism plane, 11,12 place or parallel with it plane is the XOZ coordinate plane, with first group of link in rhomb form mechanism plane, 13 place or parallel with it plane is the XOY coordinate plane, with the perpendicular plane of XOZ coordinate plane and XOY coordinate plane be the YOZ plane.
With reference to Fig. 2, in first group of link in rhomb form mechanism 13 and second group of link in rhomb form mechanism 11, be respectively equipped with 1 dimension free degree universal joint 132, around 1 dimension free degree universal joint 112 of Z axle rotation around the Y-axis rotation.And first group of link in rhomb form mechanism 13 is connected with the output shaft of first moment feedback motor 131 by 1 dimension free degree universal joint 132 around the Y-axis rotation, second group of link in rhomb form mechanism 11 is connected with the output shaft of second moment feedback motor 111 by 1 dimension free degree universal joint 112 around the rotation of Z axle, and the pedestal of the pedestal of first moment feedback motor 131 and second moment feedback motor 111 is connected with support 4 respectively.Between the 3rd group of link in rhomb form mechanism 12 and support 4, be provided with 2 dimension free degree universal joints 122 around Y-axis and the rotation of Z axle.Described 1 dimension free degree universal joint 132 around Y-axis rotation, around 1 dimension free degree universal joint 112 of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints 122 of Y-axis and the rotation of Z axle.On first moment feedback motor 131, second moment feedback motor 111, be respectively equipped with first photoelectric coded disk 137, second photoelectric coded disk 115.
With reference to Fig. 3, Fig. 4, Fig. 5, first link in rhomb form 135 of first group of link in rhomb form mechanism 13 is fixedlyed connected with the pedestal of the 3rd moment feedback motor 133, and the output shaft of first link in rhomb form 135 and the 3rd moment feedback motor 133 is rotationally connected.The end of first link in rhomb form 135 is connected with " U " shape frameworks of the 2 dimension free degree universal joints 134 that center on the rotation of Z axle and Y-axis.Second link in rhomb form 139 of first group of link in rhomb form mechanism 13 is fixedlyed connected with the output shaft of the 3rd moment feedback motor 133.The 1 dimension free degree universal joint 132 around Y-axis rotation of first group of link in rhomb form mechanism 13 is fixedlyed connected with the Three Diamond connecting rod 1351 of first group of link in rhomb form mechanism 13, is rotationally connected with the 4th link in rhomb form 1391 of first group of link in rhomb form mechanism 13.The output shaft of first moment feedback motor 131 of first group of link in rhomb form mechanism 13 is connected with above-mentioned 1 " U " shape framework of tieing up free degree universal joint 132 around the Y-axis rotation.Set link in rhomb form in second group of link in rhomb form mechanism 11, set link in rhomb form, the connected mode fed back between the motor 131 around the 1 dimension free degree universal joint 132 and first moment of Y-axis rotation are identical in 1 dimension free degree universal joint 112 of Z axle rotation and the connected mode between the second moment feedback motor 111 and the above-mentioned first group of link in rhomb form mechanism 13.
With reference to Fig. 3, Fig. 6, the 5th link in rhomb form 1352 of first group of link in rhomb form mechanism 13 is connected with " U " shape frameworks of the 6th link in rhomb form 1392 with the 2 dimension free degree universal joints 136 that center on the rotation of Z axle and Y-axis.With reference to Fig. 6, Fig. 2, the two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly 1 are connected with around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively and are connected with ends around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively, and the two ends of arbitrary link in rhomb form mechanism are identical with the connected mode of tieing up free degree universal joints 136 around 2 of Z axle and Y-axis rotation with the link in rhomb form of above-mentioned first group of link in rhomb form mechanism 13 with connected mode around 2 dimension free degree universal joints of Z axle and Y-axis rotation, 32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector 6, the opposite side of counterweight connector 6 is connected with counterweight 3,32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector 5, and the opposite side of handle connector 5 is connected with hand organization 2.Counterweight connector 6 can constitute integral body with counterweight 3, can adopt and directly on counterweight, establish a plane and be connected with universal joint by this plane, counterweight connector 6 also can adopt the branch body structure with counterweight 3, can adopt to establish a screw rod and counterweight 3 is revolved thereon on counterweight connector 6.
Claims (2)
1, a kind of mechanism of force feedback Three Degree Of Freedom hand controller, it is characterized in that by link in rhomb form mechanism assembly (1), hand organization (2), counterweight (3), support (4), handle connector (5) and counterweight connector (6) are formed, link in rhomb form mechanism assembly (1) comprises first group of link in rhomb form mechanism (13), second group of link in rhomb form mechanism (11) and the 3rd group of link in rhomb form mechanism (12), second group of link in rhomb form mechanism (11) and the 3rd group of link in rhomb form mechanism (12) are parallel to each other, first group of link in rhomb form mechanism (13) and above-mentioned second, three groups of link in rhomb form mechanisms (11,12) vertical, and, with second, three groups of link in rhomb form mechanisms (11,12) plane, place or parallel with it plane are the XOZ coordinate plane, with first group of link in rhomb form mechanism (13) plane, place or parallel with it plane is the XOY coordinate plane, with with the perpendicular plane of XOZ coordinate plane and XOY coordinate plane be the YOZ plane, in first group of link in rhomb form mechanism (13) and second group of link in rhomb form mechanism (11), be respectively equipped with 1 dimension free degree universal joint (132) around the Y-axis rotation, 1 dimension free degree universal joint (112) around the rotation of Z axle, and first group of link in rhomb form mechanism (13) is connected with the output shaft of first moment feedback motor (131) by 1 dimension free degree universal joint (132) around the Y-axis rotation, second group of link in rhomb form mechanism (11) is connected with the output shaft of second moment feedback motor (111) by 1 dimension free degree universal joint (112) around the rotation of Z axle, the pedestal of the pedestal of first moment feedback motor (131) and second moment feedback motor (111) is connected with support (4) respectively, between the 3rd group of link in rhomb form mechanism (12) and support (4), be provided with 2 dimension free degree universal joints (122) around Y-axis and the rotation of Z axle, described 1 dimension free degree universal joint (132) around the Y-axis rotation, around 1 dimension free degree universal joint (112) of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints (122) of Y-axis and the rotation of Z axle, be provided with the 3rd moment feedback motor (133) in the arbitrary link in rhomb form mechanism in link in rhomb form mechanism assembly (1), the pedestal of the 3rd moment feedback motor (133) is connected with a link in rhomb form forming link in rhomb form mechanism, the output shaft of the 3rd moment feedback motor (133) is connected with another rhombus root connecting rod of forming link in rhomb form mechanism, and two link in rhomb forms of link in rhomb form mechanism that are used for being provided with the 3rd moment feedback motor (133) are adjacent, the two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly (1) are connected with around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively and are connected with ends around 2 dimension free degree universal joints of Z axle and Y-axis rotation respectively, 32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector (6), the opposite side of counterweight connector (6) is connected with counterweight (3), 32 other ends of tieing up free degree universal joints around Z axle and Y-axis rotation that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector (5), and the opposite side of handle connector (5) is connected with hand organization (2).
2, the mechanism of force feedback Three Degree Of Freedom hand controller according to claim 1 is characterized in that being respectively equipped with first photoelectric coded disk (137), second photoelectric coded disk (115) and the 3rd photoelectric coded disk (138) at first moment feedback motor (131), second moment feedback motor (111) and the 3rd moment feedback motor (133).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200411564U CN201224104Y (en) | 2008-07-24 | 2008-07-24 | Force feedback three-DOF hand controlled regulator mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008200411564U CN201224104Y (en) | 2008-07-24 | 2008-07-24 | Force feedback three-DOF hand controlled regulator mechanism |
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| CN201224104Y true CN201224104Y (en) | 2009-04-22 |
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| CNU2008200411564U Expired - Fee Related CN201224104Y (en) | 2008-07-24 | 2008-07-24 | Force feedback three-DOF hand controlled regulator mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101882394A (en) * | 2010-07-09 | 2010-11-10 | 东南大学 | Force sense feedback simulator of virtual intervene operation |
| CN102642209A (en) * | 2012-04-06 | 2012-08-22 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
| CN101633169B (en) * | 2008-07-24 | 2012-09-26 | 东南大学 | Three-degree-of-freedom force sensing hand controller |
| CN104965587A (en) * | 2015-06-10 | 2015-10-07 | 东南大学 | Double-finger motion tracking and force feedback apparatus |
| CN107632701A (en) * | 2017-08-03 | 2018-01-26 | 东南大学 | A kind of control method of man-machine interaction virtual training force feedback parameter |
-
2008
- 2008-07-24 CN CNU2008200411564U patent/CN201224104Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633169B (en) * | 2008-07-24 | 2012-09-26 | 东南大学 | Three-degree-of-freedom force sensing hand controller |
| CN101882394A (en) * | 2010-07-09 | 2010-11-10 | 东南大学 | Force sense feedback simulator of virtual intervene operation |
| CN102642209A (en) * | 2012-04-06 | 2012-08-22 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
| CN104965587A (en) * | 2015-06-10 | 2015-10-07 | 东南大学 | Double-finger motion tracking and force feedback apparatus |
| CN104965587B (en) * | 2015-06-10 | 2018-06-26 | 东南大学 | A kind of two fingers motion tracking and device for force feedback |
| CN107632701A (en) * | 2017-08-03 | 2018-01-26 | 东南大学 | A kind of control method of man-machine interaction virtual training force feedback parameter |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090422 Termination date: 20110724 |