CN207682374U - A kind of main hand of multi-joint force feedback - Google Patents
A kind of main hand of multi-joint force feedback Download PDFInfo
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- CN207682374U CN207682374U CN201820031108.0U CN201820031108U CN207682374U CN 207682374 U CN207682374 U CN 207682374U CN 201820031108 U CN201820031108 U CN 201820031108U CN 207682374 U CN207682374 U CN 207682374U
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- speed reducer
- connecting rod
- potentiometer
- rod component
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Abstract
A kind of main hand of multi-joint force feedback, including sequentially connected first connecting rod component, second connecting rod component, third connecting rod component, fourth link component, 5th linkage component and rotary knob member, it is connected by rotary joint between each linkage component, potentiometer or encoder are mounted on each rotary joint, wherein first connecting rod component, motor and speed reducer is installed on the rotary joint of junction between second connecting rod component and third connecting rod component, the input terminal of motor and speed reducer connection or both is connected by toothed belt transmission, output end of reducer is connected with corresponding potentiometer or encoder.The main hand of the operation can fix use, and the mobile operation of progress can be also carried by operator, can make full use of the flexibility of human hand to control the movement in each joint, operation is accurate；Together, compact structure can make full use of operating space and the flexibility of finger to the compact layout in the joint of end three.
Description
Technical field
The utility model is related to a kind of main hands of principal and subordinate's remote operating for mechanical arm, belong to industrial robot teleoperation
Field.
Background technology
Principal and subordinate's remote operating is that personnel participate in the control most common method of operating of industrial robot.Principal and subordinate's teleoperation of robot system
System can carry out complicated manipulation operation under uncertain condition.Telepresenc technology created between man-robot-environment it is a kind of and
Humorous multidimensional information interactive environment, the main hand of multi-joint force feedback make operator feel the process of manipulated operation with true power
Impression.
Feel that the main hand of remote operating of feedback has structure size and quality is larger with power at present, asking of using can only be fixed
Topic, in operation, the visual angle of operator is fixed, or even there are blind spots, must be operated by the image display system of various visual angles.
Chinese patent literature 103817682A discloses " a kind of main hand of articulated type force feedback remote operating ", which, which holds, closes
For section in least significant end, three joints axes before are parallel to each other, if wanting to control some joint motions, are easy to drive other joints
It links together, in addition the flexible finger of operator is served only for operation button and switch, and fails for manipulating articulation.
Utility model content
The utility model is for deficiency existing for existing teleoperation, for the joint series machinery with force feedback
Arm, providing a kind of having the function of the main hand of the multi-joint force feedback of position servo and force teleprence.
The main hand of multi-joint force feedback of the utility model, using following technical scheme：
The main hand of the remote operating, including sequentially connected first connecting rod component, second connecting rod component, third connecting rod component,
Double leval jib component, the 5th linkage component and rotary knob member are connected between each linkage component by rotary joint, in each rotation
Turn to be mounted on potentiometer or encoder on joint, wherein first connecting rod component, second connecting rod component and third connecting rod component it
Between junction rotary joint on motor and speed reducer is installed, the input terminal of motor and speed reducer connects in first connecting rod component
It connects, the motor in second connecting rod component and third connecting rod component is connect with speed reducer by toothed belt transmission, output end of reducer
(angular displacement for measuring output end) is connected with corresponding potentiometer or encoder.
The first connecting rod component, including pedestal and first shell, first shell are connected on pedestal, are set in first shell
It is equipped with first motor, the first speed reducer, the first potentiometer and first support, first motor is connect with the first speed reducer, first shell
It is fixed with first support in vivo, the first speed reducer is fixed in first support, and the first potentiometer is mounted in first support and leads to
Transmission mechanism is crossed to connect with the first speed reducer.
The second connecting rod component, including second shell are provided with the second motor, the second speed reducer and in second shell
Two potentiometers；Second shell is connected to the output end of the first speed reducer, and the second motor and the second speed reducer pass through toothed belt transmission
Connection, the second speed reducer and the second potentiometer are installed in second shell, and the second potentiometer is subtracted by transmission mechanism and second
Fast machine connection.The output axis of second speed reducer is vertical with the output axis of first speed reducer.
The third connecting rod component, including the first connecting plate and third shell are provided with third motor, in third shell
Three speed reducers and third potentiometer, the first connecting plate are connected to the second output end of reducer in second connecting rod component, third shell
Body is connected on the first connecting plate, and third motor is connect by toothed belt transmission with third speed reducer, third speed reducer and third
Potentiometer is installed in shell, and third potentiometer is connect by transmission mechanism with third speed reducer.
Above-mentioned transmission mechanism is gear drive, and driving gear is mounted on the output end of speed reducer, driven gear installation
It is engaged on potentiometer or encoder and with driving gear.
The fourth link component, including the second connecting plate, the 4th potentiometer and the 4th shell, the second connecting plate are connected to
Third output end of reducer in third connecting rod component is connected with bearing block on the second connecting plate, and shell is mounted on by bearing
On bearing block, the 4th potentiometric output shaft links together with shell.It is provided with stop screw on the bearing block, for giving
The rotational angle of shell limits.The pivot center of 4th shell hangs down with the pivot center of the third output end of reducer
Directly, it can preferably avoid linking in this way.
5th linkage component, including second support and the 5th potentiometer, second support are connected to fourth link component
In shell on, shaft is installed, the 5th potentiometric output shaft is connect with shaft in second support.
The rotary knob member, including the 5th shell and the 6th potentiometer, the 5th shell are installed on the 5th connecting rod by bearing
In shaft in component, the 6th potentiometer is connected in the shaft in the 5th linkage component, is pacified on the 6th potentiometric output shaft
Equipped with knob, and sliding bearing and damped ring are installed between knob and the 5th shell, knob upper end is equipped with button switch.It presses
Button switch is for controlling from end mechanical arm tail end Appendage Task tool.
The operation principle of the utility model is as follows：
If, can will be from the potentiometer or volume of end each joint of mechanical arm from end mechanical arm and the main hand isomorphism of the utility model
The potentiometer composition control closed loop of code device and each joint installation of the main hand of the utility model, it is each from arm when operator operates main hand
The movement in joint follows the movement in each joint of main hand completely.
If from end mechanical arm and the main hand isomery of the utility model, initially set up main hand working space with from end mechanical arm work
That makees space hints obliquely at relationship, and when operator operates main hand, the position of main hand handle and posture are mapped onto from end mechanical arm end
Actuator is held, by determining the movement from end each joint of mechanical arm from the kinematic inverse solution of end mechanical arm.
From end mechanical arm tail end service load by mounted on from end mechanical arm on force sensor measuring, through suitably contracting
The power of operator is fed back to after small as main hand end, which is generated and by the motor mounted on main swivel of hand through speed reducer
It is obtained after amplification, the size of each joint motor power output is by feedback force, each linkage component gravity of main hand, joint-friction power and master
Hand posture determines jointly.
The utility model can fix use, and the mobile operation of progress can be also carried by operator, is had the characteristics that：
1. the joint to be held is the 4th joint, it is in intermediate position rather than least significant end, and axis and a upper joint
Vertically, the movement that can accurately control each joint avoids the occurrence of the linkage between multi-joint；
2. the compact layout in the joint of end three is together, compact-sized, the flexibility of finger can be made full use of to control
Make these three joints；
3. can provide corresponding power according to the workload size from arm end to operator and feel information to improve relaxing for operation
Adaptive and the feeling of fatigue for mitigating operator's long-time operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of the main hand of the utility model multi-joint force feedback.
Fig. 2 is the structural schematic diagram of first connecting rod component in the utility model.
Fig. 3 is the structural schematic diagram of second connecting rod component in the utility model.
Fig. 4 is A-A sectional views in Fig. 3.
Fig. 5 is the structural schematic diagram of third connecting rod component in the utility model.
Fig. 6 is B-B sectional views in Fig. 7.
Fig. 7 is the structure chart of fourth link component in the utility model, the 5th linkage component and handle A6.
In figure：1. first connecting rod component, 2. second connecting rod components, 3. third connecting rod components, 4. fourth link components, 5.
Five linkage components, 6. handles；
101. pedestal, 102. first shells, 103. first motors, 104. first motor flanges, 105. first potentiometers,
106. the first speed reducer, 107. first driven gears, 108. first driving gears, 109. first supports, 110. output flanges；
201. second shells, 202. second motors, 203. driving pulleys, 204. second driven gears, 205. second current potentials
Meter, 206. second output flanges, 207. second speed reducers, 208. driven pulleys, 209. second protecgulums, 210. second rear covers；
301. first connecting plates, 302. third shells, 303. third motors, 304. driving pulleys, 305. third driven tooths
Wheel, 306. third potentiometers, 307. third output flanges, 308. third speed reducers, 309. driven pulleys, 310. third rear covers；
401. second connecting plates, 402. bearing blocks, 403. the 4th potentiometers, 404. left shells, 405. stop screws, 406.
Baffle ring, 407. right shell bodies, 408. damped rings, 409. bearings, 410. holding screws, 411. upper covers；
501. second supports, 502. shafts, 503. bearings, 504. bearings, 505. holding screws, 506. potentiometer shells,
507. the 5th potentiometers, 508. rear covers, 509 rack plates；
601. rear covers, 602. the 6th potentiometers, 603. bearings, 604. damped rings, 605. the 5th shells, 606. upper covers,
607. button switch.
Specific implementation mode
The main hand of multi-joint force feedback of the utility model, as shown in Figure 1, including sequentially connected first connecting rod component 1, the
Two linkage components 2, third connecting rod component 3, fourth link component 4, the 5th linkage component 5 and rotary knob member 6.Each linkage component
Between connected by rotary joint, potentiometer or encoder, wherein first connecting rod portion are mounted on each rotary joint
Motor and speed reducer is installed between part 1, second connecting rod component 2 and third connecting rod component 3 on the rotary joint of junction, first
The connection of the input terminal of motor and speed reducer, second connecting rod component and the motor in third connecting rod component and speed reducer in linkage component
It is connected by toothed belt transmission, carries out deceleration transmission, the angular displacement of output end is by a pair of of gear drive by corresponding electricity
Position meter measures.
The structure of first connecting rod component 1 is as shown in Fig. 2, including pedestal 101, first shell 102 and be set to first shell
First motor 103, the first speed reducer 106, the first potentiometer 105, the first driven gear 107 in 102 and the first driving gear
108.First shell 102 is connected on pedestal 101.First motor 103 is connected to the first speed reducer by first motor flange 104
On 106.First speed reducer 106 is mounted in first support 109, and first support 109 is fixed by screws in first shell 102
It is interior.First driving gear 108 is mounted on the output flange of the first speed reducer 106.First driven gear 107 is mounted on first support
It is engaged on 109 and with the first driving gear 108, the first potentiometer 105 is connect with the first driven gear 107.First output flange
The threaded hole for being attached with second connecting rod component is machined on 110 outer end face.
The structure of second connecting rod component 2 is as shown in Figure 3 and Figure 4, including second shell 201, is provided in second shell 201
Second motor 202, the second speed reducer 207, the second potentiometer 205, the second driving gear 206, the second driven gear 204, active
Belt wheel 203, driven pulley 208, the second protecgulum 209 and the second rear cover 210.Second shell 201 is connected to the first output with screw
On flange 110, the second motor 202 is mounted in second shell 201, and driving pulley is fixed with holding screw on output shaft
203, drive the driven pulley 208 being fixed on 207 input shaft of the second speed reducer to rotate by synchronous belt.Second speed reducer 207
Output axis with the output axis of the first speed reducer 106 be vertical.Second driving gear 206 is mounted on the second speed reducer
207 output end, the second driven gear 204 are mounted on the axis of the second potentiometer 205 and are engaged with the first driving gear 209.
The both ends of shell 201 are respectively arranged with the second protecgulum 209 and the second rear cover 210.It is machined on the end face of second driving gear 206
For connecting the threaded hole of third connecting rod component 3.
The structure of third connecting rod component 3 is as shown in Figure 5 and Figure 6, including the first connecting plate 301 and third shell 302, third
Third motor 303, third speed reducer 308 and third potentiometer 306 are provided in shell 302.First connecting plate 301 passes through screw
(the namely output end of the second speed reducer 208), third shell are connected on the second driving gear 206 in second connecting rod component 2
Body 302 is connected by screw on the first connecting plate 301.Third motor 307 is mounted on third shell 302, is used on output shaft
Holding screw is fixed with driving pulley 304, and the driven pulley on 308 input shaft of third speed reducer is fixed on by synchronous belt driving
309 rotations.Third speed reducer 308 and third potentiometer 306 are installed in shell 302.Third driving gear 307 is mounted on the
The output end of three speed reducers 308, third driven gear 305 be mounted on third potentiometer 306 axis on and with third driving gear
307 engagements.The both ends of shell 302 are separately installed with protecgulum 301 and rear cover 310.It is machined on the end face of third driving gear 307
For connecting the threaded hole of fourth link component 4.
The structure of fourth link component 4 is as shown in fig. 7, comprises the second connecting plate 401, the 4th potentiometer 403 and the 4th shell
Body.Second connecting plate 401 is connected by screw on the third driving gear 310 in third connecting rod component 3 that (namely third subtracts
The output end of fast machine 309), bearing block 402 is connected on the second connecting plate 401.4th shell is by left shell 404 and right shell body
407 synthesis, left shell 404 and right shell body 407 are mounted on by bearing 409 on bearing block 402, and screw lock is passed through.Bearing 409
It is positioned by baffle ring 406.The upper end of left shell 404 and right shell body 407 is provided with upper cover 411.4th potentiometer 403 is mounted on axis
In bearing 402, the output shaft of the 4th potentiometer 403 is locked and is rotated together with right shell body 407 by holding screw 410.Bearing
It is provided with stop screw 405 on seat 402, is used for limiting to the rotational angle of shell.It is provided with O between shell and bearing block 402
Type damped ring 408 generates damping by rubbing, keeps operation more comfortable.The pivot center and third speed reducer 309 of 4th shell are defeated
The pivot center of outlet is vertical, can preferably avoid linking in this way, and makes full use of the flexibility of finger to control each joint
Movement, operation is accurate.
The structure of 5th linkage component 5 is as shown in fig. 7, comprises second support 501 and the 5th potentiometer 507.Second support
501 are connected by screw on the left shell 404 in fourth link component 4, pass through bearing 503 and bearing in second support 501
504 are equipped with shaft 502, and one end (left end in Fig. 4) of shaft 502 is defeated by holding screw 505 and the 5th potentiometer 507
Shaft is locked and is rotated together, and potentiometer shell 506 is fixed by screw and first support 501.It is provided in second support 501
Rack plate 509.The rear portion of potentiometer shell 506 is provided with rear cover 508.It is also equipped between shaft 502 and first support 501
O-shaped damped ring generates damping by rubbing, keeps operation more comfortable.
The structure of rotary knob member 6 is as shown in fig. 7, comprises the 5th shell 605 and the 6th potentiometer 602.5th shell 605 is logical
It crosses in the shaft 502 that sliding bearing 603 is installed in the 5th linkage component 5, the 5th shell 605 can be with respect to shaft 502 freely
Rotation.6th potentiometer 602 is connected in shaft 502, and the output shaft of the 6th potentiometer 602 passes through holding screw and the 5th shell
605 lock and rotate together.The upper end of 5th shell 605 is equipped with button switch 607 by upper cover 606.6th potentiometer 602
Rear portion be provided with rear cover 601.It is provided with O-shaped damped ring 604 between 5th shell 605 and bearing 603, with sliding bearing 603
Friction generates damping, keeps operation more comfortable.
Encoder replacement may be used in each potentiometer.
When operation, palm when held fourth link component can drive turning for the first, second, third, fourth linkage component
It is dynamic, while finger can rotate the 5th linkage component, rotary knob member, and the button switch on control handle component, so just
The manipulation for completing to move mechanical arm corresponding joint by main hand.
Claims (10)
1. a kind of main hand of multi-joint force feedback, it is characterized in that：Including sequentially connected first connecting rod component, second connecting rod component,
Third connecting rod component, fourth link component, the 5th linkage component and rotary knob member pass through to rotate between each linkage component and close
Section connection, is mounted on potentiometer or encoder on each rotary joint, wherein first connecting rod component, second connecting rod component and
Motor and speed reducer is installed between third connecting rod component on the rotary joint of junction, in first connecting rod component motor with slow down
The input terminal of machine connects, and the motor in second connecting rod component and third connecting rod component is connect with speed reducer by toothed belt transmission,
Output end of reducer is connected with corresponding potentiometer or encoder.
2. the main hand of multi-joint force feedback according to claim 1, it is characterized in that：The first connecting rod component, including pedestal
And first shell, first shell are connected on pedestal, and first motor, the first speed reducer, the first current potential are provided in first shell
Meter and first support, first motor are connect with the first speed reducer, first support are fixed in first shell, the first speed reducer is fixed
In first support, the first potentiometer is mounted in first support and is connect with the first speed reducer by transmission mechanism.
3. the main hand of multi-joint force feedback according to claim 1, it is characterized in that：The second connecting rod component, including second
Shell is provided with the second motor, the second speed reducer and the second potentiometer in second shell；Second shell is connected to the first speed reducer
Output end, the second motor connect with the second speed reducer by toothed belt transmission, and the second speed reducer and the second potentiometer are respectively mounted
In second shell, the second potentiometer is connect by transmission mechanism with the second speed reducer.
4. the main hand of multi-joint force feedback according to claim 3, it is characterized in that：The output axis of second speed reducer with
The output axis of first speed reducer is vertical.
5. the main hand of multi-joint force feedback according to claim 1, it is characterized in that：The third connecting rod component, including first
Connecting plate and third shell, third motor, third speed reducer and third potentiometer are provided in third shell, and the first connecting plate connects
The second output end of reducer being connected in second connecting rod component, third shell are connected on the first connecting plate, and third motor passes through
Toothed belt transmission is connect with third speed reducer, and third speed reducer and third potentiometer are installed in shell, and third potentiometer is logical
Transmission mechanism is crossed to connect with third speed reducer.
6. the main hand of multi-joint force feedback according to claim 2,3 or 5, it is characterized in that：The transmission mechanism passes for gear
Motivation structure, driving gear are mounted on the output end of speed reducer, and driven gear is mounted on potentiometer or encoder and and driving tooth
Wheel engagement.
7. the main hand of multi-joint force feedback according to claim 1, it is characterized in that：The fourth link component, including second
Connecting plate, the 4th potentiometer and the 4th shell, the second connecting plate are connected to the third output end of reducer in third connecting rod component,
Bearing block is connected on second connecting plate, shell is mounted on by bearing on bearing block, the 4th potentiometric output shaft and shell
It links together.
8. the main hand of multi-joint force feedback according to claim 7, it is characterized in that：The pivot center of 4th shell and institute
The pivot center for stating third output end of reducer is vertical.
9. the main hand of multi-joint force feedback according to claim 1, it is characterized in that：5th linkage component, including second
Holder and the 5th potentiometer, second support are connected on the shell in fourth link component, and shaft is equipped in second support, the
Five potentiometric output shafts are connect with shaft.
10. the main hand of multi-joint force feedback according to claim 1, it is characterized in that：The rotary knob member, including the 5th shell
With the 6th potentiometer, the 5th shell is installed on by bearing in the shaft in the 5th linkage component, and the 6th potentiometer is connected to
In shaft in five linkage components, the 6th potentiometric output shaft is connect with the 5th shell, and being equipped with button on the 5th shell opens
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820031108.0U CN207682374U (en) | 2018-01-08 | 2018-01-08 | A kind of main hand of multi-joint force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820031108.0U CN207682374U (en) | 2018-01-08 | 2018-01-08 | A kind of main hand of multi-joint force feedback |
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| Publication Number | Publication Date |
|---|---|
| CN207682374U true CN207682374U (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820031108.0U Active CN207682374U (en) | 2018-01-08 | 2018-01-08 | A kind of main hand of multi-joint force feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161883A (en) * | 2018-01-08 | 2018-06-15 | 山东优宝特智能机器人有限公司 | A kind of main hand of force feedback remote operating |
-
2018
- 2018-01-08 CN CN201820031108.0U patent/CN207682374U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161883A (en) * | 2018-01-08 | 2018-06-15 | 山东优宝特智能机器人有限公司 | A kind of main hand of force feedback remote operating |
| CN108161883B (en) * | 2018-01-08 | 2024-01-26 | 山东优宝特智能机器人有限公司 | Force feedback teleoperation master hand |
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