CN214446455U - Six-degree-of-freedom haptic interaction device and robot system - Google Patents

Abstract

The application provides a six-degree-of-freedom touch interaction device and a robot system, and relates to the technical field of physical interaction devices. Three groups of driving mechanisms connected in parallel are adopted, each group of driving mechanism forms a two-degree-of-freedom driving mechanism, and then the three groups of driving mechanisms connected in parallel form six degrees of freedom. Three sets of actuating mechanism adopt asymmetric arrangement form, are isosceles triangle and set up, greatly increased actuating mechanism's motion space and space utilization, and effectively reduced actuating mechanism's size. The six-degree-of-freedom touch interaction device has the characteristic of high precision of the parallel mechanism, increases the motion space and the space utilization rate of the driving mechanism, and has wide applicability.

Description

Six-degree-of-freedom haptic interaction device and robot system

Technical Field

The application relates to the technical field of physical interaction devices, in particular to a six-degree-of-freedom touch interaction device and a robot system.

Background

Haptic interactions refer to those human-machine interactions that are used for hand feel, experience, and operation in a virtual environment. The tactile interaction can feel the pose and the acting force of the hand of the user on one hand, and can feed back force information to the user on the other hand. By means of suitable sensors and actuators, and by using the state function of the hand relative to the object to generate force commands, realistic force position transfer information between the person and the virtual object can be generated.

The existing touch interactive robot can be divided into a series-based mechanism, a parallel-based mechanism and a series-parallel hybrid mechanism according to the mechanism configuration. The parallel mechanism is characterized in that all the drives of the parallel mechanism are fixedly arranged on the base, the system inertia is small, the back drive performance is good, the inertia influence on the system due to the increase of the degree of freedom and the drive quantity is small, the system accumulation error is avoided, the high-precision, high-rigidity and high-bandwidth characteristics are achieved, the real force touch feedback can be simulated more easily, and the working space of the parallel mechanism is small, so that the parallel mechanism is limited more during use and is not beneficial to wide application.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application aims to provide a six-degree-of-freedom touch interaction device and a robot system, which can increase the working space and have wide applicability.

One aspect of the embodiment of the application provides a six-degree-of-freedom touch interaction device, including deciding the platform, establishing three parallelly connected actuating mechanism of three groups on deciding the platform and the reconsitution handle of being connected with three actuating mechanism of group respectively, actuating mechanism is two degree-of-freedom actuating mechanism, and three groups actuating mechanism is isosceles triangle and sets up, through three groups actuating mechanism moves, in order to drive reconsitution handle motion, the reconsitution handle is used for the touch interaction.

Optionally, the driving mechanism includes two power members and four rods, the four rods are respectively a first rod, a second rod, a third rod and a fourth rod which are connected in sequence, a space is formed between the first rod and the fourth rod, so that the four rods form a projection of a pentagonal structure on the fixed platform, and the two power members are respectively connected with the first rod and the fourth rod.

Optionally, the driving mechanism further comprises a connecting pin, the connecting pin penetrates through the two connected rod pieces and is fixed through a nut, and a deep groove ball bearing is arranged between the connecting pin and one of the rod pieces; the length of the rod pieces is a fixed value, or the rod pieces are all telescopic rod pieces; the isolation sleeve extends into the two connected rod pieces, and the deep groove ball bearing is sleeved on the isolation sleeve.

Optionally, the driving mechanism comprises two linear motors cross-connected with each other, and the reconfiguration handle and one of the linear motors are connected to a cross point of the two linear motors.

Optionally, the driving mechanisms are planar driving mechanisms, and three groups of the driving mechanisms are distributed on the same height plane or two parallel height planes.

Optionally, two ends of the first rod, two ends of the second rod, two ends of the third rod, and two ends of the fourth rod are located on different height planes, respectively.

Optionally, the device further comprises a connecting rod, and two ends of the connecting rod are respectively connected with the reconfiguration handle and the driving mechanism.

Optionally, the connecting rod and the driving mechanism are connected by a rotational joint, and the rotational joint is a three-degree-of-freedom rotational joint.

Optionally, the rotary joint includes two joint bodies, and a first rotary joint and a second rotary joint respectively corresponding to the two joint bodies, where the first rotary joint and the second rotary joint both include a connector and a connecting rod connected to the connector, and the first rotary joint and the second rotary joint are connected; the two connecting rods respectively extend into the corresponding joint bodies, the connecting rods are respectively connected with the joint bodies through a pair of oppositely arranged deep groove ball bearings, a pair of oppositely arranged thrust ball bearings, the pair of thrust ball bearings are positioned between the pair of deep groove ball bearings, and the thrust ball bearings and the deep groove ball bearings are attached.

Optionally, a fixed lug plate is further arranged at the other end of the connecting rod on the second rotating joint, the fixed lug plate extends into the first rotating joint, and the fixed lug plate and the first rotating joint are connected through a rotating pin shaft; the rotating pin shaft is further sleeved with a deep groove ball bearing.

Optionally, the connecting rod and the reconstruction handle are connected in a sliding manner through a sliding block, two opposite clamping lugs are arranged on the sliding block, and one end of the connecting rod extends into the two clamping lugs and is connected with the two clamping lugs through a pin; the length of connecting rod is the definite value, perhaps the connecting rod is scalable connecting rod.

Optionally, when the driving mechanism comprises two power members, the power members of three groups of driving mechanisms are located outside a projection area formed by three connecting rods on the fixed platform; or the power parts of the three groups of driving mechanisms are positioned in a projection area formed by the three connecting rods on the fixed platform.

In another aspect of the embodiments of the present application, a robot system is provided, which includes at least one set of the above six-degree-of-freedom haptic interaction device, a controller, at least one pressure sensor and a robot, where the at least one pressure sensor is connected to the controller, and the at least one pressure sensor is disposed on the corresponding reconfiguration handle, and force information of the robot is fed back to the pressure sensor through the controller, and is sensed by the reconfiguration handle.

The six-degree-of-freedom haptic interaction device and the robot system provided by the embodiment of the application adopt three groups of driving mechanisms connected in parallel, wherein each group of driving mechanisms forms a two-degree-of-freedom driving mechanism, and then the three groups of driving mechanisms connected in parallel form six degrees of freedom. Three sets of actuating mechanism adopt asymmetric arrangement form, are isosceles triangle and set up, greatly increased actuating mechanism's motion space and space utilization, and effectively reduced actuating mechanism's size. The three groups of driving mechanisms are respectively connected with the reconstruction handle, the reconstruction handle is driven to move through the movement of the three groups of driving mechanisms, and the reconstruction handle is used for touch interaction, so that the six-degree-of-freedom touch interaction device has the characteristic of high precision of the parallel mechanism, increases the movement space and space utilization rate of the driving mechanisms, and is wide in applicability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram of a six-DOF haptic interaction device provided in this embodiment;

FIG. 2 is a second schematic structural diagram of a six-DOF haptic interaction device according to the present embodiment;

FIG. 3 is a schematic diagram of a six-degree-of-freedom haptic interaction device formed as one of an isosceles triangle;

FIG. 4 is a schematic diagram of a partial structure of a six-DOF haptic interaction device provided in this embodiment;

FIG. 5 is a second schematic diagram of a partial structure of a six-DOF haptic interaction device provided in this embodiment;

FIG. 6 is a third schematic diagram of a partial structure of a six-DOF haptic interaction device provided in this embodiment;

FIG. 7 is a cross-sectional view taken along line A-A of FIG. 6;

FIG. 8 is a third schematic structural diagram of a six-DOF haptic interaction device according to the present embodiment;

FIG. 9 is a fourth schematic view of a six-DOF haptic interaction device according to the present embodiment;

FIG. 10 is a second schematic diagram of the six-degree-of-freedom haptic interaction device of the present embodiment forming an isosceles triangle;

FIG. 11 is a schematic structural diagram of a linear motor of the six-DOF haptic interaction device provided in this embodiment;

FIG. 12 is a diagram illustrating a partial structure of a six-DOF haptic interaction device according to the present embodiment;

FIG. 13 is a schematic cross-sectional view of a rotational joint of a six-DOF haptic interaction device provided in accordance with an embodiment;

FIG. 14 is a schematic diagram of a partial structure of a six-DOF haptic interaction device provided in this embodiment;

FIG. 15 is a schematic diagram of six-degree-of-freedom haptic interaction human-computer interaction provided by the present embodiment.

Icon: 101-fixed platform; 100-a reconfigurable handle; 110-a movable platform; 120-a slide block; 121-clamping lugs; 122-a pin; 200-a connecting rod; 201-ear plate; 300-a drive mechanism; 301-a power element; 302-a connection unit; 304-an adjustable linkage; 305-connecting pins; 306-a spacer sleeve; 307-bearing caps; 308-deep groove ball bearing; 309-nut; 3011-a fixing frame; 310-a first bar; 320-a second bar; 330-third bar; 340-a fourth rod; 350-a linear motor; 351-intersection points; 400-a revolute joint; 401-a connecting head; 402-a connecting rod; 403-thrust ball bearing; 404-deep groove ball bearings; 405-a cushion block; 406-a bearing cap; 410-a joint body; 420-a first rotary joint; 430-a second rotary joint; 431-fixing ear plate; 432-deep groove ball bearing; 433-rotating the pin shaft.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

It should also be noted that, unless expressly stated or limited otherwise, the terms "disposed" and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The existing touch interactive robot can be divided into a series-based mechanism, a parallel-based mechanism and a series-parallel hybrid mechanism according to the mechanism configuration. The series mechanism occupies a small area and can realize a larger working space, but the series superposition design of the mechanism causes large system inertia, the driving quantity is increased along with the increase of the degree of freedom of the system, the increase of the driving quantity further increases the inertia of the system, and in addition, the series mechanism also has the defects of large friction force, poor back driving property, low precision, low rigidity, slow dynamic response and the like, and is not beneficial to the realization of force touch feedback; the drives of the parallel mechanism are all fixedly arranged on the base, so that the system has small inertia, good back driving performance is realized, the influence of the increase of the degree of freedom and the drive quantity on the inertia of the system is small, no system accumulated error exists, the characteristics of high precision, high rigidity and high bandwidth are realized, the real force touch feedback can be simulated more easily, and the working space of the equipment is smaller compared with that of a serial mechanism; the serial-parallel hybrid mechanism generally provides translational freedom degree by a serial mechanism part, and provides rotational freedom degree by a parallel mechanism part, so that the inertia of the system is reduced to a certain extent, but the problems of large system inertia and poor back drive caused by the fact that the random mechanism is driven to move are still existed, and the real force touch effect is difficult to realize.

The above three mechanisms have many disadvantages in the number of degrees of freedom, realization of haptic feeling, and the like. But from the characteristics of the mechanism, the parallel mechanism can more easily realize real force tactile feedback. However, the working space of the parallel mechanism is mainly limited by factors such as interference between the rods and small movement range of the kinematic pair, so that how to solve the limiting factor which restricts the characteristics of the parallel mechanism has important significance.

On the basis, the embodiment of the application provides a six-degree-of-freedom touch interaction device which can solve the problem that the working space of a parallel mechanism is limited.

Specifically, as shown in fig. 1, the embodiment of the present application provides a six-degree-of-freedom haptic interaction device, which includes a fixed platform 101, three groups of driving mechanisms 300 connected in parallel and disposed on the fixed platform 101, and a reconfiguration handle 100 connected to the three groups of driving mechanisms 300, where the driving mechanisms 300 are two-degree-of-freedom driving mechanisms, the three groups of driving mechanisms 300 are disposed in an isosceles triangle, and the three groups of driving mechanisms 300 move to drive the reconfiguration handle 100 to move, and the reconfiguration handle 100 is used for haptic interaction.

The three groups of driving mechanisms 300 are arranged in an isosceles triangle shape; the three sets of driving mechanisms 300 are connected in parallel, each driving mechanism 300 forms a two-degree-of-freedom driving mechanism, and then the three sets of driving mechanisms 300 form six degrees of freedom.

The three groups of driving mechanisms 300 are arranged in an isosceles triangle shape, and an asymmetric arrangement mode is adopted, so that the movement space and the space utilization rate of the driving mechanisms 300 are greatly increased, and the size of the driving mechanisms 300 is effectively reduced.

The three sets of driving mechanisms 300 are based on the fixed platform 101, the driving mechanisms 300 may be planar driving mechanisms, and when the driving mechanisms 300 may be planar driving mechanisms, the three sets of driving mechanisms 300 may be distributed on two parallel height planes, or may be distributed on the same height plane.

When the three sets of driving mechanisms 300 are distributed on two parallel height planes, the interference between the driving mechanisms 300 can be avoided to the maximum extent, so that the space structure shown in fig. 1 is formed.

The six-degree-of-freedom haptic interaction device provided by the embodiment of the application adopts three groups of driving mechanisms 300 connected in parallel, each group of driving mechanisms 300 forms a two-degree-of-freedom driving mechanism, and then the three groups of driving mechanisms 300 connected in parallel form six degrees of freedom. The three groups of driving mechanisms 300 are arranged in an asymmetrical mode and in an isosceles triangle shape, so that the movement space and the space utilization rate of the driving mechanisms 300 are greatly increased, and the size of the driving mechanisms 300 is effectively reduced. The three groups of driving mechanisms 300 are respectively connected with the reconstruction handle 100, the reconstruction handle 100 is driven to move through the movement of the three groups of driving mechanisms 300, and the touch interaction is completed through the reconstruction handle 100, so that the six-degree-of-freedom touch interaction device has the characteristic of high precision of a parallel mechanism and the advantage of large working space, and is wide in applicability after the working space is increased.

The driving mechanism 300 comprises two power members 301, the driving mechanism 300 acts through the two power members 301, the two power members 301 form two degrees of freedom, and then the three groups of driving mechanisms 300 form six degrees of freedom.

Specifically, taking the three sets of driving mechanisms 300 distributed on two parallel height planes as an example, as shown in fig. 2, the driving mechanism 300 located at the middle position is located on one height plane, the two driving mechanisms 300 located at the two sides are located on the same height plane, and the height plane where the driving mechanism 300 located at the middle position is located is higher than the height plane where the two driving mechanisms 300 located at the two sides are located. Then, the length of the two links 200 connected to the two driving mechanisms 300 located at both sides and the length of the link 200 connected to the driving mechanism 300 located at the middle position are not equal, and an asymmetric arrangement is obtained. The midpoints of the connecting lines of the two power members 301 of each set of driving mechanisms 300 are A, B, C respectively, and the connecting lines are A, B, C, so that an isosceles triangle ABC can be formed as shown in fig. 3, wherein AB is AC, so that the three sets of driving mechanisms 300 are arranged in an isosceles triangle.

On the other hand, the drive mechanism 300 is connected to the reconfiguration handle 100 through the link 200, and the position of the link 200 is related to the arrangement of the drive mechanism 300. The connection points of the three connecting rods 200 and the reconfiguration handle 100 are respectively a ', B ', C ', and a ', B ', C ' to form an isosceles triangle a ' B ' C ' as shown in fig. 3, wherein a ' B ' is a ' C ', so that the three connecting rods 200 are arranged in an isosceles triangle.

The driving mechanism 300 formed by the two power members 301 can form an outer triangle and can also form an inner triangle.

When the outer triangle is formed, the power members 301 of the three groups of driving mechanisms 300 are all located outside the orthographic projection area formed by the three connecting rods 200 on the plane (i.e. the fixed platform 101) where the driving mechanisms 300 are located, so that the structure shown in fig. 1 is formed.

When the inner triangle is formed, the power members 301 of the three groups of driving mechanisms 300 are positioned in or close to the orthographic projection area formed by the three connecting rods 200 on the plane (i.e. the fixed platform 101) where the driving mechanisms 300 are positioned, so that the structure shown in fig. 8 is formed.

The fact that the power members 301 of the three sets of driving mechanisms 300 are close to the orthographic projection area formed by the three connecting rods 200 on the plane (namely the fixed platform 101) where the driving mechanisms 300 are located means that, among the six power members 301 of the three sets of driving mechanisms 300, part of the power members 301 are located in the orthographic projection area formed by the three connecting rods 200 on the fixed platform 101, and part of the power members 301 are located outside the orthographic projection area formed by the three connecting rods 200 on the fixed platform 101, but even if part of the power members 301 are located outside the orthographic projection area formed by the three connecting rods 200 on the fixed platform 101, the power members are close to the orthographic projection area.

For example, it is possible that one of the two power members 301 of a set of drive mechanisms 300 is located within the forward projection region and the other is located outside the forward projection region.

As shown in fig. 2, the drive mechanism 300 is driven by two power members 301, the drive mechanism 300 is connected to the reconstitution handle 100, and the reconstitution handle 100 is driven by the drive mechanism 300.

The reconfiguration handle 100 is used for tactile interaction, for example, when the six-degree-of-freedom tactile interaction device is electrically connected with a robot, the robot can be remotely controlled by holding the reconfiguration handle 100, force information on the reconfiguration handle 100 is fed back to a user, and the user can feel the force information on the reconfiguration handle 100 by holding the reconfiguration handle 100 in a virtual environment, so as to experience and remotely control the robot, thereby completing the human-computer interaction.

Three groups of driving mechanisms 300 connected in parallel are adopted, each group of driving mechanisms 300 is driven to act through two power pieces 301, and then the three groups of driving mechanisms 300 connected in parallel form six degrees of freedom. The three groups of driving mechanisms 300 are distributed on two parallel height planes so as to avoid the mutual interference among the driving mechanisms 300 to the maximum extent; the three groups of driving mechanisms 300 are arranged in an asymmetrical mode and in an isosceles triangle shape, so that the movement space and the space utilization rate of the driving mechanisms 300 are greatly increased, and the size of the driving mechanisms 300 is effectively reduced. Therefore, the six-degree-of-freedom touch interaction device has the characteristic of high precision of the parallel mechanism and the advantage of large working space, and is wide in applicability after the working space is enlarged.

Specifically, as shown in fig. 4, the driving mechanism 300 further includes four rods, which are a first rod 310, a second rod 320, a third rod 330 and a fourth rod 340 connected in sequence, respectively, the first rod 310 and the fourth rod 340 are spaced apart from each other, so that the four rods form a projection of a pentagonal structure on the fixed platform 101, and the two power members 301 are connected to the first rod 310 and the fourth rod 340, respectively.

When the driving mechanism 300 is a planar driving mechanism, four rods are all arranged in parallel with the fixed platform 101, the four rods form a rod group in a pentagonal structure, the four rods are connected through end portions, wherein the first rod 310 is connected with the second rod 320, the second rod 320 is connected with the third rod 330, the third rod 330 is connected with the fourth rod 340, the first rod 310 is separated from the fourth rod 340, and the fourth rod 340 is not connected, so that a virtual edge can be formed between the first rod 310 and the fourth rod 340, and the four rods form a pentagonal structure. Two power members 301 are respectively connected to the other ends of the first rod member 310 and the fourth rod member 340.

Thus, the two power members 301 respectively drive the first rod 310 and the fourth rod 340 to move, the first rod 310 drives the second rod 320 to move, and the fourth rod 340 drives the third rod 330 to move, so that the two power members 301 drive the rod set of the pentagonal structure to move, so as to drive the reconfiguration handle 100 to move.

The driving mechanism 300 may also be a non-planar driving mechanism, in which the four rods are all disposed in an inclined manner relative to the fixed platform 101, and two ends of the first rod 310, two ends of the second rod 320, two ends of the third rod 330, and two ends of the fourth rod 340 are located on different height planes respectively.

Illustratively, as shown in fig. 5, each rod is arranged in a zigzag shape, two ends of each rod are located on different height planes, and two ends of each rod are parallel to the fixed platform 101, so that four rods form a spatial three-dimensional structure. This arrangement provides the drive mechanism 300 with higher rigidity.

The power member 301 may be a motor, and the rod member is driven by the motor to move. The two power members 301 respectively drive the first rod member 310 and the fourth rod member 340 to move, and the first rod member 310 and the fourth rod member 340 are not connected, so that the driving mechanism 300 forms two degrees of freedom by the two power members 301, and the driving mechanism 300 moves along the two degrees of freedom.

The fixed platform 101 is provided with a fixed frame 3011, and the two power components 301 are respectively arranged on the fixed frame 3011 and respectively connected with the first rod component 310 and the fourth rod component 340.

The lengths of the first rod 310, the second rod 320, the third rod 330 and the fourth rod 340 are constant, so that the four rods are all fixed-length rods.

Or the first rod 310, the second rod 320, the third rod 330 and the fourth rod 340 can be telescopically arranged to change the length of the rods to adapt to different requirements.

Illustratively, each rod comprises two connecting units 302, the two connecting units 302 are connected through an adjustable connecting rod 304, a plurality of threaded holes are formed in the end portions of the two connecting units 302, holes are correspondingly formed in the two ends of the adjustable connecting rod 304, and then the two ends of the adjustable connecting rod 304 are connected with the two connecting units 302 respectively. The length of the rod is adjustable by replacing the adjustable links 304 of different lengths.

As shown in fig. 6, the driving mechanism 300 further comprises a connecting pin 305, the connecting pin 305 passes through two connected rods and is fixed by a nut 309, and a deep groove ball bearing 308 is arranged between the connecting pin 305 and one of the rods.

As shown in fig. 7, a connecting pin 305 is inserted through the end of the two connecting rods, through holes are respectively formed in the two connecting rods, the connecting pin 305 penetrates through the through holes from one end to connect the two connecting rods, and the other end is screwed on the connecting pin 305 through a nut 309 to fix the two connecting rods.

Wherein, a deep groove ball bearing 308 is arranged in the through hole of the rod piece at the bottom, the deep groove ball bearing 308 is fixed by a bearing cover 307, and the connecting pin 305 passes through the deep groove ball bearing 308. The deep groove ball bearing 308 is primarily loaded radially and may be loaded both radially and axially. When it is subjected to only radial loads, the contact angle is zero. When the deep groove ball bearing 308 has a large radial play, the deep groove ball bearing has the performance of an angular contact bearing and can bear a large axial load, the friction coefficient of the deep groove ball bearing 308 is small, and the limit rotating speed is high.

The deep groove ball bearing 308 has a wide range of applications, is suitable for operation at high or extremely high rotational speeds, is very durable, and does not need to be maintained frequently. The bearing has the advantages of small friction coefficient, high limit rotating speed, simple structure, low manufacturing cost and easy achievement of higher manufacturing precision.

The two rod pieces are connected through the deep groove ball bearing 308, so that the moving precision of the two rod pieces is higher, one rod piece drives the other rod piece to move better, and the rod piece group with the pentagonal structure moves more flexibly and has higher response speed.

And, still be equipped with the separation cover 306 between two member, separation cover 306 stretches into two member of connecting, and deep groove ball bearing 308 is established on separation cover 306.

The isolation sleeve 306 can be made of rubber materials, the isolation sleeve 306 extends into through holes of the two rod pieces, the connecting pin 305 extends into the isolation sleeve 306, the deep groove ball bearing 308 is sleeved on the isolation sleeve 306, the isolation sleeve 306 isolates the connecting pin 305 from the two rod pieces, direct contact friction between the connecting pin 305 and the two rigid structures of the rod pieces is avoided, and friction between the connecting pin 305 and the rod pieces during movement can be reduced through the isolation sleeve 306.

The driving mechanism 300 may also employ the form of a linear motor 350, and specifically, as shown in fig. 9, the driving mechanism 300 includes two linear motors 350 cross-coupled to each other, and the reconfigurable handle 100 and one of the linear motors 350 are coupled to a cross point 351 of the two linear motors 350.

As shown in fig. 11, two linear motors 350 intersect to form an intersection 351, and the reconstruction handle 100 is connected to one of the linear motors 350 through the intersection 351.

One linear motor 350 forms one degree of freedom, two linear motors 350 connected in cross form two degrees of freedom, two linear motors 350 form one two-degree-of-freedom planar driving mechanism, and three sets of such driving mechanisms 300 form six degrees of freedom.

In the three sets of driving mechanisms 300 formed by the linear motors 350, the driving mechanisms may be distributed on the same height plane or on two parallel height planes.

As shown in fig. 10, the driving mechanism 300 located at the middle position is located at a height plane, the two driving mechanisms 300 located at the two sides are located at the same height plane, and the driving mechanism 300 located at the middle position is located at a height plane higher than the height plane of the two driving mechanisms 300 located at the two sides. Then, the length of the two links 200 connected to the two driving mechanisms 300 located at both sides and the length of the link 200 connected to the driving mechanism 300 located at the middle position are not equal, and an asymmetric arrangement is obtained. The intersections 351 of the two linear motors 350 of each set of driving mechanisms 300 are D, E, F respectively, and are connected D, E, F to form an isosceles triangle DEF as shown in fig. 10, where DE is DF, so that the three sets of driving mechanisms 300 are arranged in an isosceles triangle.

Similarly, the driving mechanism 300 formed by two linear motors 350 and the three connecting rods 200 correspondingly connected therewith form an isosceles triangle D 'E' F 'as shown in fig. 10, wherein D' E ═ D 'F' makes the three connecting rods 200 arranged in an isosceles triangle.

The restructuring handle 100 is connected with the driving mechanism 300 through a connecting rod 200, two ends of the connecting rod 200 are respectively connected with the restructuring handle 100 and the driving mechanism 300, and then the three groups of driving mechanisms 300 and the restructuring handle 100 are respectively connected through three connecting rods 200.

As shown in fig. 12, when the link 200 is connected to the driving mechanism 300, the link 200 is connected to the driving mechanism 300 by a rotary joint 400, and the rotary joint 400 is a three-degree-of-freedom rotary joint 400. The three-degree-of-freedom rotary joint 400 is adopted to replace a spherical hinge kinematic pair in the prior art, so that the motion range of the passive joint is greatly increased.

Specifically, as shown in fig. 13, the rotary joint 400 includes two joint bodies 410, and a first rotary joint 420 and a second rotary joint 430 respectively disposed corresponding to the two joint bodies 410, the first rotary joint 420 and the second rotary joint 430 each include a connecting head 401 and a connecting rod 402 connected to the connecting head 401, and the first rotary joint 420 and the second rotary joint 430 are connected.

The first rotary joint 420 is connected to one joint body 410, the second rotary joint 430 is connected to the other joint body 410, and the first rotary joint 420 is connected to the second rotary joint 430, and the two joint bodies 410 are connected by the first rotary joint 420 and the second rotary joint 430.

The two connecting rods 402 extend into the corresponding joint bodies 410 respectively, the connecting rods 402 are connected with the joint bodies 410 through a pair of oppositely arranged deep groove ball bearings 404, a pair of oppositely arranged thrust ball bearings 403, the pair of thrust ball bearings 403 are located between the pair of deep groove ball bearings 404, and the thrust ball bearings 403 and the deep groove ball bearings 404 are attached.

Taking the example of the connection of the first rotary joint 420 and one joint body 410, the first rotary joint 420 includes a connecting head 401 and a connecting rod 402, and the connecting head 401 is connected to the connecting rod 402. A through hole is arranged on the joint body 410, the connecting rod 402 extends into the through hole of the joint body 410, and a pair of oppositely arranged deep groove ball bearings 404 and a pair of oppositely arranged thrust ball bearings 403 are also arranged between the connecting rod 402 and the joint body 410.

The pair of oppositely disposed deep groove ball bearings 404 includes two deep groove ball bearings 404, and the two deep groove ball bearings 404 are oppositely disposed. The pair of thrust ball bearings 403 disposed opposite to each other includes two thrust ball bearings 403, and the two thrust ball bearings 403 are disposed opposite to each other. The pair of thrust ball bearings 403 is located between the pair of deep groove ball bearings 404, and the thrust ball bearing 403 on the same side and the deep groove ball bearing 404 on the same side are attached to each other in the radial direction. The deep groove ball bearing 404 is used for radial positioning, the thrust ball bearing 403 is used for axial bearing, and the first rotary joint 420 and the joint body 410 are matched to have better performance.

Illustratively, two deep groove ball bearings 404 are respectively disposed near both ends of the joint body 410 and are respectively fixed by bearing caps 406; two cushion blocks 405 are respectively arranged at two ends of the joint body 410, the two deep groove ball bearings 404 are positioned between the two cushion blocks 405, and the end parts of the deep groove ball bearings 404 are attached to the corresponding cushion blocks 405; two thrust ball bearings 403 are respectively located between the two deep groove ball bearings 404, and the two thrust ball bearings 403 are arranged near the center of the joint body 410. The connection structure of the second rotating joint 430 and the other joint body 410 is the same as that of the first rotating joint 420, and thus, the description thereof is omitted.

The other end of the connecting rod 402 on the second rotating joint 430 is further provided with a fixing lug plate 431, the fixing lug plate 431 extends into the first rotating joint 420, and the fixing lug plate 431 is connected with the first rotating joint 420 through a rotating pin 433.

The second rotary joint 430 includes a fixing lug 431 in addition to the connection head 401 and the connection rod 402. The fixed lug plate 431 of the second rotating joint 430 extends into the first rotating joint 420, the fixed lug plate 431 is connected with the first rotating joint 420 through a rotating pin 433, and a deep groove ball bearing 432 is further sleeved on the rotating pin 433.

The rotary joint 400 can functionally replace a spherical hinge kinematic pair in the prior art, but has better performance than the spherical hinge kinematic pair, has a larger range of rotation angle, can reach 90 degrees, and has a rotation range of only about 50 degrees in a common spherical hinge. The joint is internally provided with a multi-bearing combined structure, so that the joint can bear axial tension and compression loads and radial loads. The application of the revolute joint 400 to the parallel mechanism concerned greatly improves the movement space of the mechanism.

As shown in fig. 14, when the connecting rod 200 is connected to the reconfiguration handle 100, the connecting rod 200 is connected to the reconfiguration handle 100 by sliding through the slider 120, two opposite clamping lugs 121 are arranged on the slider 120, and one end of the connecting rod 200 is provided with a lug plate 201; the ear plate 201 extends into the two clamping ears 121 and is connected by a pin 122.

The linkage rod 200 is slidably coupled to the reconfiguration handle 100 by the slider 120 to change the position of the linkage rod 200 on the reconfiguration handle 100. Illustratively, the reconfiguration handle 100 is arranged on the movable platform 110, a plurality of groups of threaded holes are uniformly distributed in 360 degrees on the movable platform 110, the sliding block 120 is connected with the movable platform 110 through the threaded holes, and the included angles of the three connecting rods 200 relative to the movable platform 110 can be changed by adjusting the connecting positions of the sliding block 120 and the threaded holes, so that the movement performance of the mechanism is changed. The slider 120 is provided with two opposite clamping lugs 121, one end of the connecting rod 200 extends into the two clamping lugs 121 and is connected through a pin 122, and the pin 122 penetrates through one end of the connecting rod 200 to connect the connecting rod 200 and the slider 120.

In addition, the length of the connecting rod 200 is a fixed value, or the connecting rod 200 is arranged in a telescopic manner, so that the length of the connecting rod 200 is changed, and different scene requirements can be conveniently met. The connecting rod 200 can adopt the above threaded connection mode in a telescopic manner, the connecting rod 200 comprises two sub-connecting rods 200 which are connected with each other, a plurality of groups of threaded holes are formed in the end part connected with the two sub-connecting rods 200, one sub-connecting rod 200 is sleeved in the other sub-connecting rod 200, the two sub-connecting rods 200 are connected through the threaded holes, the length of the connecting rod 200 can be changed by connecting the threaded holes at different positions, and different requirements can be met.

The six-degree-of-freedom touch interaction device simplifies the configuration of the existing parallel mechanism, only three groups of driving mechanisms 300 above the fixed platform 101 are provided, and when the three groups of driving mechanisms 300 are distributed on two height planes, the interference between rods is avoided to the maximum extent; the three-degree-of-freedom rotary joint 400 is adopted to replace the existing spherical hinge kinematic pair, so that the motion range of the passive joint is greatly increased, and the three groups of driving mechanisms 300 of the mechanism adopt an asymmetric arrangement form, so that the motion space and the space utilization rate of the mechanism are greatly increased; meanwhile, the six-degree-of-freedom touch interaction device has reconfigurable characteristics, and various parameters of the mechanism, including the rod length of each rod piece of the driving mechanism 300, the position of the driving mechanism 300, the lengths of the three connecting rods 200, the included angles of the three connecting rods 200 in the reconfigurable handle 100 and the like, can be adjusted, so that the six-degree-of-freedom touch interaction device meets the requirements of working spaces of different applications, has the characteristic of high precision of a parallel mechanism, and has the advantage of large working space.

The six-degree-of-freedom touch interaction device provided by the embodiment of the application has the advantages of small inertia and high control precision, and can be applied to various fields needing to implement physical interaction tasks. Upon completion of the physical interaction task, as shown in fig. 15, the reconfigurable handle 100 is held by the hand to perform the physical interaction task of human-computer interaction. For example, the device can be applied to the field of rehabilitation robots for performing rehabilitation training of limb movement functions; taking rehabilitation training as an example, the rehabilitation patient holds the reconstruction handle 100, and the rehabilitation patient is driven to do rehabilitation exercise of the hand by the movement of the reconstruction handle 100. The method can also be applied to the occasions of high-precision touch interaction tasks, such as the fields of medical robots, remote operation and the like. When the method is applied to remote control, taking training operation of a intern as an example, a virtual scene can simulate the situation that the intern uses a scalpel for operation, the six-degree-of-freedom touch interactive device and the virtual scene are electrically connected through the controller, a trainer holds the reconstruction handle 100, and feels the situation that the scalpel is held for operation in the virtual scene, if the scalpel in the virtual scene encounters a barrier, the barrier is fed back to the reconstruction handle 100 through the electrical connection, the trainer can feel the situation of the barrier through force information fed back by the reconstruction handle 100, the trainer applies force to the reconstruction handle 100, and the situation that the scalpel further cuts the barrier is simulated and increased in force through the reconstruction handle 100; or training personnel can simulate the situation that the scalpel bypasses obstacles by driving the reconstruction handle 100 to move to different directions, and man-machine interaction is realized through physical touch.

Different interaction tasks can be realized through six-degree-of-freedom touch interaction devices with different groups. The single-group six-degree-of-freedom touch interaction device can complete a single-side touch interaction task; the bilateral tactile interaction task can be carried out by adopting the combination of two groups of six-degree-of-freedom tactile interaction devices; the combination of three or more than six-degree-of-freedom touch interaction devices can realize single-side and double-side touch interaction tasks of multiple persons.

The embodiment of the application also discloses a robot system, which comprises at least one group of six-degree-of-freedom touch interaction devices, a controller, at least one pressure sensor and a robot, wherein the at least one pressure sensor and the robot are respectively connected with the controller, the at least one pressure sensor is arranged on the corresponding reconstruction handle 100, force information of the robot is fed back to the pressure sensor through the controller, and the force information is sensed through the reconstruction handle 100.

The motion of the robot can be fed back to the restructuring handle 100 through the controller, so that an operator holding the restructuring handle 100 feels the force feedback to feel the reality of the operation.

In addition, the pressure sensor on the reconstruction handle 100 can also detect the pressure acting on the reconstruction handle 100 and feed back the pressure to the controller, and the controller can control different actions of the robot according to the pressure on the reconstruction handle 100, so that the aim of remotely operating the robot through the reconstruction handle 100 is fulfilled.

The number of the six-degree-of-freedom touch interaction devices can be set into one group, two groups or three or more groups according to specific requirements, the reconstruction handle 100 of each group of six-degree-of-freedom touch interaction devices is respectively provided with a pressure sensor for detecting the pressure on the reconstruction handle 100, and the multiple groups of six-degree-of-freedom touch interaction devices can be controlled through a general controller.

Taking the training operation of the intern as an example, the scalpel can be regarded as a robot, the training personnel remotely control the movement of the scalpel through the reconstruction handle 100, and meanwhile, the scalpel encounters a barrier during the movement and is fed back to the reconstruction handle 100 through the controller, so that the training personnel really feel the condition of operating the scalpel.

On the other hand, the controller may also be connected to the power member 301, and the controller may control the power parameter of the power member 301 to be adjusted by reconstructing the force information fed back to the operator by the handle 100, so as to change the motion of the six-degree-of-freedom haptic interaction device.

The robotic system incorporates the same structure and benefits as the six degree of freedom haptic interface device in the previous embodiment. The structure and advantages of the six-degree-of-freedom haptic interaction device have been described in detail in the foregoing embodiments, and are not repeated herein.

The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (13)

1. The six-degree-of-freedom touch interaction device is characterized by comprising a fixed platform, three groups of driving mechanisms which are arranged on the fixed platform in parallel and three groups of reconstruction handles which are respectively connected with the three groups of driving mechanisms, wherein the driving mechanisms are two-degree-of-freedom driving mechanisms, the three groups of driving mechanisms are arranged in an isosceles triangle shape, the three groups of driving mechanisms move to drive the reconstruction handles to move, and the reconstruction handles are used for touch interaction.

2. The six-degree-of-freedom haptic interaction device of claim 1, wherein the driving mechanism includes two power members and four levers, the four levers are respectively a first lever, a second lever, a third lever and a fourth lever connected in sequence, the first lever and the fourth lever are spaced apart from each other so that the four levers form a pentagonal projection onto the fixed platform, and the two power members are respectively connected to the first lever and the fourth lever.

3. The six degree-of-freedom haptic interaction device of claim 2, wherein the driving mechanism further comprises a connection pin passing through two connected rods and fixed by a nut, wherein a deep groove ball bearing is provided between the connection pin and one of the rods; the length of the rod pieces is a fixed value, or the rod pieces are all telescopic rod pieces; the isolation sleeve extends into the two connected rod pieces, and the deep groove ball bearing is sleeved on the isolation sleeve.

4. The six degree-of-freedom haptic interaction device of claim 1, wherein the drive mechanism comprises two linear motors cross-coupled to each other, the reconfiguration handle and one of the linear motors being coupled to a cross-point of the two linear motors.

5. A six degree-of-freedom haptic interaction device according to any of claims 1 to 4, wherein the actuation mechanisms are planar actuation mechanisms, and three sets of actuation mechanisms are distributed on the same elevation plane or on two parallel elevation planes.

6. The six-degree-of-freedom haptic interaction device of claim 2 or 3, wherein two ends of the first rod, two ends of the second rod, two ends of the third rod, and two ends of the fourth rod are located at different height planes, respectively.

7. The six-degree-of-freedom haptic interaction device of claim 2, further comprising a link, wherein two ends of the link are respectively connected to the reconfiguration handle and the driving mechanism.

8. The six degree-of-freedom haptic interaction device of claim 7, wherein the linkage and the driving mechanism are connected by a rotational joint, the rotational joint being a three degree-of-freedom rotational joint.

9. The six-degree-of-freedom haptic interaction device according to claim 8, wherein the rotational joint comprises two joint bodies and a first rotational joint and a second rotational joint respectively corresponding to the two joint bodies, the first rotational joint and the second rotational joint each comprise a connector and a connecting rod connected to the connector, and the first rotational joint and the second rotational joint are connected;

the two connecting rods respectively extend into the corresponding joint bodies, the connecting rods are respectively connected with the joint bodies through a pair of oppositely arranged deep groove ball bearings, a pair of oppositely arranged thrust ball bearings, the pair of thrust ball bearings are positioned between the pair of deep groove ball bearings, and the thrust ball bearings and the deep groove ball bearings are attached.

10. The six-degree-of-freedom haptic interaction device of claim 9, wherein a fixed ear plate is further disposed at the other end of the connection rod on the second rotary joint, the fixed ear plate extends into the first rotary joint, and the fixed ear plate and the first rotary joint are connected by a rotary pin; the rotating pin shaft is further sleeved with a deep groove ball bearing.

11. The six-degree-of-freedom haptic interaction device according to any one of claims 7 to 10, wherein the connecting rod and the reconfiguration handle are slidably connected through a slider, two opposite clamping lugs are arranged on the slider, and one end of the connecting rod extends into the two clamping lugs and is connected through a pin; the length of connecting rod is the definite value, perhaps the connecting rod is scalable connecting rod.

12. The six-degree-of-freedom haptic interaction device of claim 7, wherein when the driving mechanism comprises two power members, the power members of three sets of driving mechanisms are located outside a projection area formed by three connecting rods on the fixed platform; or the power parts of the three groups of driving mechanisms are positioned in or close to a projection area formed by the three connecting rods on the fixed platform.

13. A robot system, comprising at least one set of the six-degree-of-freedom haptic interaction device as claimed in any one of claims 1 to 12, a controller, at least one pressure sensor and a robot, wherein the at least one pressure sensor is disposed on the corresponding reconfigurable handle, and force information of the robot is fed back to the pressure sensor through the controller and sensed through the reconfigurable handle.

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