CN102320040A - Force feedback interactive device for automatically regulating balance of dead weight - Google Patents
Force feedback interactive device for automatically regulating balance of dead weight Download PDFInfo
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- CN102320040A CN102320040A CN201110229208A CN201110229208A CN102320040A CN 102320040 A CN102320040 A CN 102320040A CN 201110229208 A CN201110229208 A CN 201110229208A CN 201110229208 A CN201110229208 A CN 201110229208A CN 102320040 A CN102320040 A CN 102320040A
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Abstract
The invention discloses a force feedback interactive device for automatically regulating the balance of a dead weight, which is formed by a base mechanism, a shoulder mechanism, a big arm mechanism, a forearm mechanism, a wrist mechanism, an end effector mechanism, an automatic regulating and balancing mechanism, four direct current motors, four photoelectric encoders, three high-precision angular potentiometers and the like. In the invention, the direct current motors and a linear speed reduction mechanism are matched to provide three freedom degree force feedbacks and six motion freedom degrees of the three freedom degree force feedbacks by three photoelectric encoders and the three angular potentiometers. For the automatic regulating and balancing mechanism, one direct current motor is adopted to drive and control a balancing sliding block to automatically carry out dead weight compensation on the arm mechanisms of the equipment in real time by a speed reduction device, so that the manual fatigue is effectively reduced. The mechanism has compact design, large working space range, high rigidity and large range of a feedback force.
Description
Technical field
The present invention has designed a kind of force feedback interactive device with autonomous governor motion deadweight; This equipment provides six degrees of freedom of motion and Three Degree Of Freedom force feedback; It is mutual to can be used in virtual environment or the principal and subordinate's remote tele-operation environment realizable force feedback, accurately simulates the power/sense of touch size and Orientation in the reciprocal process.
Background technology
The mankind's such as decision-making, judgement intelligent factors are incorporated into the objective of the struggle that to design full autonomous intelligence machine in the middle of the robot system be the related scientific research technical staff.Regrettably, because technology limitation such as artificial intelligence, sensing technology, computer technology, Machine Design manufacturing and control theories, full autonomous intelligence robot was difficult to realize in foreseeable period.In order to improve the decision-making judgement of robot system, the mankind can pass through interactive means, rely on people's intervention that operating environment is carried out intelligent decision, accomplish the task that some mankind can not directly accomplish indirectly through people's hand of operating machine.Based on this type of technical background, the force feedback interactive device is current and even research emphasis and focus in one period from now on.Force feedback interactive device and other vision/sense of hearings (unidirectional information transmission channels; Only can perception external environment information) equipment has obvious difference: the force feedback interactive device has duplex channel; Not only can be through the information of force feedback interactive device perception external environment or virtual environment, and can change through people's intervention or handle extraneous true/virtual environment.
The force feedback interactive device is divided into according to installing and fixing the position: the desktop force feedback equipment; Portable force feedback equipment; Suspension wire type force feedback equipment.Be divided into by mechanism configuration: the serial mechanism force feedback equipment; The parallel institution force feedback equipment; The hybrid mechanism force feedback equipment.Also can be according to transmission mechanism classification or the like.These equipment are applied in the different force feedback interaction scenarios, and pluses and minuses are respectively arranged.
At present; Many comparatively successful force feedback equipments have been arranged in the world; For example: the PHANToM series force feedback equipment of U.S. Sensable company; The force feedback equipment of Canada Quansar company, the Virtuose series force feedback equipment of French Haption, the Omega series force feedback equipment of Switzerland ForceDimension.Wherein successful is the PHANToM series force feedback equipment of U.S. Sensable company; For example: the openly patent of invention (Pub. No.:US 2008/0291161 A1) of the said firm and patent of invention (Patent Number:US007714836B2, Patent Number:US005625576A) of success application or the like.Yet; All there are a lot of defectives in above-mentioned these open inventions or the patent of invention of having applied for: do not carry out gravity compensation completely; Gravity compensation is must be indispensable in force feedback equipment, if the force feedback equipment mechanical arm does not carry out self gravitation compensation, when carrying out force feedback at virtual environment or remote tele-operation environment when mutual; The feedback force that staff not only can be experienced, but also experienced the self gravitation of force feedback equipment mechanical arm.Because gravity and feedback force acting in conjunction are at staff, the acting in conjunction power that staff is felt is inevitable not to be real feedback force; Itself exist system stiffness poor; The feedback force that provides is limited; The comparatively special apparatus expensive of using that causes of material.Above-mentioned a series of defectives have caused the other defective again: application scenario or environment are limited, and the versatility of equipment is poor, equipment break down inconvenient dismounting, maintenance and renewal part.In addition, also there is the problem of technical monopoly aspect in the said equipment.
To the defective and the problem of above-mentioned a series of existence, a kind of method from the main regulation gravity compensation has been proposed, based on this method, designed and a kind ofly had from the dead-weight balanced force feedback interactive device of main regulation.This force feedback equipment can be automatic, real-time carry out gravity compensation and can greatly improve force feedback and feel true to nature, and to carry out when main regulation is dead-weight balanced be that gravity is equilibrated on the pedestal of force feedback equipment as much as possible; Avoid or reduced direct current generator being used for the power of the required generation of gravity compensation, thereby make direct current generator can export bigger feedback force, improved the feedback force adjusting function of equipment greatly, improved the rigidity of system; The compare gravity compensation technology of gravity balancing weight; Adopt autonomous adjustment mechanism to carry out gravity compensation; Can greatly reduce the inertia and the friction of system, the adding that can also reduce simultaneously balancing weight also makes mechanism design more succinct to the influence while of whole system working space and mechanical arm flexibility.In addition, the present invention has also improved the material of design, has selected designing material comparatively general on the market, has reduced environmental limit and has enlarged the use occasion of force feedback equipment, has strengthened the versatility of force feedback equipment.Simultaneously, develop a kind of monopolizing for breaking foreign technology from the dead-weight balanced force feedback interactive device of main regulation of independent intellectual property right that have, the development in science and technology of promotion and promotion force feedback technology association area also has very important significance with progress.
Summary of the invention
The objective of the invention is to the prior art defective, provide a kind of can be automatically, in real time mechanism's arm is carried out gravity compensation, and can in virtual reality field or remote tele-operation field, use a kind of from the dead-weight balanced force feedback interactive device of main regulation.
The technical scheme that the present invention adopted is:
The present invention with patent of invention (Patent Number:US007714836B2) similarity of invention disclosed patent (Pub. No.:US 2008/0291161 A1) and success application is: adopt the linkage of connecting the most commonly used; Use direct current generator to match the three degree of freedom force feedback is provided, through the six degrees of freedom of motion of three photoelectric encoders and three angular potentiometer detection force feedback equipments with line transmission speed reducer structure.
The present invention and above-mentioned prior art difference are: based on the force feedback interactive device of existing patent of invention disclosed (Pub. No.:US 2008/0291161 A1) and successful patent of invention (Patent Number:US007714836B2) of applying for; Increased a kind of mechanism of autonomous adjustment; Direct current generator of this autonomous adjustment mechanism's dependence is through the position of balance slide block of reducing gear real-time regulated and control at balancing pole; Realization is to the dead-weight balanced adjusting of mechanism's arm of force feedback interactive device, thereby realizes the gravity compensation that this equipment is real-time.From the dead-weight balanced mechanism of main regulation force feedback equipment is carried out automatic, real-time gravity compensation through this and can greatly improve force feedback and feel true to nature, and to carry out when main regulation is dead-weight balanced be that gravity is equilibrated on the pedestal of force feedback equipment as much as possible; Avoid or reduced direct current generator being used for the power of the required generation of gravity compensation, thereby make direct current generator can export bigger feedback force, improved the feedback force adjusting function of equipment greatly, improved the rigidity of system; The compare gravity compensation technology of gravity balancing weight; Adopt autonomous adjustment mechanism to carry out gravity compensation; Can greatly reduce the inertia and the friction of system, the adding that can also reduce simultaneously balancing weight also makes mechanism design more succinct to the influence while of whole system working space and mechanical arm flexibility.
The present invention and above-mentioned prior art have similarity, but those similar just substantially similar.The comparatively special apparatus expensive that causes of material that prior art is used, application scenario or environment are limited, and the versatility of equipment is poor, equipment break down inconvenient dismounting, maintenance and renewal part.Therefore; In order to overcome said defective; The mechanism design of forming the base mechanism, shoulder mechanism of equipment according to the invention, big arm mechanism, little arm mechanism, wrist mechanism, end effector mechanism, autonomous adjustment mechanism, four photoelectric encoders of four direct current generators, three various pieces such as high accuracy angular potentiometer; Be connected and installed, all improve and innovate.
Base mechanism is made up of three parts such as base reducing gear, base support platform, base shafts, and photoelectric encoder (10-1) is installed in direct current generator (8-1) rear portion and forms an integral installation on the base support platform; Base reducing gear driving wheel is nested on direct current generator (8-1) output shaft; Steel wire rope connects base deceleration driving wheel and base deceleration driven pulley constitutes the base deceleration device, and the speed reducing ratio of this deceleration device is 10:1.Shoulder mechanism by shoulder bracing frame, shoulder rotating shaft, big arm reducing gear, forearm reducing gear, autonomous adjustment reducing gear, install and fix six parts of member and form.Installing and fixing member (2-6) is fixed on autonomous adjustment mechanism and big arm mechanism on the fixed component (2-6).Photoelectric encoder (10-2), photoelectric encoder (10-3), photoelectric encoder (10-4) are installed in respectively on motor (8-2), motor (8-3), the motor (8-4) by respective sequence separately; Forming three integral body is installed on the shoulder bracing frame then together; Three reducing gear driving wheels are respectively the output shafts that big arm deceleration driving wheel, forearm deceleration driving wheel and autonomous adjustment deceleration driving wheel (2-5-1) are nested in three motors (8-2), motor (8-3) and motor (8-4) respectively, and form big arm reducing gear, forearm reducing gear, autonomous adjustment mechanism reducing gear respectively with big arm reducing gear driving wheel, forearm reducing gear driving wheel, autonomous adjustment deceleration driving wheel respectively through steel wire rope.The speed reducing ratio of these three reducing gears also is 10:1.Big arm mechanism one end and autonomous adjustment mechanism one end are installed in respectively on the fixed mechanism (2-6), and fixed mechanism (2-6) is installed in the shoulder rotating shaft.Big arm mechanism lays respectively at shoulder rotating shaft front and back position with autonomous adjustment mechanism, around shoulder rotating shaft rotation.The big other end of arm mechanism links to each other with little arm mechanism one end through big arm rotating shaft, and the forearm mechanism other end links to each other through rotating shaft with wrist mechanism one end.End effector links to each other with a wrist mechanism other end through rotating shaft.Big arm mechanism, little arm mechanism, wrist mechanism and end effector all have certain quality; When people's manual operating end effector carries out force feedback when mutual; Four suffered gravity of part of described arm mechanism act on staff, are prone to cause staff generation fatigue and lose the mutual sense of reality of force feedback.In order to improve gravity effect, introduced autonomous adjustment mechanism.Said autonomous adjustment mechanism relies on motor (8-4) the driving steel wire rope that is installed on the shoulder bracing frame position of control balance slide block on balancing pole of matching with the balanced controls deceleration device, utilizes lever principle to improve the influence of gravity to the staff generation.Autonomous adjustment mechanism ability adjustment slide block is offset the gravity effect of big arm mechanism, also can improve the gravity effect of forearm, wrist and end effector.When autonomous adjustment mechanism utilized lever principle that big arm mechanism is carried out the gravitational equilibrium adjusting, partial action power had been given little arm mechanism through the couple transmission between the mechanism.The little arm mechanism of same reason also can be given wrist mechanism force transmission, and wrist mechanism gives end effector with force transmission again, and end effector is given staff with force transmission again.When big arm mechanism, little arm mechanism, wrist mechanism and end effector present position and angle different each other, active force each other also will change.Carrying out force feedback when mutual, power and motion between big arm mechanism, little arm mechanism, wrist mechanism and the end effector exist simultaneously, and the active force that produces each other is not to be decoupling zero, have formed comparatively complicated mechanical relationship but intercouple.When big arm mechanism, little arm mechanism, wrist mechanism and end effector ground of living in relative position changed, autonomous adjustment mechanism can fully offset and compensate the suffered gravity of whole force feedback equipment mechanical arm in the position of adjustment slide block on balanced controls.Secondly; Carry out gravity compensation through introducing autonomous adjustment mechanism; Reduce direct current generator and be used for the gravity compensation of force feedback equipment, thereby made direct current generator fully be used for the generation of the power of force feedback equipment, improved the continuous feedback power and the maximum feedback power of force feedback equipment system greatly.Two high accuracy angular potentiometers are installed in little arm mechanism and the wrist mechanism.End effector mechanism is connected with wrist mechanism through rotating shaft.And a high accuracy angular potentiometer is installed also in the end effector mechanism.
The present invention can provide the Three Degree Of Freedom force feedback, and six degrees of freedom of motion also can be from the force feedback interactive device of main regulation connecting rod gravitational equilibrium.Said Three Degree Of Freedom force feedback and six degrees of freedom of motion are meant: motor that base mechanism is installed and base reducing gear device are used for producing first freedom degree force feedback and first freedom of motion, are used for detecting first freedom of motion with the photoelectric coding that motor matches simultaneously; The motor (8-2) that shoulder mechanism installs at the place matches with big arm deceleration device through steel wire rope and produces second freedom degree force feedback and second freedom of motion, wherein is used for detecting second freedom of motion with the photoelectric encoder that motor (8-2) matches; The motor (8-3) that shoulder mechanism installs at the place matches with the forearm deceleration device through steel wire rope and produces three degree of freedom force feedback and the 3rd freedom of motion, wherein detects the 3rd freedom of motion with the photoelectric encoder that motor matches; Little arm mechanism and wrist mechanism produce the 4th and the 5th freedom of motion, and two high accuracy angular potentiometers are installed in little arm mechanism and the wrist mechanism detect fourth, fifth freedom of motion respectively; End effector mechanism provides six degrees of freedom of motion, and has also installed a high accuracy angular potentiometer and detected six degrees of freedom of motion at this place.
The invention has the beneficial effects as follows:
Compared with prior art have the following advantages: (1) proposes and has designed a kind of autonomous adjustment mechanism; Position through balance slide block on the adjustment bar is carried out gravity compensation during to big arm mechanism, little arm mechanism, wrist mechanism and end effector diverse location of living in; When carrying out gravity compensation, be that the gravity that whole force feedback equipment is suffered is equilibrated at the base mechanism position as far as possible through autonomous adjustment mechanism.
(2) the autonomous adjustment of employing mechanism carries out gravity compensation and adopts motor to carry out the gravity compensation compared with techniques fully; Greatly reduced the power of the required generation that motor is used to compensate; Thereby make motor can export bigger feedback force, improved the feedback force of force feedback equipment and the rigidity of system greatly.
(3) adopting autonomous adjustment mechanism to carry out gravity compensation compares with the compensation technique that adopts the gravity balancing weight fully; Reduced the inertia and the friction of system greatly, the adding that has reduced balancing weight simultaneously is to the influence of whole system working space and mechanical arm flexibility and make mechanism design more succinct.
(4) a kind of design of mechanical arm of the force feedback equipment from the main regulation gravitational equilibrium copies people's arm to design with reference to the ergonomics principle, and mechanism design is simple, flexible and convenient operation, and isotropic is good; Six degrees of freedom of motion is arranged, and flexible operation, space are big, adopt the locus of high accuracy angular potentiometer and the motion of photoelectric encoder testing agency, kinematic accuracy and repeatable accuracy height.
(5) direct current generators and a reducing gear are installed in base; Other three direct current generators and three reducing gears all are installed in shoulder mechanism.Four reducing gears all adopt steel wire rope connection principal and subordinate drive to carry out deceleration transmission and substitute traditional gear reduction system; Designed steel wire rope pre-tightening apparatus simple and that use on the driven pulley of each reducing gear; Prevent that steel wire rope from skidding, thereby eliminated the defective that has the backhaul gap in traditional gear train assembly.Three reducing gears of shoulder adopt the design of triple main shafts, three reducing gears are worked together and do not produce movement interference mutually.
(6) the whole mechanism design of force feedback equipment is compact, and the distribution and the each several part that have taken into full account the whole system quality during design are installed symmetry; Secondly, owing to introduce autonomous adjustment mechanism, make motor fully be used for the generation of force feedback and needn't be used for the compensation of gravity, can select the lighter motor of the littler quality of moment like this.Therefore, the design of introducing autonomic balance has also reduced the inertia and the friction of force feedback equipment.
Description of drawings
Fig. 1 is the general illustration of a kind of force feedback interactive device from the main regulation gravitational equilibrium of the present invention.
Among the figure: 1. base mechanism 2. shoulder mechanisms 3. big arm mechanism 4. little arm mechanisms
5. 7. autonomous adjustment mechanisms of 6. end effector mechanisms of wrist mechanism;
Fig. 2 is each concrete sketch map of forming of a kind of force feedback interactive device from the main regulation gravitational equilibrium of the present invention.
Among the figure: 1-1-1. gripper shoe A 1-1-2. gripper shoe B 1-1-3. gripper shoe C 1-1-4. gripper shoe D 1-2. base shaft 1-3-1 deceleration driving wheel 1-3-2. deceleration driven pulley 2-1-1. bracing frame base plate
2-1-2. the right bracing frame 2-3-2. of left bracing frame 2-1-3. deceleration driven pulley 2-4-1. deceleration driving wheel
2-4-2. the big armed lever spare of deceleration driven pulley 2-5-1. deceleration driving wheel 2-5-2. deceleration driven pulley 3-1.
3-2. rotating shaft 3-3. big arm steel wire rope 4-1. forearm rod member 4-2. potentiometer mounting bracket
5-1. wrist brace 5-2. wrist rotating shaft 6-1. end hand grip 6-2. potentiometer fixed support
7-1. balancing pole 7-2. balance slide block 7-3. pulley 7-4. steel wire rope
8-1. direct current generator 8-3. direct current generator 8-4. direct current generator 9-2. angular potentiometer
10-1. photoelectric encoder 10-2. photoelectric encoder 10-3. photoelectric encoder 10-4. photoelectric encoder;
Fig. 3 is the sketch map of the base mechanism (1) of force feedback interactive device shown in Figure 1;
Among the figure: 1-1-1. gripper shoe A 1-1-2. gripper shoe B 1-1-3. gripper shoe C 1-1-4. gripper shoe D
1-2. base shaft 1-3-1 deceleration driving wheel 1-3-2. deceleration driven pulley 8-1. direct current generator
10-1. photoelectric encoder;
Fig. 4 is the structural representation of the gripper shoe A (1-1-1) of base mechanism (1) shown in Figure 3;
Among the figure: 1-1-1. gripper shoe A A-1. rotating shaft through hole A-2. rotating shaft through hole A-3. spacing hole A-4. spacing hole;
Fig. 5 is the structural representation of the deceleration driven pulley (1-3-2) of base mechanism (1) shown in Figure 3;
Among the figure: the 2 1-3-2-3. bayonet socket screw 1-3-2-4. bayonet socket screws of 1-3-2. deceleration driven pulley 1-3-2-1. cambered surface 1 1-3-2-2. cambered surface hole;
Fig. 6 is the sketch map of the shoulder mechanism (2) of force feedback interactive device shown in Figure 1;
Among the figure: the right bracing frame 2-3-1. of 2-1-1. bracing frame base plate 2-1-2. left side bracing frame 2-1-3. deceleration driving wheel
2-3-2. deceleration driven pulley 2-4-1. deceleration driving wheel 2-4-2. deceleration driven pulley 2-5-1. deceleration driving wheel
2-5-2. the spacing member 2-6. of deceleration driven pulley 2-5-3. fixed component 2-7. pretension member
2-8. spacing hole 8-2. direct current generator 10-2. photoelectric encoder;
Fig. 7 is the sketch map of shoulder rotating shaft (2-2) three sleeves of shoulder mechanism (2) shown in Figure 6;
Among the figure: the right bracing frame 2-1-1. of the 2-2. shoulder rotating shaft 2-1-2. left side bracing frame 2-1-3. bracing frame base plate 2-2. shoulder rotating shaft 2-2-1. first sleeve 2-2-2. second sleeve 2-2-3 the 3rd sleeve 2-9. limited block;
Fig. 8 is the sketch map of the big arm mechanism (3) of force feedback interactive device shown in Figure 1;
Among the figure: the big armed lever spare 3-2. of 3-1. rotating shaft 2-6. fixed component;
Fig. 9 is the internal mechanism sketch map of the little arm mechanism (4) of force feedback interactive device shown in Figure 1;
Among the figure: 9-1. angular potentiometer 4-1. forearm rod member 4-2. potentiometer mounting bracket 4-3. potentiometer rack shaft;
Figure 10 is external agency's sketch map of the little arm mechanism (4) of force feedback interactive device shown in Figure 1;
Among the figure: 4-1. forearm rod member 4-2. potentiometer mounting bracket 4-3. potentiometer rack shaft;
Figure 11 is the outside sketch map of angular potentiometer (9-1) of the little arm mechanism (4) of force feedback interactive device shown in Figure 1;
Among the figure: 9-1. angular potentiometer 9-1-1. fixed via 9-1-2 central through hole 9-1-3. fixed via;
Figure 12 is the sketch map of the wrist mechanism (5) of force feedback interactive device shown in Figure 1;
Among the figure: 5-1. wrist brace 5-2. wrist rotating shaft 5-3. central through hole 5-4. fixing hole 9-2. angular potentiometer;
Figure 13 is end effector mechanism (6) the external structure sketch map of force feedback interactive device shown in Figure 1;
Among the figure: 6-1. end hand grip 6-2. potentiometer fixed support 6-3. fixing hole;
Figure 14 is end effector mechanism (6) the internal structure sketch map of force feedback interactive device shown in Figure 1;
Among the figure: 6-1. end hand grip 6-2. potentiometer fixed support 6-4. fixing hole 6-5. arm pivot post 6-6. fixing hole 9-3-3 fixed via;
Figure 15 is autonomous adjustment mechanism (7) sketch map of the force feedback interactive device shown in the figure;
Among the figure: the big armed lever spare 3-2. of the spacing member 2-6. of 2-2. shoulder rotating shaft 2-5-3. fixed component 3-1. rotating shaft 3-3. big arm steel wire rope 7-1. balancing pole 7-2. balance slide block 7-3. pulley 7-4. steel wire rope.
The specific embodiment
In conjunction with accompanying drawing 1-15 explanation as follows: the present invention is a kind of man-machine interaction force feedback equipment with three degree of freedom force feedback and six spatial movement frees degree, in order to improve gravity effect, has introduced autonomous adjustment mechanism (7).Autonomous adjustment mechanism (7) comprising: four parts of balancing pole (7-1), balance slide block (7-2) and pulley (7-3) and steel wire rope (7-4) are formed.Each arm connecting rod gravity of this force feedback equipment is compensated through the balance slide block (7-2) on the adjustment bar (7-1) by this force feedback equipment.Said autonomous adjustment mechanism relies on the motor (8-4) that is installed on the shoulder bracing frame to drive through the steel wire rope position of control balance slide block on balancing pole of matching with the balanced controls deceleration device, utilizes lever principle to improve the influence of gravity to the arm generation.Balanced controls not only can improve the gravity effect of big arm mechanism through the adjustment slide block, also can improve the gravity effect of forearm and wrist and end effector.(direct current generator (8-1) produces the left and right directions force feedback in the Three Degree Of Freedom force feedback; Direct current generator (8-2) produces the above-below direction force feedback; Direct current generator (8-4) produces the fore-and-aft direction force feedback), six spatial movement frees degree (are copied the staff design, are had side-to-side movement; Move up and down; Seesaw and the other independent rotation that can constitute three directions), this force feedback equipment accurately detects the position of force feedback equipment in three dimensions through three photoelectric encoders and three high accuracy potentiometers, and the size of feedback force can produce the power of different sizes according to the difference of selected direct current generator.This invention equipment has proposed a kind of novelty, original from the dead-weight balanced method of main regulation, utilizes this method to design a kind of force feedback interactive device from the main regulation gravitational equilibrium.This equipment carries out gravity compensation through introducing autonomous adjustment mechanism, reduced the power of the required generation that motor is used to compensate, thereby made motor can export bigger feedback force, improved the feedback force effect of force feedback equipment greatly.Copy people's arm to design with reference to the ergonomics principle, mechanism design is simple, flexible and convenient operation, and isotropic is good.Six degrees of freedom of motion is arranged, and flexible operation, space are big, adopt the locus of high accuracy angular potentiometer and the motion of photoelectric encoder testing agency, kinematic accuracy and repeatable accuracy height.In addition, whole mechanism design is compact, and the distribution and the each several part that have taken into full account the whole system quality during design are installed symmetry.Once more, owing to introduce autonomous adjustment mechanism, make motor fully be used for the generation of force feedback and needn't be used for the compensation of gravity, can select the lighter motor of the littler quality of moment like this.Therefore, the design of introducing autonomic balance has also reduced the inertia and the friction of force feedback equipment.This equipment can be applied to the mutual field of force feedback touch feeling and carry out virtual reality human-computer interaction and remote tele-operation technical field, carries out man-machine force feedback and strengthens the telepresenc in the reciprocal process alternately.
Like Fig. 1, Fig. 2, Fig. 3 and shown in Figure 6, this force feedback equipment part: constitute by base mechanism (1), shoulder mechanism (2), big arm mechanism (3), little arm mechanism (4), wrist mechanism (5), end effector mechanism (6), autonomous adjustment mechanism (7), four direct current generators (motor (8-1), motor (8-2), motor (8-3) and motor (8-4)), four photoelectric encoders (photoelectric encoder (10-1), photoelectric encoder (10-2), photoelectric encoder (10-3) and photoelectric encoder (10-4)), three high accuracy angular potentiometers (angular potentiometer (9-1), angular potentiometer (9-2) and angular potentiometer (9-3)).Said base mechanism (1) is as shown in Figures 2 and 3: by base support platform, base shaft (1-2), base reducing gear, three parts are formed.Said support platform is fastenedly connected formation support platform through the screwed hole of reserving with screw by four gripper shoe A (1-1-1), gripper shoe B (1-1-2), gripper shoe C (1-1-3) and gripper shoe D (1-1-4) as shown in Figures 2 and 3.The base reducing gear is made up of deceleration driving wheel (1-3-1) and deceleration driven pulley (1-3-2).Like Fig. 3 and shown in Figure 4; There is a rotating shaft through hole (A-1) support plate A (1-1-1) center; Three screw twisted rotary shaft through holes (A-1) are arranged, and base shaft (1-2) passes rotating shaft through hole (A-1), and the support plate A that is fastened on the base support platform through these three screws goes up (1-1-1).Like Fig. 3, Fig. 4 and shown in Figure 5; Base reducing gear deceleration driven pulley (1-3-2) is discoid; Parallel in gripper shoe A (1-1-1) top with gripper shoe A (1-1-1); Deceleration driven pulley (1-3-2) center has a through hole concentric with support plate (A) rotating shaft through hole (A-1), and it is fastening with deceleration driven pulley (1-3-2) center that the rotating shaft through hole (A-1) that props up gripper shoe A (1-1-1) is passed through in rotating shaft (1-2).Base deceleration driven pulley (1-3-2) is fixed on rotating shaft (1-2) and upward rotates with respect to gripper shoe A (1-1-1).Like Fig. 4 and shown in Figure 5; Be reserved with spacing aperture (1-3-2) and spacing aperture (A-4) on the gripper shoe A (1-1-1), said two spacing apertures come to interact with base deceleration driven pulley (1-3-2) side cambered surface spacing hole (1-3-2-1) and screw in the side cambered surface spacing hole (1-3-2-2) through screw and limit the anglec of rotation of base deceleration driven pulley (1-3-2).As shown in Figure 3, the output shaft of motor (8-1) is connected with the driving wheel (1-3-1) of base reducing gear (1-3).Described deceleration driving wheel (1-3-1) is a hollow cylinder; Said deceleration driving wheel (1-3-1) hollow cylinder lateral wall is reserved screwed hole; Inboard hollow bore diameter of said deceleration driving wheel (1-3-1) hollow cylinder and motor (8-1) output shaft diameter just are complementary; Motor (8-1) output shaft can insert the inboard hollow bore of deceleration driving wheel (1-3-1) cylinder just, and the pretension screwed hole of reserving through the cylindrical wall outside is fastened on deceleration driving wheel (1-3-1) on the machine shaft.Like Fig. 3 and shown in Figure 4; Motor (8-1) output shaft passes the rotating shaft through hole (A-2) of the gripper shoe A (1-1-1) of base support platform after deceleration driving wheel (1-3-1) is fastening; Rotating shaft through hole (A-2) is six reservation apertures on every side; Motor (8-1) relies on these six apertures to be fixed on the bottom of the gripper shoe A (1-1-1) of base support platform through screw; The diameter of this said reservation rotating shaft through hole (A-2) is slightly greater than deceleration driving wheel (1-3-1) external diameter, and this will guarantee can not bump with the support plate A (1-1-1) of base support platform and interfere when deceleration driving wheel (1-3-1) rotates with the output shaft of motor (8-1).Carrying out many circles in the screwed hole of its outside cylindrical walls of deceleration driving wheel (1-3-1) use steel cable embedding twines; Two ends with steel wire rope are wrapped in respectively on the circular arc end face of discoid deceleration driven pulley (1-3-2) subsequently; In two are reserved good fixedly steel wire rope on deceleration driven pulley (1-3-2) the circular arc end face of base reducing gear the bayonet socket screw (1-3-2-3) and bayonet socket screw (1-3-2-4), and utilize the pretension screw that steel wire rope is carried out sufficient pretension.Deceleration driving wheel (1-3-1) is fixed on the output shaft of motor (8-1); When motor (8-1) rotates; Driving wheel (1-3-1) is just followed motor output shaft and is rotated together; Driving wheel (1-3-1) is through steel wire rope transmission drive speed reducer structure driven pulley (1-3-2) like this; Thereby the mutual transmission between the principal and subordinate wheel of realization base reducing gear, final shoulder mechanism (2) the retinue's deceleration driving wheel (1-3-2) that is fixed on reducing gear top that drives rotatablely moves together, thereby produces feedback force and first freedom of motion of left and right directions.
Said shoulder mechanism (2) is like Fig. 2, Fig. 6 and shown in Figure 7, said shoulder mechanism (2) by shoulder bracing frame, shoulder rotating shaft (2-2), big arm reducing gear, forearm reducing gear, autonomous adjustment reducing gear, install and fix member (2-6) totally six parts form.The shoulder bracing frame is made up of shoulder bracing frame base plate (2-1-1), left shoulder bracing frame (2-1-2) and right shoulder bracing frame (2-1-3) three parts.Shoulder bracing frame base plate (2-1-1) be fixed on the base reducing gear discoid deceleration driven pulley (1-3-2) on.A left side shoulder bracing frame (2-1-2) and right shoulder bracing frame (2-1-3) the first from left right side are installed on the shoulder bracing frame base plate (2-1-1), and it is also fastening on it that shoulder rotating shaft (2-2) connects left shoulder bracing frame (2-1-2) and right shoulder bracing frame (2-1-3) from left to right.Shoulder rotating shaft 2-2 connects left shoulder bracing frame 2-1-2 and right shoulder bracing frame 2-1-3 and fastening on it from left to right.Like Fig. 6 and shown in Figure 7, big arm reducing gear, forearm reducing gear and autonomous adjustment reducing gear are described as respectively all by the deceleration driving wheel with see that driven pulley two parts form: big arm deceleration driving wheel (2-3-1) and arm deceleration driven pulley (2-3-2) greatly; Forearm deceleration driving wheel (2-4-1) and forearm deceleration driven pulley (2-4-2); Autonomous adjustment deceleration driving wheel (2-5-1) and autonomous adjustment deceleration driven pulley (2-5-2).Big arm deceleration driven pulley (2-3-2), forearm mechanism driven pulley (2-4-2) and autonomous adjustment deceleration driven pulley (2-5-2) all are to be the semicircle dish-type, and being parallel to each other is installed in shoulder rotating shaft (2-2).Forearm deceleration driven pulley (2-4-2) is installed near left shoulder bracing frame (2-1-2) and locates.Autonomous adjustment deceleration driven pulley (2-5-2) is installed near right shoulder bracing frame (2-1-3).Big arm deceleration driven pulley (2-3-2) is installed in the rotating shaft between forearm deceleration driven pulley (2-4-2) and the autonomous adjustment deceleration driven pulley (2-5-2).As shown in Figure 7, shoulder rotating shaft (2-2) is that three cover rotating shafts are formed: first sleeve (2-2-1), second sleeve (2-2-2) and the 3rd sleeve (2-2-3).The first cover rotating shaft (2-2-1) is fixed with forearm deceleration driven pulley (2-4-2) and pretension structure (2-7) near left shoulder bracing frame (2-1-2) in the first cover rotating shaft (2-2-1).When forearm reducing gear driven pulley (2-4-2) drives first sleeve (2-2-1) rotation of shoulder rotating shaft (2-2); Only have pretension to make up (2-7) first sleeve (2-2-1) rotation subsequently, other reducing gears that (perhaps in the second cover rotating shaft (2-2-2) and the 3rd cover rotating shaft (2-2-3)) gone up in shoulder rotating shaft (2) can not receive the influence that the first cover rotating shaft (2-2-1) is rotated with the structure part.Same reason, second rotating shaft (2-2-2) be near right shoulder bracing frame (2-1-3), and coaxial with the first cover rotating shaft (2-2-1).In the second cover rotating shaft (2-2-1), be fixed with autonomous adjustment deceleration driven pulley (2-5-2) and spacing structure (2-5-3); When autonomous adjustment deceleration driven pulley (2-5-2) drives the second cover rotating shaft (2-2-2) and the spacing structure (2-5-3) that is fixed in the second cover rotating shaft rotates together through rotation, shoulder rotating shaft (2) go up other reducing gears with make up part can not receive second overlap rotating shaft (2-2-2) influence.The 3rd cover rotating shaft (2-2-3), is installed on second cover rotating shaft (2-2-2) as axle with the outer shaft of the second cover rotating shaft (2-2-2).Big arm deceleration driven pulley (2-3-2) and fixing make up (2-6) are installed in the 3rd cover rotating shaft (2-2-3); When big arm deceleration driven pulley (2-3-2) rotates, the 3rd cover rotating shaft (2-2-3) and fixing make up (2-6) will rotate with big arm deceleration driven pulley (2-3-2).Big arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1) all are the hollow cylinder shape; Many circles screwed hole of lay winding wire ropes is all reserved in their the cylindrical wall outside in advance, and the inboard hollow bore diameter of cylindrical wall and direct current generator (8-2), direct current generator (8-3) and direct current generator (8-4) output shaft diameter are complementary respectively.Direct current generator (8-2) and direct current generator (8-3) are fixed on the left shoulder bracing frame (2-1-2), and direct current generator (8-4) is fixed on the right shoulder bracing frame (2-1-3).Direct current generator (8-2), direct current generator (8-3) and direct current generator (8-4) output shaft separately insert big arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and the inboard hollow bore of autonomous adjustment deceleration driving wheel (2-5-1) cylinder respectively, and through reserving the pretension screwed hole outside their cylindrical wall big arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1) are fastened on the corresponding separately machine shaft.Big arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1) use steel cable (totally three steel wire ropes) to embed it to carry out many circle windings in screwed hole of outside cylindrical walls separately separately; Subsequently separately two ends of enclosing the steel wire rope that twines on said big arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and the autonomous adjustment deceleration driving wheel (2-5-1) being wrapped in each self-corresponding big arm deceleration driven pulley (2-3-2), forearm deceleration driven pulley (2-4-2) and autonomous adjustment deceleration driven pulley (2-5-2) respectively more is on the circular arc end face of semi-disc; Said three driven pulleys are separately on the circular arc end face of semi-disc and all are reserved with two fixedly bayonet socket screws of steel wire rope, and utilize the pretension screw that separately steel wire rope is carried out sufficient pretension (installing similar with the base reducing gear).Reducing gear driving wheel (2-3-1), driving wheel (2-4-1) and driving wheel (2-5-1) are separately fixed on the output shaft of direct current generator (8-2), direct current generator (8-3) and direct current generator (8-4); When direct current generator (8-2), direct current generator (8-3) and direct current generator (8-4) rotate; Said deceleration driving wheel (2-3-1), deceleration driving wheel (2-4-1) and deceleration driving wheel (2-5-1) are just followed corresponding separately direct current generator output shaft and are rotated together; Said like this deceleration driving wheel (2-3-1), deceleration driving wheel (2-4-1) and deceleration driving wheel (2-5-1) drive each self-corresponding deceleration driven pulley (2-3-2), deceleration driven pulley (2-4-2) and deceleration driven pulley (2-5-2) through steel wire rope separately; Thereby realize the mutual transmission of the deceleration driving wheel between the reducing gear and deceleration driven pulley separately, final and drive and be fixed on the big arm mechanism (3) on reducing gear top, little arm mechanism (4) and autonomous adjustment mechanism (7) with driven pulley (2-3-2), driven pulley (2-4-2) and driven pulley (2-5-2) rotatablely move separately.As shown in Figure 6; On deceleration driven pulley (2-4-2), be separately in addition and be reserved with spacing hole (2-8) on the semicircle card; Also have and other similar two spacing holes of spacing hole (2-8) at reducing gear driven pulley (2-4-2) in addition; Do not mark in the drawings; On reducing gear driven pulley (2-3-2), driven pulley (2-5-2), also each have three spacing holes equally, the similar also mark in the drawings of these six spacing holes and spacing hole (2-8), the purpose of these spacing holes all is to be used for attachment screw to use and to limit the anglec of rotation of driven pulley separately.On the left bracing frame fixedly direct current generator (8-2) part a slight protrusion limited block (2-9) is arranged is to be used for cooperating the spacing hole on the deceleration driven pulley (2-3-2) to carry out spacing with the screw that adds to deceleration driven pulley (2-3-2).Photoelectric encoder 10-2, photoelectric encoder (10-3), photoelectric encoder (10-4) are installed in motor (8-2), motor (8-3) and motor (8-4) rear portion respectively, are used for calculating the anglec of rotation of corresponding separately direct current generator output revolving shaft or driving wheel.Be equipped with in the shoulder rotating shaft (2-2) be used for fixing big arm mechanism (3) and autonomous adjustment mechanism (7) install and fix structure (2-6); Should fixingly make up (2-6) is fixed in the shoulder rotating shaft (2-2); Be positioned between forearm reducing gear driven pulley (2-4-2) and the big arm reducing gear driven pulley (2-3-2); The big arm deceleration driven pulley (2-3-2) of distance more near; Go up near installing and fixing structure (2-6) side in shoulder rotating shaft (2-2) in addition spacing structure (2-5-3) is arranged; On this spacing structure (2-5-3), be reserved with spacing hole, can be used for installing with the autonomous adjustment of pretension mechanism (7) in shackle line, this spacing structure (2-5-3) with autonomous adjustment deceleration driven pulley (2-5-2) rotating drive autonomous adjustment mechanism (7) thus in the middle balance slide block (7-2) of shackle line driven equilibrium mechanism (7).Pretension is housed on axle (2-2) in addition makes up (2-7), make up at said pretension and leave on (2-7) that steel wire rope pretension hole fix the shackle line of little arm mechanism and the effect of pretension effect shackle line.
Like Fig. 8 and shown in Figure 9, said big arm mechanism (3) is by big armed lever spare (3-1), and rotating shaft (3-2) and big arm steel wire rope (3-3) are formed.Big armed lever spare (3-1) is fixed on fixing the structure on (2-6) through screw, and fixing make up (2-6) is fixed on the 3rd sleeve (2-2-3) of rotating shaft (2-2).The driving wheel (2-3-1) that on direct current generator (8-2) output shaft, slows down drives deceleration driven pulley (2-3-2) when rotating through winding steel wire rope above that, drives the 3rd sleeve (2-2-3) and drives big armed lever spare (3-1) rotation and feedback force and second freedom of motion of generation above-below direction thereby the rotation drive is fixed on the fixedly structure (2-6) on the 3rd sleeve (2-2-3).Direct current generator (8-2) rear portion is equipped with photoelectric encoder, can monitor the turned position and the angle of motor accurately through photoelectric encoder, and the speed reducing ratio (10:1) through reducing gear can calculate the angle that big armed lever spare (3-1) rotates.
Like Fig. 9 and shown in Figure 10, said little arm mechanism (4) is by forearm rod member (4-1), and potentiometer mounting bracket (4-2), potentiometer rack shaft (4-3) and angular potentiometer (9-1) constitute.Forearm rod member (4-1) end has the big hole place to be fixed on the end of big armed lever spare (3-1) through the rotating shaft (3-2) of big arm mechanism (3).Steel wire rope (3-3) end is wrapped in the rotating shaft (3-2); The fixing hole of reserving through rotating shaft (3-2) is fixed on steel wire rope in the rotating shaft (3-2); The other end of steel wire rope is fixed on pretension and makes up on (2-7), and pretension structure (2-7) is installed in the first cover rotating shaft (2-2-1) of shoulder rotating shaft (2-2).Reducing gear driving wheel (2-4-1) is through twining above that steel wire rope drive speed reducer structure driven pulley (2-4-2) when rotating on direct current generator (8-3) output shaft; Drive the first cover rotating shaft (2-2-1) thereby rotate and drive the pretension structure (2-7) that is fixed on first sleeve (2-2-1); Thereby drive the steel wire rope (3-3) on the big arm mechanism; This steel wire rope (3-3) drives rotating shaft (3-2) rotation on the big arm mechanism, and rotating shaft (3-2) drives feedback force and the 3rd freedom of motion that forearm rod member (4-1) centers on rotating shaft (3-2) the rotation generation fore-and-aft direction on the big arm mechanism (3) on the big arm mechanism.Direct current generator (8-3) rear portion is equipped with photoelectric encoder (10-3), can detect the turned position and the angle of motor (8-3) accurately through photoelectric encoder (10-3), and the speed reducing ratio through reducing gear calculates the angle that forearm rod member (3-1) rotates.Like Fig. 9 and shown in Figure 11, little arm mechanism (4) is gone up potentiometer mounting bracket (4-2) and is made up of two parts up and down, and high accuracy potentiometer (9-1) is installed on the potentiometer mounting bracket (4-2), and is fixed on the mounting bracket 4-2 through fixed via (9-1-1).High accuracy potentiometer 9-1 is the flattened cylindrical shape; There is a central through hole (9-1-2) centre; This central through hole (9-1-2) is around the outer sideway swivel of the flattened cylindrical of potentiometer 9-1; The axle of potentiometer rack shaft (4-3) inserts high accuracy potentiometer 9-1 central through hole (9-1-2) and is fixed on the axle of potentiometer rack shaft (4-3) through fixed via (9-1-3); When the axle of potentiometer rack shaft (4-3) rotates, will drive high accuracy potentiometer (9-1) rotation and also form the 4th freedom of motion simultaneously, the angle of high precision potentiometer (9-1) detection angles rotation accurately.
Shown in figure 12, wrist mechanism (5) is made up of wrist brace (5-1), wrist rotating shaft (5-2).Central through hole (5-3) and fixing hole (5-4) are wherein arranged on wrist brace (5-1).High accuracy potentiometer (9-2) is installed in wrist brace (5-1) side, and through fixing hole (5-4) potentiometer is fixed on the wrist brace.Forearm potentiometer rack shaft (4-3) passes the central through hole (5-3) on the wrist brace (5-1) of wrist mechanism (5) and is fixed on the wrist brace (5-1).Wrist brace (5-1) has also formed the 5th freedom of motion simultaneously around forearm potentiometer rack shaft (4-3) rotation, and utilizes the high accuracy potentiometer (9-1) that is installed on the potentiometer mounting bracket (4-2) to detect the anglec of rotation of wrist mechanism.
Like Figure 13 and shown in Figure 14, end effector mechanism (6) is made up of end hand grip (6-1), potentiometer fixed support (6-2) and arm pivot post (6-5).Two fixing holes (6-3) and fixing hole (6-4) are arranged on potentiometer fixed support (6-2).Fixing hole (6-6) is arranged on arm pivot post.End effector mechanism (6) is connected with the wrist rotating shaft (5-2) of wrist mechanism (5) with fixing hole (6-4) through the terminal fixing hole (6-3) on it.Wrist brace (5-1) goes up the high accuracy potentiometer of installing (9-2) can detect the anglec of rotation of wrist rotating shaft accurately, thereby can detect the anglec of rotation of end effector mechanism around wrist rotating shaft (5-2) accurately.End hand grip (6-1) uses fixing hole (6-6) to be fixedly connected with arm pivot post (6-5); (angle current potential (9-1), angle current potential (9-1) and angle current potential (9-1) meter all are the same to the central through hole of arm pivot post (6-5) insertion high accuracy potentiometer (9-3); Can be referring to the sketch map of Figure 11 angular potentiometer (9-1)), through fixed via (9-3-3) on the said potentiometer potentiometer is fixed on the arm pivot post (6-5).Potentiometer (9-3) is same type potentiometer (concrete figure is referring to Figure 11) with potentiometer (9-1) and potentiometer (9-2); Be flat hollow cylinder dress; The cylinder madial wall can rotate with respect to the cylinder lateral wall; When arm pivot post rotates, drive potentiometer and formed six degrees of freedom of motion simultaneously, thereby can write down the angle of arm pivot post (6-5) rotation accurately around arm pivot post (6-5) rotation.
Shown in figure 12, autonomous adjustment mechanism (7) by balancing pole (7-1), balance slide block (7-2) form, pulley (7-3) and steel wire rope (7-4) four parts form.Balancing pole (7-1) is very smooth, and balance slide block (7-2) can go up with respect to balancing pole at balancing pole (7-1) and slide, because very smooth, friction is very small between them.Balancing pole (7-1) end is equipped with two pulleys (7-3).Two apertures are arranged on the balance slide block (7-2); Steel wire rope (7-4) is looped around on the spacing structure (2-5-3); One end is from sliding anterior aperture around the fixing balance slide block (7-2) of inserting in balancing pole (7-1) top; The other end ring of steel wire rope (7-4) around the balancing pole bottom and around through two pulleys (7-3) continued around balancing pole top, and insert in the aperture at balance slide block (7-2) rear portion.Three apertures are arranged at balance slide block (7-2) top, can be used for the steel wire rope of fastening insertion balance slide block (7-2) front and rear, and with steel wire rope (7-4) pretension.Balanced controls 7 are connected through screw with fixed component (2-6) through balancing pole (7-1).Direct current generator (8-4) output shaft drives autonomous adjustment deceleration driving wheel (2-5-1); Deceleration driving wheel (2-5-1) drives autonomous adjustment deceleration driven pulley (2-5-2) through the steel wire rope that twines above that; Said deceleration driven pulley (2-5-2) drives the second cover rotating shaft (2-2-2) of rotating shaft (2-2) again, and spacing structure (2-5-3) is fixed on second sleeve (2-2-2).When motor (8-4) drives reducing gear driven pulley (2-5-2) through driving wheel (2-5-1); Said reducing gear driven pulley (2-5-2) drives second rotating shaft (2-2-2); Second rotating shaft (2-2-2) drives spacing structure (2-5-3); Spacing structure (2-5-3) drives steel wire rope (7-4) fixed thereon, goes up at balancing pole (7-1) through the traction belt dynamic balance slide block (7-2) of steel wire rope (7-4) and slides, and reaches to change the position of balance slide block (7-2) on balancing pole (7-1).Adjustment slide block (7-1) position utilizes is the lever principle of balancing pole (7-1) when big arm mechanism (3) is produced leverage, and partial action power has been given little arm mechanism (4) through the couple transmission between the mechanism.The little arm mechanism of same reason (4) also can be given wrist mechanism (5) force transmission; Wrist mechanism (5) gives end effector mechanism (6) with force transmission again, and end effector mechanism (6) gives the staff of handling end effector handle (6-1) with force transmission again.Because different different with angle in mutual residing position, active force each other also will change when big arm mechanism (3), little arm mechanism (4), wrist mechanism (5) and end effector mechanism (6).When the force feedback of carrying out reality is mutual, exist in the time of power and motion, the active force that produces each other is not to be decoupling zero, has formed complicated mechanical relationship but intercouple.So; Through designing autonomous adjustment mechanism (7); Can be directed against big arm mechanism (3), little arm mechanism (4), wrist mechanism (5) and end effector mechanism (6) when the present position changes, the fully suffered gravity of compensation entire arms is come in the position of adjustment slide block (7-2).
In the present invention, the motor that the steel wire rope that is adopted is conventional steel wire rope, adopted is DC servo motor.The machine operation of adjustment slide block (7-2) position is under speed and position control mode, and other three machine operation that are used to feedback force is provided are at current-mode, through the size of control current of electric size adjustment feedback force.
When the dead-weight balanced force feedback interactive device of main regulation was in the reverse drive state, the end hand grip (6-1) of the hand-held end effector mechanism (6) of operator moved at space free when a kind of.At this moment; Autonomous adjustment mechanism (7) can carry out gravity compensation automatically and be described as: shown in Figure of description (12); Adjustment slide block (7-1) position utilizes is the lever principle of balancing pole (7-1) when big arm mechanism (3) is produced leverage, and partial action power has been given little arm mechanism (4) through the couple transmission between the mechanism.The little arm mechanism of same reason (4) also can be given wrist mechanism (5) force transmission; Wrist mechanism (5) gives end effector mechanism (6) with force transmission again, and end effector mechanism (6) gives the staff of handling end effector handle (6-1) with force transmission again.Because different different with angle in mutual residing position, active force each other also will change when big arm mechanism (3), little arm mechanism (4), wrist mechanism (5) and end effector mechanism (6).When the force feedback of carrying out reality is mutual, exist in the time of power and motion, the active force that produces each other is not to be decoupling zero, but the transmission of power.So; Through designing autonomous adjustment mechanism (7); Can be directed against big arm mechanism (3), little arm mechanism (4), wrist mechanism (5) and end effector mechanism (6) when the present position changes, the fully suffered gravity of compensation entire arms is come in the position of adjustment slide block (7-2).
Subsequently; When this force feedback equipment is in the forward drive state; System can utilize the size that calculates the suffered feedback force of end hand grip (6-1) that the operator hands through dynamics; And producing three direction feedback forces through three motor actings in conjunction, staff just can be felt the feedback force of three directions of outside like this.Because the feedback force acting in conjunction of these three directions is on (6-1) on the end hand grip that the operator hands; Staff just can feel that through end hand grip (6-1) three-dimensional that the feedback force of three directions forms make a concerted effort; Final this makes a concerted effort to be only the feedback force that staff is really felt, also produced three freedoms of motion simultaneously:
1, first feedback force produces: carry out many circles in the screwed hole of its outside cylindrical walls of the driving wheel (1-3-1) that shown in accompanying drawing 2, slows down use steel cable embedding and twine; Two ends with steel wire rope are wrapped in respectively on the circular arc end face of deceleration driven pulley (1-3-2) disk subsequently; In two are reserved good fixedly steel wire rope on deceleration driven pulley (1-3-2) the circular arc end face the bayonet socket screw (1-3-2-3) and bayonet socket screw (1-3-2-4), and utilize the pretension screw that steel wire rope is carried out sufficient pretension.Deceleration driving wheel (1-3-1) is fixed on the output shaft of motor (8-1); When motor (8-1) rotates; Deceleration driving wheel (1-3-1) is just followed motor output shaft and is rotated together; Deceleration driving wheel (1-3-1) drives deceleration driven pulley (1-3-2) through the steel wire rope transmission like this; Thereby realize the mutual transmission between base reducing gear driving wheel and the driven pulley, the shoulder mechanism (2) that final and drive is fixed on reducing gear top rotatablely moves with driven pulley (1-3-2), thereby produces the feedback force and first freedom of motion of left and right directions.
2, second feedback force produces: with shown in the accompanying drawing 8, said big arm mechanism (3) is by big armed lever spare (3-1) like accompanying drawing 2, and rotating shaft (3-2) and steel wire rope (3-3) are formed.Big armed lever spare (3-1) is fixed on fixing the structure on (2-6) through screw, and fixing make up (2-6) is fixed on the 3rd sleeve (2-2-3) of rotating shaft (2-2).Reducing gear driving wheel (2-3-1), drives the 3rd sleeve (2-2-3) and drives big armed lever spare (3-1) rotation and feedback force and second freedom of motion of generation above-below direction thereby the rotation drive is fixed on the fixedly structure (2-6) on the 3rd sleeve (2-2-3) when rotating through winding steel wire rope drive speed reducer structure driven pulley (2-3-2) above that on direct current generator (8-2) output shaft.
3, the 3rd feedback force produces: like Fig. 2, Fig. 6 and shown in Figure 9, forearm rod member (4-1) end has the big hole place to be fixed on the end of big armed lever spare (3-1) through big arm mechanism rotating shaft (3-2).Steel wire rope (3-3) end is wrapped in rotating shaft (3-2); The fixing hole of reserving through rotating shaft (3-2) is fixed on steel wire rope in the rotating shaft (3-2); The other end of steel wire rope is fixed on pretension and makes up on (2-7), and pretension structure (2-7) is installed in the first cover rotating shaft (2-2-1) of rotating shaft (2-2).Reducing gear driving wheel (2-4-1) is through twining above that steel wire rope drive speed reducer structure driven pulley (2-4-2) when rotating on direct current generator (8-3) output shaft; Drive the first cover rotating shaft (2-2-1) thereby rotate and drive the pretension structure (2-7) that is fixed on first sleeve (2-2-1); Thereby drive the steel wire rope (3-3) on the big arm mechanism; This steel wire rope (3-3) drives rotating shaft (3-2) rotation on the big arm mechanism, and rotating shaft (3-2) drives feedback force and the 3rd freedom of motion that the forearm rod member centers on rotating shaft rotation generation fore-and-aft direction on the big arm mechanism on the big arm mechanism.
Other three freedoms of motion are described as follows:
4, the 4th freedom of motion: go up potentiometer mounting bracket (4-2) like Fig. 9, Figure 10 and little arm mechanism shown in Figure 11 (4) and form by two parts up and down; High accuracy potentiometer (9-1) is installed on the potentiometer mounting bracket (4-2), and is fixed on the mounting bracket (4-2) through fixed via (9-1-1).Shown in figure 11; High accuracy potentiometer (9-1) is the flattened cylindrical shape; There is a central through hole (9-1-2) centre; This central through hole (9-1-2) is around the outer sideway swivel of the flattened cylindrical of potentiometer (9-1); The axle of potentiometer rack shaft (4-3) inserts high accuracy potentiometer (9-1) central through hole (9-1-2) and is fixed on the axle of potentiometer rack shaft (4-3) through fixed via (9-1-3), when the axle rotation of potentiometer rack shaft (4-3), will drive high accuracy potentiometer (9-1) the rotation while also to have formed the 4th freedom of motion.
5, the 5th freedom of motion: shown in figure 12, wrist mechanism (5) is made up of wrist brace (5-1), wrist rotating shaft (5-2).Central through hole (5-3) and fixing hole (5-4) are wherein arranged on wrist brace (5-1).High accuracy potentiometer (9-2) is installed in wrist brace (5-1) side, and through fixing hole (5-4) potentiometer is fixed on the wrist brace.Forearm potentiometer rack shaft (4-3) passes the central through hole (5-3) on the wrist brace (5-1) of wrist mechanism (5) and is fixed on the wrist brace (5-1).Wrist brace (5-1) has also formed the 5th freedom of motion simultaneously around forearm potentiometer rack shaft (4-3) rotation.
6, six degrees of freedom of motion: like Figure 13 and shown in Figure 14; End hand grip (6-1) uses fixing hole (6-6) to be fixedly connected with arm pivot post (6-5); Arm pivot post (6-5) inserts the central through hole (9-3-2) of high accuracy potentiometer (9-3), through fixed via on the potentiometer (9-3-3) potentiometer is fixed on the arm pivot post (6-5).Potentiometer (9-3) is same type potentiometer (concrete figure is referring to Figure 11) with potentiometer (9-1) and potentiometer (9-2); Be flat hollow cylinder dress; The cylinder madial wall can rotate with respect to the cylinder lateral wall, when arm pivot post rotates, drives potentiometer around arm pivot post (6-5) rotation formation simultaneously six degrees of freedom of motion.
Claims (1)
1. one kind from the dead-weight balanced force feedback interactive device of main regulation, comprises that the end sits mechanism, series connection linkage, direct current generator, line transmission speed reducer structure, photoelectric encoder, angular potentiometer, it is characterized in that:
(1), said equipment has increased a kind of mechanism of autonomous adjustment; Direct current generator of this autonomous adjustment mechanism's dependence is through the position of balance slide block of reducing gear real-time regulated and control at balancing pole; Realization is to the dead-weight balanced adjusting of mechanism's arm of force feedback interactive device, thereby realizes the gravity compensation that this equipment is real-time;
(2), the structure of said equipment each several part base mechanism, shoulder mechanism, big arm mechanism, little arm mechanism, wrist mechanism, end effector mechanism, autonomous adjustment mechanism, four direct current generators, four photoelectric encoders, three high accuracy angular potentiometers is:
Base mechanism is made up of three parts such as base reducing gear, base support platform, base shafts; Photoelectric encoder (10-1) is installed in direct current generator (8-1) rear portion and forms an integral installation on the base support platform; Base reducing gear driving wheel is nested on direct current generator (8-1) output shaft; Steel wire rope connects base reducing gear driving wheel (1-3-1) and driven pulley (1-3-2) constitutes the base deceleration device, and the speed reducing ratio of this deceleration device is 10:1;
Shoulder mechanism by shoulder bracing frame, shoulder rotating shaft, big arm reducing gear, forearm reducing gear, autonomous adjustment reducing gear, install and fix six parts of member and form; Installing and fixing member (2-6) is fixed on autonomous adjustment mechanism and big arm mechanism on the fixed component (2-6); Photoelectric encoder (10-2), photoelectric encoder (10-3), photoelectric encoder (10-4) are installed in respectively on motor (8-2), motor (8-3), the motor (8-4) by respective sequence separately; Forming three integral body is installed on the shoulder bracing frame then together; Three reducing gear driving wheels (2-3-1), driving wheel (2-4-1) and driving wheel (2-5-1) are nested in the output shaft of three motors (8-2), motor (8-3) and motor (8-4) respectively, and form big arm deceleration device, forearm deceleration device, autonomous adjustment mechanism deceleration device respectively with big arm reducing gear driving wheel (2-3-2), forearm reducing gear driving wheel (2-4-2), autonomous adjustment deceleration driving wheel (2-5-2) respectively through steel wire rope; The speed reducing ratio of these three deceleration devices also is (10:1); Big arm mechanism one end and autonomous adjustment mechanism one end are installed in respectively on the fixed mechanism (2-6), and fixed mechanism (2-6) is installed in the shoulder rotating shaft (2-2); Big arm mechanism lays respectively at shoulder rotating shaft (2-2) front and back position with autonomous adjustment mechanism, around shoulder rotating shaft (2-2) rotation; The big other end of arm mechanism links to each other with little arm mechanism one end through rotating shaft, and the forearm mechanism other end links to each other through rotating shaft with wrist mechanism one end; End effector links to each other with a wrist mechanism other end through rotating shaft;
Autonomous adjustment mechanism relies on motor (8-4) driving that is installed on the shoulder bracing frame to match with the balanced controls deceleration device through steel wire rope and controls the position of balance slide block on balancing pole; When big arm mechanism, little arm mechanism, wrist mechanism and end effector present position changed, autonomous adjustment mechanism can fully offset and compensate the suffered gravity of whole force feedback equipment mechanical arm in the position of adjustment slide block on balanced controls;
Big arm mechanism, little arm mechanism join end to end through rotating shaft, and little arm mechanism links to each other with wrist mechanism through rotating shaft; Two high accuracy angular potentiometers are installed in the wrist mechanism, and end effector mechanism is connected with wrist mechanism through rotating shaft, and a high accuracy angular potentiometer also is installed in the end effector mechanism.
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