Force feedback interactive device for automatically regulating balance of dead weight

A technology of interactive equipment and force feedback, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inconvenient disassembly, maintenance and replacement of parts, limited application or environment, no gravity compensation, etc., to achieve motion accuracy and high repetition accuracy, large movement space, and the effect of reducing inertia and friction

Inactive Publication Date: 2012-01-18
NANCHANG UNIV
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Problems solved by technology

However, there are many defects in the above-mentioned disclosed inventions or applied for invention patents: complete gravity compensation is not performed, gravity compensation is indispensable in force feedback equipment, if the mechanical arm of the force feedback equipment does not perform its own gravity compensation, When the force feedback interaction is performed in a virtual environment or a remote operation environment, the human hand can not only feel the feedback force, but also feel the gravity of the mechanical arm of the force feedback device.
Since gravity and fe

Method used

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  • Force feedback interactive device for automatically regulating balance of dead weight
  • Force feedback interactive device for automatically regulating balance of dead weight
  • Force feedback interactive device for automatically regulating balance of dead weight

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Embodiment Construction

[0063] combined with Figure 1-15 The description is as follows: the present invention is a human-computer interaction force feedback device with three degrees of freedom and six degrees of freedom in space movement. In order to improve the influence of gravity, an autonomous adjustment balance mechanism (7) is introduced. The self-adjusting balance mechanism (7) includes four parts: a balance bar (7-1), a balance slide block (7-2), a pulley (7-3) and a steel wire rope (7-4). The gravity of each arm link of the force feedback device is compensated by adjusting the balance slider (7-2) on the balance bar (7-1). The self-adjusting balance mechanism relies on the motor (8-4) installed on the shoulder support frame to drive and control the position of the balance slider on the balance bar through the cooperation of the steel wire rope and the balance mechanism deceleration device, and uses the principle of leverage to improve the gravity on the arm. impact. The balance mechanism...

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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 [0001] The present invention designs a force feedback interaction device with self-weight of the self-adjusting mechanism, which provides six degrees of freedom of motion and three degrees of freedom force feedback, and can be used in a virtual environment or a master-slave remote operation environment to realize force feedback interaction , to accurately simulate the force / tactile magnitude and direction during the interaction. Background technique [0002] Introducing human intelligence factors such as decision-making and judgment into robot systems to design fully autonomous intelligent machines is the goal of relevant scientific research and technical personnel. Unfortunately, due to the limitations of artificial intelligence, sensing technology, computer technology, mechanical design and manufacturing, and control theory, it is difficult to realize fully autonomous intelligent robots in the foreseeable period. In order to improve the decision-making abi...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J19/00
Inventor 李春泉刘小平胡昌文徐少平杨晓辉
Owner NANCHANG UNIV
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