A six-degree-of-freedom serial force feedback device with coaxial double-arm transmission

Abstract

The present invention relates to a six-degree-of-freedom serial force feedback device with a coaxial dual-arm transmission, comprising a fixed base, a rotating platform, a first wire transmission mechanism, a second wire transmission mechanism, a third wire transmission mechanism, a quadrilateral linkage mechanism, and a ball-joint end mechanism; the quadrilateral linkage mechanism comprises a first driving rod, a first passive rod, a second passive rod, and a second driving rod, which are rotatably connected in sequence; the ball-joint end mechanism comprises an end connection device and an end operating handle with a built-in gyroscope sensor, and the end connection device is mounted on an end of the quadrilateral linkage mechanism away from the driving end; the third wire transmission mechanism drives the rotating platform to rotate on a horizontal plane, the first wire transmission mechanism drives the first driving rod to swing, and the second wire transmission mechanism drives the second driving rod to swing; the three wire transmission mechanisms all comprise motors, and encoders are provided at the ends of the motors. The present invention increases the degrees of freedom of movement of the force feedback device, improves the flexibility and stability of the force feedback device, and belongs to the field of force feedback technology.

Description

Technical Field

[0001] The present invention relates to the technical field of force feedback devices, and in particular to a six-degree-of-freedom serial force feedback device with coaxial double-arm transmission. Background Art

[0002] Real-time force-tactile interaction is a key development direction for virtual reality technology. Traditional virtual reality interaction relies primarily on visual and auditory perception, acquiring information only from the virtual environment. However, force-tactile interaction enables real-time, two-way information exchange with the virtual environment, significantly enhancing the creativity of virtual reality technology. Force feedback devices provide an interface for human-computer interaction with the virtual environment and are a crucial component of virtual reality systems, enhancing the realism and interactivity of virtual reality systems.

[0003] Currently, relevant institutions at home and abroad are conducting research and development of force feedback devices. A literature search of existing technologies revealed that the Delta series products from the Swiss company Force Dimension are parallel force feedback manipulators with three degrees of freedom, capable of performing force feedback operations in all three degrees of freedom. However, these devices are large and have low degrees of freedom, making them unable to capture posture changes such as rotation and tilt of the operator's hand. Furthermore, due to process and raw material requirements, these products are relatively expensive. The PHANTOM serial force feedback device from the US company SensAble Technologies suffers from numerous dead spots during movement and low device rigidity. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission, increase the degree of freedom of movement of the force feedback device, and improve the flexibility and stability of the force feedback device.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A six-degree-of-freedom serial force feedback device with a coaxial dual-arm transmission comprises a fixed base, a rotating platform, a first wire transmission mechanism, a second wire transmission mechanism, a third wire transmission mechanism, a quadrilateral linkage mechanism, and a ball-joint end mechanism. The quadrilateral linkage mechanism comprises a first driving rod, a first passive rod, a second passive rod, and a second driving rod, which are rotatably connected in sequence. The second driving rod is further rotatably connected to the first driving rod at the driving end. The ball-joint end mechanism comprises an end connection device and an end operating handle, which are interconnected by a ball joint. A gyroscope sensor for obtaining spatial three-dimensional inclination and angular acceleration information is disposed within the end operating handle. The end connection device is mounted on an end of the quadrilateral linkage mechanism away from the driving end. The rotating platform is disposed above the fixed base. The third wire transmission mechanism drives the rotating platform to rotate relative to the fixed base on a horizontal plane. The first wire transmission mechanism drives the first driving rod to swing relative to the rotating platform on a vertical plane. The second wire transmission mechanism drives the second driving rod to swing relative to the rotating platform on another vertical plane inside the vertical plane. The first, second, and third wire transmission mechanisms each comprise a motor. An encoder is disposed at the end of the motor to obtain the direction and speed of the motor drive shaft.

[0007] As a preferred embodiment, the force feedback device provides six-degree-of-freedom motion input and output through the cooperation of a gyroscope sensor and an encoder, captures the spatial position and posture of the end operating handle in real time, and outputs the position and posture information of the end operating handle.

[0008] As a preferred embodiment, the first wire transmission mechanism, the second wire transmission mechanism, and the third wire transmission mechanism have the same structure, and all include a motor, a coupling, a steel wire, a winding disk assembly, and a power output member. The driving shaft of the motor is connected to the coupling, and the coupling and the winding disk assembly are connected through the wound steel wire to realize transmission. The winding disk assembly is connected to the power output member to drive the power output member to rotate coaxially; the power output member of the first wire transmission mechanism is the first rotating shaft that drives the first drive rod to swing, the power output member of the second wire transmission mechanism is the second rotating sleeve that drives the second drive rod to swing, and the power output member of the third wire transmission mechanism is the third rotating shaft that drives the rotating platform to rotate; the second rotating sleeve is connected to the outside of the first rotating shaft, and the two rotate coaxially.

[0009] As a preferred embodiment, the winding reel assembly includes a winding reel, a first fixing screw, a second positioning screw, a spring, a baffle, and a winding post. A first wire hole and a second wire hole are provided on the circumferential side wall of the winding reel. The second positioning screw and the winding post are arranged in the same diameter direction of the winding reel. One end of the spring is fixed to the winding reel by the first fixing screw, and the baffle is arranged on one side of the spring; one end of the steel wire is fixed to the second positioning screw, and then passes through the second wire hole, and then is tightly attached to the circumferential outer side of the winding reel, and then is wound on the coupling, and then passes through the first wire hole, is wound on the winding post, and then is tightly attached to the arc-shaped outer side of the baffle, and finally connected to the other end of the spring.

[0010] As a preference, the force feedback device further comprises a limiting structure for limiting the rotation angle of the winding reel assembly.

[0011] As a preferred embodiment, in the first wire transmission mechanism, the first rotating shaft passes through the center of the winding disk assembly, and the first rotating shaft is fixedly connected to the winding disk assembly; in the second wire transmission mechanism, the second rotating sleeve is fixed at the center of the winding disk assembly, and the center of the winding disk assembly is provided with a first through hole for the first rotating shaft to pass through; the winding disk assembly of the first wire transmission mechanism is located on the inner side of the winding disk assembly of the second wire transmission mechanism.

[0012] As a preference, the motor drive shaft of the first wire transmission mechanism is horizontally arranged, the motor drive shaft of the second wire transmission mechanism is horizontally arranged, and the motor drive shaft of the third wire transmission mechanism is vertically arranged.

[0013] As a preference, in the quadrilateral linkage mechanism, the lengths of the first driving rod, the first passive rod, the second passive rod and the second driving rod are all equal.

[0014] As a preferred embodiment, the end connection device includes a base, a ball joint fixed end, a ball joint movable end, a threaded rod, and a bearing; the base is fixed on the second passive rod, and a threaded hole is provided on the base; the ball joint fixed end includes a base and a clamping part located at the end face of the base, and the end face of the base is also provided with a magnet, and the base is provided with a through threaded hole, and the threaded rod passes through the base and the threaded holes of the base, thereby connecting the ball joint fixed end and the base; the end of the threaded rod protrudes from the base and is sleeved on the bearing; the ball joint movable end includes a central rotating part and another clamping part fixed on one side of the central rotating part, the central rotating part is sleeved on the outside of the bearing, and the end face of the clamping part is provided with another magnet; when the two magnets are attracted, the two clamping parts are radially opposite to each other, clamping the sphere at the end of the end operating handle.

[0015] As a preferred embodiment, the fixed base is a cubic structure, including a bottom plate, a back plate, a side plate, and a top plate, with reinforcing ribs provided between the back plate and the bottom plate, and reinforcing ribs provided between the back plate and the top plate, and the motor of the third wire transmission mechanism is fixed on the back plate; the rotating platform is a cubic structure, including a bottom plate, a back plate, a side plate, and a top plate, with reinforcing ribs provided between the back plate and the bottom plate, and reinforcing ribs provided between the back plate and the top plate, and the motors of the first wire transmission mechanism and the second wire transmission mechanism are both fixed on the back plate.

[0016] The operating principle of the present invention is that the parallel structure used in the prior art achieves the three degrees of freedom of movement of the end-controller using a delta mechanism. In contrast, the present invention achieves the movement and rotational degrees of freedom of the end-controller by sequentially connecting a third wire drive mechanism, a second wire drive mechanism, a first wire drive mechanism, a quadrilateral linkage mechanism, and a ball-joint end-control mechanism. During use, the operator holds the end-controller and moves it. The gyroscope sensor captures the three rotational degrees of freedom of the end-controller. Simultaneously, the quadrilateral linkage mechanism deflects, and the offset is transmitted to the three wire drives. The encoder detects the angle change. The three degrees of freedom of movement of the end-controller are calculated by linking the two degrees of freedom of movement of the quadrilateral linkage mechanism with the one degree of freedom of the rotating platform. The spatial position and posture of the end-controller are calculated in real time based on forward kinematic analysis, thereby capturing the spatial position and posture of the operator's hand. Based on the position and posture information of the end-controller, the virtual control system transmits the action of the quadrilateral linkage mechanism via the three wire drives, applying comprehensive and real-time force feedback to the end-controller in all three directions of movement.

[0017] In general, the present invention has the following advantages:

[0018] (1) The force feedback device drives the first drive rod and the second drive rod to swing coaxially at the drive end through a wire transmission and drives the rotating platform to rotate through a wire transmission, and acts on the ball joint end mechanism through a quadrilateral connecting rod mechanism. The mechanism joints are flexible and the structure is compact, so that the transmission method of the present invention operates more stably, with higher precision and higher rigidity of the device.

[0019] (2) The motor layout and transmission layout of the present invention make the transmission structure more compact, the equipment volume smaller, and applicable to more occasions.

[0020] (3) The quadrilateral linkage mechanism has a simple structure, is easy to manufacture, assemble and maintain, has good stability, and has the advantages of high rigidity and high precision. Moreover, the driving force arms of the symmetrical quadrilateral linkage mechanism are of equal length, which improves the stability of the transmission and the rigidity of the equipment.

[0021] (4) The end connection device and the end operating handle are connected to each other through a ball joint, which eliminates the dead point in the movement of the traditional serial end operating handle, has higher flexibility, and makes the equipment run smoother.

[0022] (5) Magnets are provided at the fixed end and the movable end of the ball joint of the terminal connection device, respectively, to form a magnetically openable and closable ball joint connection port, which facilitates the installation and removal of the end of the terminal operating handle.

[0023] (6) Using the active gravity compensation algorithm, the motor output torque is used to offset the weight of the quadrilateral linkage mechanism, reducing the movement inertia of the device and allowing users to experience a more realistic force perception effect.

[0024] (7) The spring is used to properly tension and adjust the steel wire so that the steel wire always remains in a tensioned state.

[0025] (8) The limiting structure limits the rotation angle of the winding drum assembly to prevent excessive rotation from breaking the wire wire.

[0026] (9) The cross winding form of the steel wire increases the wrap angle and reduces the occurrence of slippage. The cross form has better symmetry, which can offset some of the radial forces, reduce the coupling load, make the transmission more stable, and extend the life of the coupling. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the structure of the force feedback device.

[0028] Figure 2 Schematic diagram of the structure without the ball joint end mechanism.

[0029] Figure 3 It is a structural schematic diagram of the third wire transmission mechanism.

[0030] Figure 4 It is a cross-sectional view of the third wire transmission mechanism.

[0031] Figure 5 Schematic diagram of the winding reel assembly.

[0032] Figure 6 It is a cross-sectional view of the connection between the first wire transmission mechanism, the second wire transmission mechanism and the quadrilateral linkage mechanism.

[0033] Figure 7 Schematic diagram of the bearing seat position of the first wire transmission mechanism.

[0034] Figure 8 Schematic diagram of the second wire transmission mechanism.

[0035] Figure 9 Schematic diagram of the ball joint end mechanism.

[0036] Figure 10 Schematic diagram of the magnet position at the fixed end of the ball joint.

[0037] Figure 11 This is a schematic diagram of the expanded state of the end connection device with the base removed.

[0038] Figure 12 It is a cross-sectional view of the end connection device with the base removed.

[0039] Figure 13It is a cross-sectional view of the rotation connection end of the first passive rod and the second passive rod.

[0040] Figure 14 It is a cross-sectional view of the rotation connection end of the first driving rod and the first passive rod.

[0041] Figure 15 Schematic diagram for connecting the encoder to the motor.

[0042] Wherein: 1 fixed base, 2 rotating platform, 3 first wire transmission mechanism, 4 second wire transmission mechanism, 5 third wire transmission mechanism, 6 quadrilateral connecting rod mechanism, 7 ball joint end mechanism;

[0043] 1-1 second supporting frame;

[0044] 2-1 first support frame, 2-2 first bearing;

[0045] 3-1 first rotating shaft, 3-2 second bearing, 3-3 bearing seat, 3-4 first limiting screw;

[0046] 4-1 second rotating sleeve, 4-2 third bearing, 4-3 end cover, 4-4 180-degree annular limiting groove;

[0047] 5-1 Motor, 5-2 Coupling, 5-3 Steel wire, 5-4 Winding reel assembly, 5-5 Third rotating shaft, 5-6 Winding reel, 5-7 First fixing screw, 5-8 Second positioning screw, 5-9 Spring, 5-10 Winding post, 5-11 Baffle, 5-12 Limit baffle, 5-13 First boss, 5-14 Limit bearing seat; 5-15 Locking screw, 5-16 Encoder, 5-17 Encoder base, 5-18 Encoder code disc coupling, 5-19 Code disc, 5-20 Encoder circuit board, 5-21 Encoder gasket;

[0048] 6-1 first driving rod, 6-2 first passive rod, 6-3 second passive rod, 6-4 second driving rod, 6-5 first short shaft, 6-6 second short shaft, 6-7 second boss, 6-8 notch;

[0049] 7-1 base, 7-2 ball joint fixed end, 7-3 ball joint movable end, 7-4 threaded rod, 7-5 bearing, 7-6 clamping part, 7-7 magnet, 7-8 center rotating part, 7-9 base. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below with reference to specific implementation methods.

[0051] A six-degree-of-freedom serial force feedback device with a coaxial double-arm transmission provides a force-sensing interactive interface for human-computer interaction in scenarios such as virtual reality, including a fixed base, a rotating platform, a first wire transmission mechanism, a second wire transmission mechanism, a third wire transmission mechanism, a quadrilateral linkage mechanism, and a ball-joint end mechanism; the quadrilateral linkage mechanism includes a first driving rod, a first passive rod, a second passive rod, and a second driving rod that are rotatably connected in sequence, and the second driving rod is rotatably connected to the first driving rod at the driving end; the ball-joint end mechanism includes an end connection device and an end operating handle that are mutually connected through a ball joint, and a three-dimensional spatial acquisition device is provided in the end operating handle. A gyroscope sensor for inclination and angular acceleration information, and an end connection device is installed at the end of the quadrilateral linkage mechanism away from the driving end; the rotating platform is arranged above the fixed base, the third wire transmission mechanism drives the rotating platform to rotate on the horizontal plane relative to the fixed base, the first wire transmission mechanism drives the first drive rod to swing on the vertical plane relative to the rotating platform, and the second wire transmission mechanism drives the second drive rod to swing on another vertical plane inside the vertical plane relative to the rotating platform; the first wire transmission mechanism, the second wire transmission mechanism, and the third wire transmission mechanism all include motors, and the end of the motor is provided with an encoder for obtaining the direction and speed of the motor drive shaft.

[0052] The encoder is arranged at the non-driving end of the motor. The encoder includes an encoder base, an encoder code disc coupling, a code disc, and an encoder circuit board. The motor includes an encoder gasket. The encoder base is fixed on the encoder gasket, the encoder code disc coupling is coaxially fixed to the drive shaft, the code disc is coaxially bonded to the encoder code disc coupling by glue, and the encoder circuit board is fixed on the encoder base.

[0053] The force feedback device works together with the gyroscope sensor and encoder to provide six-degree-of-freedom motion input and output, capture the spatial position and posture of the end operating handle in real time, and output the position and posture information of the end operating handle.

[0054] The first wire transmission mechanism, the second wire transmission mechanism and the third wire transmission mechanism have the same structure, and all include a motor, a coupling, a steel wire, a winding disk assembly and a power output member. The driving shaft of the motor is connected to the coupling, and the driving shaft and the coupling are fixed by a set screw and rotate coaxially and synchronously. The coupling and the winding disk assembly are connected by the wound steel wire to realize transmission, and the winding disk assembly is connected to the power output member to drive the power output member to rotate coaxially; the power output member of the first wire transmission mechanism is the first rotating shaft that drives the first driving rod to swing, the power output member of the second wire transmission mechanism is the second rotating sleeve that drives the second driving rod to swing, and the power output member of the third wire transmission mechanism is the third rotating shaft that drives the rotating platform to rotate; the second rotating sleeve is sleeved outside the first rotating shaft, and the two rotate coaxially.

[0055] The winding reel assembly includes a winding reel, a first fixing screw, a second positioning screw, a spring, a baffle, and a winding post. A first wire hole and a second wire hole are provided on the circumferential sidewall of the winding reel. The second positioning screw and the winding post are arranged on the same diameter of the winding reel. One end of the spring is fixed to the winding reel by the first fixing screw, and the baffle is arranged on one side of the spring. One end of the steel wire is fixed to the second positioning screw, then passes through the second wire hole, then closely adheres to the outer circumference of the winding reel, is wound around the coupling, then passes through the first wire hole, is wound around the winding post, and finally adheres to the curved outer side of the baffle before being connected to the other end of the spring. The winding post restricts the position of the steel wire, making the transmission of the steel wire smoother and reducing friction.

[0056] In the first wire transmission mechanism, the first rotating shaft passes through the center of the winding disk assembly, and the first rotating shaft is fixedly connected to the winding disk assembly; in the second wire transmission mechanism, the second rotating sleeve is fixed at the center of the winding disk assembly, and the center of the winding disk assembly is provided with a first through hole for the first rotating shaft to pass through; the winding disk assembly of the first wire transmission mechanism is located on the inner side of the winding disk assembly of the second wire transmission mechanism.

[0057] The motor drive shaft of the first wire transmission mechanism is arranged horizontally, the motor drive shaft of the second wire transmission mechanism is arranged horizontally, and the motor drive shaft of the third wire transmission mechanism is arranged vertically.

[0058] In the quadrilateral linkage mechanism, the lengths of the first driving rod, the first passive rod, the second passive rod, and the second driving rod are all equal.

[0059] The upper and lower connecting ends of the quadrilateral linkage mechanism are rotatably connected to the first driving rod and the first passive rod, and the second driving rod and the second passive rod, and the rotatably connected structures of the upper and lower connecting ends are the same. The quadrilateral linkage mechanism also includes a first short shaft; a second boss is provided at the end of the first driving rod away from the driving end, the second boss protrudes from the two side surfaces of the first driving rod respectively, a third through hole is provided in the second boss, a notch is provided at the end of the first passive rod close to the driving end to form two symmetrical clamping plates, the clamping plates have a fourth through hole and are installed with bearings, the first driving rod passes through the notch, the second boss abuts against the inner edge of the bearing, the first short shaft passes through the inner hole of the bearing, the third through hole, and the inner hole of another bearing from left to right, the two bearing retaining rings clamped on the first short shaft respectively fix the outer sides of the left and right bearings, and the first driving rod is fixedly connected to the first short shaft by screws to achieve the rotatable connection between the first driving rod and the first passive rod.

[0060] The rotating connection structure of the end of the quadrilateral linkage mechanism away from the driving end is a rotating connection between the first passive rod and the second passive rod. The quadrilateral linkage mechanism also includes a second short shaft; the connecting ends of the first passive rod and the second passive rod are both provided with a fifth through hole, and the fifth through hole has a built-in bearing. The second short shaft passes through the bearing inner holes of the two fourth through holes, and the four bearing retaining rings stuck on the second short shaft respectively correspond to the fixed bearings to prevent them from moving outward, thereby realizing the rotating connection between the first passive rod and the second passive rod.

[0061] The end connection device includes a base, a ball joint fixed end, a ball joint movable end, a threaded rod, and a bearing; the base is fixed on the second passive rod, and a threaded hole is provided on the base; the ball joint fixed end includes a base and a clamping part located at the end face of the base, and the end face of the base is also provided with a magnet, and the base is provided with a through threaded hole, and the threaded rod passes through the threaded holes of the base and the base, thereby connecting the ball joint fixed end and the base; the end of the threaded rod protrudes from the base and is sleeved on the bearing; the ball joint movable end includes a central rotating part and another clamping part fixed on one side of the central rotating part, the central rotating part is sleeved on the outside of the bearing, and another magnet is provided on the end face of the clamping part; when the two magnets are attracted, the two clamping parts are radially opposite to each other, clamping the sphere at the end of the end operating handle.

[0062] The fixed base is a cubic structure, including a bottom plate, a back plate, side plates, and a top plate. The side plates are mounted on the bottom plate by screws, the back plate is mounted on the bottom plate by screws, a reinforcing rib is provided between the back plate and the bottom plate, the top plate is mounted on the top surface of the back plate and the side plates by screws, a reinforcing rib is provided between the back plate and the top plate, and the motor of the third wire transmission mechanism is fixed on the back plate;

[0063] The rotating platform is a cubic structure, including a bottom plate, a back plate, a side plate, and a top plate. The side plates are mounted on the bottom plate by screws, the back plate is mounted on the bottom plate by screws, and reinforcing ribs are provided between the back plate and the bottom plate. The top plate is mounted on the top surface of the back plate and the side plates by screws, and reinforcing ribs are provided between the back plate and the top plate. The motors of the first wire transmission mechanism and the second wire transmission mechanism are both fixed on the back plate.

[0064] The winding drum of the first wire transmission mechanism is the first winding drum, the winding drum of the second wire transmission mechanism is the second winding drum, and the winding drum of the third wire transmission mechanism is the third winding drum.

[0065] Two first support frames are installed on the back plate of the rotating platform, and the motors of the first wire transmission mechanism and the second wire transmission mechanism are respectively fixed on the two first support frames by screws. The motor of the first wire transmission mechanism is located below the winding disk assembly, and the motor of the second wire transmission mechanism is located above the winding disk assembly; the second support frame is installed on the back plate of the fixed base, and the motor of the third wire transmission mechanism is fixed on the second support frame by screws; the motor of the third wire transmission mechanism is a brushed hollow cup DC servo motor.

[0066] The first winding reel and the second winding reel are placed vertically on the inner side of the side plate of the rotating platform. The first winding reel and the second winding reel are side by side and coaxial. A bearing hole is provided at each end of the left and right ends of the first through hole of the second rotating sleeve, and a third bearing is installed on the bearing hole; a first step through hole is provided on the side plate of the rotating platform, and the first bearing is installed in the first step through hole. The end cover for fixing the first bearing is installed on the outer wall of the side plate of the rotating platform; the second rotating sleeve passes through the inner hole of the first bearing from the inside to the outside; a bearing seat is installed on the back plate of the rotating platform and the second bearing is installed on the bearing seat; the first driving shaft is installed in sequence from the outside to the inside. The movable rod, the bearing retaining ring, the third bearing, the other third bearing, the bearing retaining ring, the center hole of the first winding disk, the bearing retaining ring, the second bearing, and the bearing retaining ring realize the coaxial rotation of the first transmission shaft and the second rotating sleeve; one end of the second driving rod is sleeved on the outer circumferential surface of the second rotating sleeve and is fixedly connected to the second rotating sleeve by a screw, and the first rotating shaft is fixedly connected to the first driving rod and the first winding disk by screws respectively, so that the rotation of the first winding disk drives the first driving rod to swing, and the rotation of the second winding disk drives the second driving rod to swing, and the driving ends of the first driving rod and the second driving rod swing coaxially.

[0067] The third rotating shaft is fixedly connected to the third winding drum, and a second step through hole is provided on the top plate of the fixed base, which is wide at the top and narrow at the bottom. A fourth bearing is installed on the upper part of the second step through hole. A first boss is correspondingly provided on the bottom plate of the rotating platform, and the first boss protrudes downwardly from the bottom surface of the bottom plate of the rotating platform and the outer diameter of the protruding downward is smaller than the outer ring diameter of the fourth bearing. A second through hole is provided in the first boss, and the bottom surface of the first boss abuts against the upper edge of the inner ring of the fourth bearing to support the rotating platform and limit the downward movement of the rotating platform; the third wire transmission mechanism also includes a limiting bearing seat; the third rotating shaft is sequentially installed with a bearing retaining ring, a limiting bearing seat, the third winding drum, the second step through hole, the inner hole of the fourth bearing, and the second through hole from bottom to top, and the third rotating shaft is locked and fixed with the first boss by a locking screw to realize the synchronous rotation of the third winding drum and the driving of the rotating platform; the limiting bearing seat supports the third winding drum, prevents the third rotating shaft from moving upward, thereby limiting the upward movement of the rotating platform.

[0068] The force feedback device also includes a limiting structure for limiting the rotation angle of the winding reel assembly.

[0069] The first winding drum and the second winding drum both have 180-degree annular limiting grooves, and a first limiting screw is installed on the bearing seat. The first limiting screw passes through the two 180-degree annular limiting grooves at the same time to realize the rotation limitation of the second winding drum and the third winding drum.

[0070] In the third wire transmission mechanism, a limit baffle is fixed at the center of the chassis of the third winding disk, and a second limit screw is installed on the bottom surface of the base plate of the rotating platform. When the third winding disk rotates, the second limit screw collides with the limit baffle to realize the rotation limit of the third winding disk, so that the third winding disk can rotate within a range of 180 degrees.

[0071] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission, characterized by: It includes a fixed base, a rotating platform, a first wire transmission mechanism, a second wire transmission mechanism, a third wire transmission mechanism, a quadrilateral connecting rod mechanism, and a ball joint end mechanism; The quadrilateral linkage mechanism comprises a first driving rod, a first passive rod, a second passive rod, and a second driving rod which are rotatably connected in sequence, and the second driving rod is rotatably connected to the first driving rod at the driving end; The ball joint end mechanism includes an end connection device and an end operating handle interconnected by a ball joint. A gyroscope sensor for obtaining spatial three-dimensional tilt angle and angular acceleration information is set in the end operating handle. The end connection device is installed at the end of the quadrilateral linkage mechanism away from the driving end. The rotating platform is arranged above the fixed base, the third wire transmission mechanism drives the rotating platform to rotate relative to the fixed base on a horizontal plane, the first wire transmission mechanism drives the first driving rod to swing relative to the rotating platform on a vertical plane, and the second wire transmission mechanism drives the second driving rod to swing relative to the rotating platform on another vertical plane inside the vertical plane; The first wire transmission mechanism, the second wire transmission mechanism, and the third wire transmission mechanism all include motors, and encoders for obtaining the direction and speed of the motor drive shaft are provided at the ends of the motors; The end connection device includes a base, a ball joint fixed end, a ball joint movable end, a threaded rod, and a bearing; the base is fixed on the second passive rod, and a threaded hole is provided on the base; the ball joint fixed end includes a base and a clamping part located at the end face of the base, and the end face of the base is also provided with a magnet, and the base is provided with a through threaded hole, and the threaded rod passes through the threaded holes of the base and the base, thereby connecting the ball joint fixed end and the base; the end of the threaded rod protrudes from the base and is sleeved on the bearing; the ball joint movable end includes a central rotating part and another clamping part fixed on one side of the central rotating part, the central rotating part is sleeved on the outside of the bearing, and another magnet is provided on the end face of the clamping part; when the two magnets are attracted, the two clamping parts are radially opposite to each other, clamping the sphere at the end of the end operating handle.

2. A six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 1, characterized in that: Through the combined action of the gyroscope sensor and the encoder, it provides six-degree-of-freedom motion input and output, captures the spatial position and posture of the end operating handle in real time, and outputs the position and posture information of the end operating handle.

3. The six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 1, characterized in that: The first wire transmission mechanism, the second wire transmission mechanism and the third wire transmission mechanism have the same structure and all include a motor, a coupling, a steel wire, a winding disk assembly and a power output member. The driving shaft of the motor is connected to the coupling, and the coupling and the winding disk assembly are connected through the wound steel wire to realize transmission. The winding disk assembly is connected to the power output member to drive the power output member to rotate coaxially; the power output member of the first wire transmission mechanism is the first rotating shaft that drives the first driving rod to swing, the power output member of the second wire transmission mechanism is the second rotating sleeve that drives the second driving rod to swing, and the power output member of the third wire transmission mechanism is the third rotating shaft that drives the rotating platform to rotate; the second rotating sleeve is sleeved outside the first rotating shaft, and the two rotate coaxially.

4. A six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 3, characterized in that: The winding reel assembly includes a winding reel, a first fixing screw, a second positioning screw, a spring, a baffle, and a winding post. A first wire hole and a second wire hole are provided on the circumferential side wall of the winding reel. The second positioning screw and the winding post are arranged in the same diameter direction of the winding reel. One end of the spring is fixed to the winding reel through the first fixing screw, and the baffle is arranged on one side of the spring; one end of the steel wire is fixed to the second positioning screw, then passes through the second wire hole, and then is tightly attached to the circumferential outer side of the winding reel, and then is wound around the coupling, and then passes through the first wire hole, is wound around the winding post, and then is tightly attached to the arc-shaped outer side of the baffle, and finally connected to the other end of the spring.

5. The six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 3, characterized in that: It also includes a limiting structure for limiting the rotation angle of the winding drum assembly.

6. The six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 3, characterized in that: In the first wire transmission mechanism, the first rotating shaft passes through the center of the winding drum assembly, and the first rotating shaft is fixedly connected to the winding drum assembly; In the second wire transmission mechanism, the second rotating sleeve is fixed to the center of the winding disk assembly, and the center of the winding disk assembly is provided with a first through hole for the first rotating shaft to pass through; The winding drum assembly of the first wire transmission mechanism is located inside the winding drum assembly of the second wire transmission mechanism.

7. The six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 3, characterized in that: The motor drive shaft of the first wire transmission mechanism is arranged horizontally, the motor drive shaft of the second wire transmission mechanism is arranged horizontally, and the motor drive shaft of the third wire transmission mechanism is arranged vertically.

8. The six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 1, characterized in that: In the quadrilateral linkage mechanism, the lengths of the first driving rod, the first passive rod, the second passive rod, and the second driving rod are all equal.

9. The six-degree-of-freedom serial force feedback device with coaxial dual-arm transmission according to claim 1, characterized in that: The fixed base is a cubic structure, including a bottom plate, a back plate, side plates, and a top plate. A reinforcing rib is provided between the back plate and the bottom plate, and a reinforcing rib is provided between the back plate and the top plate. The motor of the third wire transmission mechanism is fixed on the back plate; The rotating platform is a cubic structure, including a bottom plate, a back plate, side plates, and a top plate. Reinforcement ribs are provided between the back plate and the bottom plate, and between the back plate and the top plate. The motors of the first wire transmission mechanism and the second wire transmission mechanism are both fixed on the back plate.

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