Differential pressure driven kinematic twin sculpting device with force feedback

Abstract

This invention discloses a pressure differential driven motion twin engraving device with force feedback, comprising a first base plate, a second base plate, a first frame, a second frame, and an operating lever. The first frame has a first connecting plate, and the second frame has a second connecting plate. A first rotating shaft is rotatably mounted on the first base plate, and a second rotating shaft is rotatably mounted on the second base plate. The first connecting plate and the first rotating shaft are coupled together, and the second connecting plate and the second rotating shaft are coupled together. The operating lever is clamped on the first frame. The device further comprises a drive motor, an engraving tool, and a torsion spring. The drive motor is mounted on the second base plate and coupled with the second rotating shaft. The engraving tool is clamped on the second frame. One contact of the torsion spring is coupled with the second connecting plate, and the other contact of the torsion spring is coupled directly or indirectly with the second base plate.

Description

Technical Field

[0001] This invention relates to the field of mechanical engraving, and more particularly to a pressure differential driven motion twin engraving device with force feedback. Background Technology

[0002] Parallel three-axis robotic arms (also known as twin robotic arms) are a commonly used type of robotic arm. Patent publication document CN205363887U discloses a parallel three-axis robotic arm. When in use, this parallel three-axis robotic arm can isolate the operator from the object being worked on, thereby ensuring the operator's safety and health.

[0003] In the current carving industry, parallel three-axis robotic arms are often used to avoid operators being injured by dust and other objects during operation. However, as shown in patent publication document CN205363887U, the three-axis robotic arm does not have a corresponding offsetting structure on its bottom rotating shaft to offset the weight of the structure loaded on the rotating shaft. Therefore, the error of this type of parallel three-axis robotic arm is relatively large when operating, and the error is relatively large when carving. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a pressure differential-driven motion twin carving device with force feedback. By incorporating a torsion spring, a portion of the weight of the second frame and the items it carries is offset, resulting in higher synchronization and smaller movement differences when the second frame moves in sync with the first frame, making the second frame's movement more flexible.

[0005] The technical solution adopted in this invention is as follows:

[0006] A pressure differential driven motion twin engraving device with force feedback includes a first base plate, a second base plate, a first frame, a second frame, and an operating lever. The first frame has a first connecting plate, and the second frame has a second connecting plate. A first rotating shaft is rotatably mounted on the first base plate, and a second rotating shaft is rotatably mounted on the second base plate. The first connecting plate and the first rotating shaft are coupled together, and the second connecting plate and the second rotating shaft are coupled together. The operating lever is clamped on the first frame. The device also includes a drive motor, an engraving tool, and a torsion spring. The drive motor is mounted on the second base plate and coupled with the second rotating shaft. The engraving tool is clamped on the second frame. One contact of the torsion spring is coupled with the second connecting plate, and the other contact of the torsion spring is coupled directly or indirectly with the second base plate.

[0007] In this carving device, both the first and second frames are triangular pyramidal in shape. While their shapes are similar, the first frame is smaller than the second. Three first pivots are mounted on the first base plate, and three second pivots are mounted on the second base plate. The first frame is connected to the first pivots via a first connecting plate, and the second frame is linked to the second pivots via a second connecting plate. When the first frame swings in a certain direction, the second frame swings in the same direction.

[0008] Specifically, in this device, the operation of the second frame is achieved by the drive motor driving the rotation of the second rotating shaft. Each second rotating shaft is independently connected to a drive motor, so there are three drive motors. Each drive motor drives one second rotating shaft to rotate. When the second rotating shaft rotates, the second frame moves.

[0009] Specifically, this device operates by mounting a torsion spring on each of the second rotating shafts. One contact of the torsion spring is directly embedded in and abuts against the second connecting plate, while the other contact indirectly abuts against the second base plate. The torsion spring provides a resisting force to the second connecting plate and the object it carries (the second frame and the carving tool). This resisting force can offset part of the weight of the second connecting plate itself and the object it carries. As a result, the force required to overcome when the drive motor rotates is relatively low. This ensures that the second frame moves more synchronously with the first frame, with less difference in movement, and the second frame moves more flexibly, making it easier to perform fine operations such as carving.

[0010] In summary, by incorporating torsion springs in this carving device, a portion of the weight of the second frame and the items it carries is offset. This results in greater synchronization and less variation in movement between the second and first frames, making the second frame's movement more flexible.

[0011] Optionally, it also includes a first angle sensor and a second angle sensor. The first angle sensor is disposed on the first base plate. The first angle sensor is used to sense the amount of rotation of the first rotating shaft, and the second angle sensor is used to sense the amount of rotation of the second rotating shaft.

[0012] Specifically, to ensure that the second frame can move together with the first frame, a first angle sensor and a second angle sensor are set up. The first angle sensor is used to monitor and sense the rotation of the first rotating shaft. Based on the result detected by the first angle sensor, the drive motor drives the second rotating shaft to rotate at the same angle. At the same time, during the rotation of the second rotating shaft, the second angle sensor is set up to monitor and sense the rotation of the second rotating shaft.

[0013] To achieve the above functions, the device also includes a first monitoring and control module, and the first angle sensor, the second angle sensor and the drive motor are all electrically connected to the first monitoring and control module.

[0014] Similarly, in order to achieve the linkage between the carving tool and the operating lever, this device also includes a second monitoring and control module, and the carving tool and the carving lever are electrically connected to the second monitoring and control module.

[0015] Optionally, it also includes a feedback motor and a torque sensor. The torque sensor is mounted on a support plate of the second base plate and is coupled with the second rotating shaft. The feedback motor is mounted on the first base plate and is coupled with the first rotating shaft.

[0016] The torque sensor and feedback motor are used to transmit the resistance encountered by the second frame during operation to the first frame. When the second frame encounters resistance during operation, this resistance is transmitted to the second rotating shaft, causing it to tend to move. The torque sensor detects the resistance encountered when the second rotating shaft rotates, and the feedback motor then drives the corresponding first rotating shaft to rotate, causing the first frame to produce the same tendency as the second frame. This identical tendency of movement provides tactile feedback to the user's hand. Therefore, the presence of the torque sensor and feedback motor allows the user to perform the carving work more accurately. Specifically, each first rotating shaft is paired with one feedback motor, so there are three feedback motors and three first angle sensors.

[0017] To achieve the aforementioned tactile feedback, a third monitoring and control module is further configured. Both the torque sensor and the feedback motor are electrically connected to the third monitoring and control module. The torque sensor transmits the sensed force to the third monitoring and control module, which then drives the corresponding feedback motor to operate.

[0018] Optionally, a support plate is provided on the second base plate, and the two ends of the second rotating shaft are respectively engaged with the two support plates. A sleeve is provided on the support plate, and a collar is fixedly fitted on the outer wall of the sleeve. The contact foot of the torsion spring is engaged with the embedded hole on the collar.

[0019] There are multiple support plates. Some of the support plates are directly fixed to the second base plate, while others are fixed to the attachments on the second base plate.

[0020] Specifically, in this device, a speed reducer is also provided between the second rotating shaft and the drive motor. The presence of the speed reducer can ensure the stability of the second rotating shaft when it rotates.

[0021] Optionally, the collar has several external threaded holes, and the sleeve has several internal threaded holes. The collar and the sleeve are joined together by screws, with one part of the screw located in the external threaded hole and the other part of the screw located in the internal threaded hole.

[0022] Since the collar is fixed to the sleeve, and the collar has an external threaded hole while the sleeve has an internal threaded hole, the collar can be adjusted at the same angle as needed. This allows for different torques to be applied to the torsion spring, thus enabling torque adjustment. When the load on the second frame changes (such as when changing to a different type of carving tool), the torque of the torsion spring can be adjusted as needed, ensuring that the entire second frame can always move stably and synchronously with the first frame.

[0023] The beneficial effects of this invention are: by setting a torsion spring, the weight of the second frame and the items carried by the second frame is offset by the torsion spring, which makes the second frame more synchronized and the movement difference smaller when it follows the first frame, and the movement of the second frame more flexible. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a simplified schematic diagram of a pressure differential-driven motion twin engraving device with force feedback;

[0026] Figure 2 yes Figure 1 A simplified enlarged diagram of point A in the middle;

[0027] Figure 3 yes Figure 1 A simplified enlarged diagram of point B in the middle;

[0028] Figure 4 This is a simplified schematic diagram showing the installation location of the first detection and control module;

[0029] Figure 5 This is a simplified schematic diagram of the mounting structure of the second rotating shaft on the second base plate;

[0030] Figure 6 This is a simplified diagram illustrating the positional relationship of the support plate on the second base plate.

[0031] The figures are labeled as follows: 1. Second base plate; 2. Second angle sensor; 3. Reducer; 4. Pin; 5. Second frame; 6. Engraving tool; 7. Support plate; 8. Second connecting plate; 9. Second rotating shaft; 10. Torsion spring; 11. Collar; 1101. External mating screw hole; 1102. Embedded hole; 12. Operating lever; 13. First frame; 14. First angle sensor; 15. Feedback motor; 16. First rotating shaft; 17. First connecting plate; 18. First base plate; 19. First monitoring and control module; 20. Third monitoring and control module; 21. Second monitoring and control module; 22. Drive motor; 23. Sleeve; 2301. Internal mating screw hole. Detailed Implementation

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0035] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and appendix Figure 6As shown, a pressure differential driven motion twin engraving device with force feedback includes a first base plate 18, a second base plate 1, a first frame 13, a second frame 5, and an operating lever 12. The first frame 13 has a first connecting plate 17, and the second frame 5 has a second connecting plate 8. A first rotating shaft 16 is rotatably mounted on the first base plate 18, and a second rotating shaft 9 is rotatably mounted on the second base plate 1. The first connecting plate 17 and the first rotating shaft 16 are coupled together, and the second connecting plate 8 and the second rotating shaft 9 are coupled together. The operating lever 12 is clamped on the first frame 13. The device also includes a drive motor 22, an engraving tool 6, and a torsion spring 10. The drive motor 22 is mounted on the second base plate 1 and is coupled together with the second rotating shaft 9. The engraving tool 6 is clamped on the second frame 5. One contact of the torsion spring 10 is coupled together with the second connecting plate 8, and the other contact of the torsion spring 10 is coupled together with the second base plate 1 directly or indirectly.

[0036] In this carving device, both the first frame 13 and the second frame 5 are triangular pyramids. The first frame 13 and the second frame 5 are similar in shape, but the first frame 13 is smaller than the second frame 5. Three first rotating shafts 16 are mounted on the first base plate 18, and three second rotating shafts 9 are mounted on the second base plate 1. The first frame 13 is connected to the first rotating shafts 16 via a first connecting plate 17, and the second frame 5 is linked to the second rotating shafts 9 via a second connecting plate 8. When the first frame 13 swings in a certain direction, the second frame 5 swings in the same direction.

[0037] Specifically, in this device, the first frame 13 is connected to the first connecting plate 17 via a pin 4, and the second frame 5 is connected to the second connecting plate 8 via a pin 4.

[0038] Specifically, in this device, the operation of the second frame 5 is achieved by the drive motor 22 driving the rotation of the second rotating shaft 9. Each second rotating shaft 9 is independently connected with a drive motor 22, so there are three drive motors 22. Each drive motor 22 drives one second rotating shaft 9 to rotate. When the second rotating shaft 9 rotates, the second frame 5 moves.

[0039] Specifically, in the operation of this device, a torsion spring 10 is fitted on each of the second rotating shafts 9. One contact of the torsion spring 10 is directly embedded in and abuts against the second connecting plate 8, while the other contact of the torsion spring 10 indirectly abuts against the second base plate 1. The torsion spring 10 provides a resisting force to the second connecting plate 8 and the object (second frame 5 and carving tool 6) it carries. This resisting force can offset part of the weight of the second connecting plate 8 itself and the object it carries. Thus, the force that needs to be overcome when the drive motor 22 rotates is relatively low. This ensures that the second frame 5 moves more synchronously with the first frame 13, with less difference in movement. The second frame 5 moves more flexibly, making it easier to perform fine operations such as carving.

[0040] In summary, by setting a torsion spring 10 in this carving device, a portion of the weight of the second frame 5 and the items carried by the second frame 5 is offset. This allows the second frame 5 to move more synchronously with the first frame 13, with smaller movement differences, and the second frame 5 to move more flexibly.

[0041] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and appendix Figure 6 As shown, it also includes a first angle sensor 14 and a second angle sensor 2. The first angle sensor 14 is disposed on the first base plate 18 and is used to sense the rotation of the first rotating shaft 16. The second angle sensor 2 is used to sense the rotation of the second rotating shaft 9.

[0042] Specifically, in order to ensure that the second frame 5 can move together with the first frame 13, a first angle sensor 14 and a second angle sensor 2 are set. The first angle sensor 14 is used to monitor and sense the rotation of the first rotating shaft 16. Based on the result detected by the first angle sensor 14, the drive motor 22 drives the second rotating shaft 9 to rotate at the same angle. At the same time, during the rotation of the second rotating shaft 9, the second angle sensor 2 is set to monitor and sense the rotation of the second rotating shaft 9.

[0043] To achieve the above functions, the device also includes a first monitoring and control module 19, and the first angle sensor 14, the second angle sensor 2, and the drive motor 22 are all electrically connected to the first monitoring and control module 19.

[0044] Similarly, in order to achieve the linkage between the carving tool 6 and the operating lever 12, this device also includes a second monitoring and control module 21, and the carving tool 6 and the carving tool 6 are electrically connected to the second monitoring and control module 21.

[0045] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and appendix Figure 6 As shown, it also includes a feedback motor 15 and a torque sensor. The torque sensor is mounted on the support plate 7 of the second base plate 1 and is coupled with the second rotating shaft 9. The feedback motor 15 is mounted on the first base plate 18 and is coupled with the first rotating shaft 16.

[0046] The torque sensor and feedback motor 15 are configured to transmit the resistance encountered by the second frame 5 during operation to the first frame 13. When the second frame 5 experiences resistance during operation, this resistance is transmitted to the second rotating shaft 9, causing the second frame 5 to exhibit a tendency to move. The torque sensor detects the resistance encountered by the second rotating shaft 9 during rotation, and the feedback motor 15 then drives the corresponding first rotating shaft 16 to rotate, causing the first frame 13 to exhibit the same tendency as the second frame 5. This identical tendency of movement provides tactile feedback to the user's hand. Therefore, the presence of the torque sensor and feedback motor 15 allows the user to perform the carving operation more accurately. Specifically, each first rotating shaft 16 is paired with one feedback motor 15, resulting in three feedback motors 15 and three first angle sensors 14.

[0047] To achieve the aforementioned tactile feedback, a third monitoring and control module 20 is further provided. Both the torque sensor and the feedback motor 15 are electrically connected to the third monitoring and control module 20. The torque sensor transmits the sensed force to the third monitoring and control module 20, which then drives the corresponding feedback motor 15 to operate.

[0048] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and appendix Figure 6 As shown, a support plate 7 is provided on the second base plate 1, and the two ends of the second rotating shaft 9 are respectively engaged with the two support plates 7. A sleeve 23 is provided on the support plate 7, and a collar 11 is fixedly fitted on the outer wall of the sleeve 23. The contact foot of the torsion spring 10 is engaged with the embedding hole 1102 on the collar 11.

[0049] There are multiple support plates 7. Some support plates 7 are directly fixed to the second base plate 1, while others are fixed to the attachments on the second base plate 1.

[0050] Specifically, in this device, a speed reducer 3 is also provided between the second rotating shaft 9 and the drive motor 22. The presence of the speed reducer 3 can ensure the stability of the second rotating shaft 9 when it rotates.

[0051] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and appendix Figure 6 As shown, the collar 11 has several external mating screw holes 1101, and the sleeve 23 has several internal mating screw holes 2301. The collar 11 and the sleeve 23 are connected by screws, and part of the screw is located in the external mating screw hole 1101, while the other part of the screw is located in the internal mating screw hole 2301.

[0052] Since the collar 11 is fitted and fixed on the sleeve 23, and the collar 11 has an external mating screw hole 1101 and the sleeve 23 has an internal mating screw hole 2301, the collar 11 can be adjusted at the installation angle on the sleeve 23 as needed. This can generate different torques for the torsion spring 10, thus realizing the torque adjustment of the torsion spring 10. When the object loaded on the second frame 5 changes (such as changing to a different type of carving tool 6, which will change the load), the torque of the torsion spring 10 can be adjusted as needed, thereby ensuring that the entire second frame 5 can always move stably and synchronously with the first frame 13.

[0053] When this device is installed on the lifting platform, it can float up and down, and when the object to be carved is placed on the rotating platform, it can be processed at any position and angle.

[0054] The above-described embodiments only illustrate some aspects of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pressure differential driven motion twin engraving device with force feedback, comprising a first base plate, a second base plate, a first frame, a second frame, and an operating lever, wherein the first frame has a first connecting plate, the second frame has a second connecting plate, a first rotating shaft is rotatably mounted on the first base plate, a second rotating shaft is rotatably mounted on the second base plate, the first connecting plate and the first rotating shaft are coupled together, the second connecting plate and the second rotating shaft are coupled together, and the operating lever is clamped on the first frame, characterized in that... It also includes a drive motor, an engraving tool, and a torsion spring. The drive motor is mounted on the second base plate and is coupled with the second rotating shaft. The engraving tool is clamped on the second frame. One contact of the torsion spring is coupled with the second connecting plate, and the other contact of the torsion spring is coupled directly or indirectly with the second base plate. It also includes a first angle sensor and a second angle sensor. The first angle sensor is disposed on the first base plate. The first angle sensor is used to sense the amount of rotation of the first rotating shaft, and the second angle sensor is used to sense the amount of rotation of the second rotating shaft. It also includes a feedback motor and a torque sensor. The torque sensor is indirectly mounted on the second base plate and is coupled with the second rotating shaft. The feedback motor is mounted on the first base plate and is coupled with the first rotating shaft.

2. The pressure differential driven motion twin engraving device with force feedback according to claim 1, characterized in that, The second base plate is provided with a support plate, and the two ends of the second rotating shaft are respectively engaged with the two support plates. A sleeve is provided on the support plate, and a collar is fixedly fitted on the outer wall of the sleeve. The contact foot of the torsion spring is engaged with the embedded hole on the collar.

3. The pressure differential driven motion twin engraving device with force feedback according to claim 2, characterized in that, The collar has several external threaded holes, and the sleeve has several internal threaded holes. The collar and the sleeve are joined together by screws, with one part of the screw located in the external threaded hole and the other part of the screw located in the internal threaded hole.

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