Interactive motion device

Abstract

The invention relates to the technical field of body intelligence, and discloses an interactive motion device which comprises a lower motion module, a three-degree-of-freedom rotating unit and an upper motion module, the lower motion module comprises a supporting frame, a cross beam frame erected on the supporting frame and a moving assembly driving the cross beam frame to move, and the moving assembly drives the cross beam frame to move in the length direction of the supporting frame; the three-degree-of-freedom rotating unit comprises a first joint motor, a second joint motor and a third joint motor, output shafts of the first joint motor, the second joint motor and the third joint motor are orthogonal, the first joint motor is fixed to the cross beam frame, a first joint connecting rod is connected between the first joint motor and the second joint motor, and a second joint connecting rod is connected between the second joint motor and the third joint motor; the upper movement module comprises an upper movement module fixing frame and a mechanical arm which are sequentially connected, the third joint motor is fixedly connected with the upper movement module fixing frame, and the mechanical arm has two degrees of freedom, is orthogonal to the moving direction of the cross beam frame and has the attribute of moving in a large-range space.

Description

Technical Field

[0001] The present invention relates to the field of embodied intelligence technology, and in particular to an interactive motion device. Background Art

[0002] In recent years, embodied intelligence technology has shown a booming trend, and its applications in industrial automation, medical robot manipulation, scientific research intelligent assistance, and space robot remote control have gradually increased, promoting the leapfrog development of robot motion technology from "passive drive by command programming" to "active control of skill formation". In this process, an intuitive, reliable and effective means of robot skill formation is for humans to directly demonstrate the specific operation process to the robot, and the robot builds its own operation skills based on the data of the demonstration process.

[0003] The motion structures of robots and humans are very different. The data acquisition of the demonstration process of robot motion relies on non-isomorphic interactive motion devices. 3D systems touch is a commonly used interactive motion device. 3D systems touch is a typical three-degree-of-freedom robotic arm consisting of a two-link robotic arm and a rotating base. The motion range is 431 width x 348 height x 165 depth (mm). The 3D systems touch device is expensive and has a limited range of human-computer interactive motion. How to provide demonstration operation data for the motion process of the robot performing a large range of operation tasks is a difficult problem. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an interactive motion device, which comprehensively realizes the six-degree-of-freedom force / torque interaction capability of the terminal, and at the same time has the property of moving in a large range of space.

[0005] The present invention provides an interactive motion device, comprising: a lower motion module, a three-degree-of-freedom rotation unit and an upper motion module, the lower motion module comprising: a support frame, a beam frame mounted on the support frame, a moving component for driving the beam frame to move, the moving component drives the beam frame to move along the length direction of the support frame, the three-degree-of-freedom rotation unit comprising: a first joint motor, a second joint motor and a third joint motor with three output shafts orthogonal to each other, the first joint motor is fixed to the beam frame, the output shaft of the first joint motor is fixedly connected to the first end of the first joint connecting rod, the second end of the first joint connecting rod is fixedly connected to the second joint motor, the output shaft of the second joint motor is fixedly connected to the first end of the second joint connecting rod, and the second end of the second joint connecting rod is fixedly connected to the third joint motor, the upper motion module comprises an upper motion module fixing frame and a mechanical arm connected in sequence, the output shaft of the third joint motor is fixedly connected to the upper motion module fixing frame, the mechanical arm has two degrees of freedom and is orthogonal to the moving direction of the beam frame, and the first joint connecting rod is inclined to a side away from the mechanical arm.

[0006] Optionally, the moving component includes: a winding motor, a first wire wheel, a second wire wheel and two telescopic rods, the winding motor is fixed to the support frame, the output shaft of the winding motor is vertically arranged, two traction ropes with opposite winding directions are wound around the output shaft of the winding motor, each traction rope has two traction ends, the first wire wheel and the second wire wheel are respectively arranged up and down corresponding to the two traction ropes, the first wire wheel and the second wire wheel are connected to the support frame through a rotating shaft, the two traction ends of each traction rope are respectively fixed to the first wire wheel or the second wire wheel, and the two telescopic rods are symmetrically arranged on both sides of the winding motor, one end of the telescopic rod is fixed to the crossbeam frame, and the other end of the telescopic rod is hinged to the rotating shaft.

[0007] Optionally, the robotic arm includes a first robotic arm and a second robotic arm connected in sequence, the movement directions of the first robotic arm and the second robotic arm are perpendicular and orthogonal to the movement direction of the beam frame, the first robotic arm includes: an upper motion module plate, a fourth joint motor and a first parallelogram structure, the upper motion module plate is arranged parallel to the upper motion module fixed frame, the fourth joint motor is fixed to the upper motion module plate, the output shaft of the fourth joint motor is rotatably connected to the upper motion module fixed frame, the output shaft of the fourth joint motor is parallel to the output shaft of the third joint motor, and a connecting rod of the first parallelogram structure is pivotally connected to the output shaft of the fourth joint motor to drive the first swing end plate of the first parallelogram structure to swing along a movement direction perpendicular to the beam frame.

[0008] Optionally, the second robotic arm includes: a fixed plate and a second parallelogram structure, the fixed plate being vertically fixed to the first swinging end plate of the first parallelogram structure, a transmission shaft perpendicular to the fixed plate being connected to the fixed plate, and a connecting rod of the second parallelogram structure being pivotally connected to the transmission shaft to drive the second swinging end plate of the second parallelogram structure to swing in a direction perpendicular to the first swinging end plate.

[0009] Optionally, the first parallelogram structure and the second parallelogram structure are transmitted through a transmission assembly, and the transmission assembly includes: a transmission motor, a belt drive, a first bevel gear and a second bevel gear. The transmission motor is fixed to the upper motion module plate, and the output shaft of the transmission motor is parallel to the fourth joint motor. The output shaft of the transmission motor is rotatably connected to the upper motion module fixed frame. A rotating shaft is rotatably connected to the first swing end plate of the belt transmission component, and the rotating shaft is perpendicular to the output shaft of the transmission motor. The belt transmission component is transmission-connected between the output shaft of the transmission motor and the rotating shaft. The first bevel gear is fixedly connected to the rotating shaft, and the second bevel gear is fixedly connected to the transmission shaft, and the second bevel gear is vertically meshed with the first bevel gear.

[0010] Optionally, the transmission assembly also includes: a driving gear and a transmission gear, the driving gear is fixed to the output shaft of the transmission motor, the transmission gear is rotatably connected to the upper motion module fixing frame through a rotating shaft, and the transmission gear is meshed with the driving gear, and the belt of the belt transmission member is wound around the rotating shaft of the transmission gear.

[0011] Optionally, the third joint motor and the fourth joint motor are located on both sides of the upper motion module fixing frame.

[0012] Optionally, the end of the robotic arm is cooperatively connected to a force / torque information acquisition unit.

[0013] Optionally, the force / torque information acquisition unit includes a structural fixture and a first tactile sensor, a second tactile sensor and a third tactile sensor arranged on the structural fixture, the first tactile sensor and the third tactile sensor are arranged opposite to and in parallel, and the second tactile sensor is perpendicular to the first tactile sensor.

[0014] Optionally, an end clamping column is connected to the end of the robot arm, and the structural clamp is detachably plugged into the end clamping column.

[0015] The technical solution provided by the embodiment of the present invention has the following advantages compared with the prior art: An interactive motion device provided by an embodiment of the present invention realizes a large range of translational motion through the moving component of the upper motion module, and realizes three-degree-of-freedom rotation while ensuring the stability of the first robotic arm and the second robotic arm through the three mutually orthogonal first joint motor, second joint motor and third joint motor in the three-degree-of-freedom rotation unit in cooperation with the first joint connecting rod and the second joint connecting rod, thereby enabling the first robotic arm and the second robotic arm to have a large range of motion, and utilizing a combination of a translational structure and a rotational mechanism to provide a large range of interactive device terminal motion capability, and comprehensively realize the terminal six-degree-of-freedom force / torque interaction capability, while having the property of moving in a large range of space, and can provide demonstration operation data for the large-range motion of the robot. The embodiment of the present invention uses the Monte Carlo method to simulate the motion space of the interactive motion device, and selects 8000 random points to investigate the motion range of the device terminal, and the motion space covers a range of 500mm×500mm×500mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the overall structure of an interactive sports device provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a lower movement module provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an upper movement module provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a mobile assembly provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a first mechanical arm provided in an embodiment of the present invention; Figure 6A schematic diagram of the structure of the connection state between the second mechanical arm and the transmission assembly provided by an embodiment of the present invention; Figure 7 A schematic diagram of the structure of the connection between the first mechanical arm and the second mechanical arm provided in an embodiment of the present invention; Figure 8 A schematic diagram of the structure of a force / torque information acquisition unit provided in an embodiment of the present invention; Fig. 9 A diagram showing simulation results of an interactive motion device provided in an embodiment of the present invention.

[0017] Description of reference numerals: 1. Support frame; 2. Crossbeam frame; 3. Moving assembly; 30. Winding motor; 31. Traction rope; 32. First reel; 33. Second reel; 34. Telescopic rod; 35. Reel; 4. First joint motor; 5. Second joint motor; 6. Third joint motor; 7. First joint connecting rod; 8. Second joint connecting rod; 9. Upper motion module fixing frame; 10. First mechanical arm; 100. Upper motion module plate; 101. Fourth joint motor; 102. First parallelogram structure; 103. First swing end plate; 11. Second mechanical arm; 110. Fixed plate; 111. Transmission shaft; 112. Second parallelogram structure; 113. Second swing end plate; 12. Transmission assembly; 120. Transmission motor; 121. Belt transmission member; 122. Rotating shaft; 123. First bevel gear; 124. Second bevel gear; 125. Driving gear; 126. Transmission gear; 13. Force / torque information acquisition unit; 1301. Structural fixture; 1302. First tactile sensor; 1303. Second tactile sensor; 1304. Third tactile sensor; 14. End clamping column; 15. First joint motor base plate; 16. Second joint motor base plate; 17. Third joint motor base plate; 18. Linear guide rail; 19. Slider; 20. Computing unit clamping box. DETAILED DESCRIPTION

[0018] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0019] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the technical solutions of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] Existing interactive motion devices do not support the position / force / torque information collection of end-point motion exceeding 0.3m×0.3m×0.3m. How to provide demonstration operation data for the motion process of the robot performing large-scale operation tasks is a difficult problem. If the size of the machine is increased, the motor and drive will also become larger, and the performance of its own motion will not increase linearly, but will lead to a decrease in motion performance and load performance.

[0021] To this end, an embodiment of the present invention provides an interactive motion device that can comprehensively realize the six-degree-of-freedom force / torque interaction capability of the terminal and has the property of moving in a large range of space.

[0022] At least one embodiment of the present invention provides an interactive motion device, including: a lower motion module, a three-degree-of-freedom rotation unit and an upper motion module, the lower motion module including: a support frame, a beam frame mounted on the support frame, a moving component for driving the beam frame to move, the moving component drives the beam frame to move along the length direction of the support frame, the three-degree-of-freedom rotation unit including: a first joint motor, a second joint motor and a third joint motor with three orthogonal output shafts, the first joint motor is fixed to the beam frame, the output shaft of the first joint motor is fixedly connected to the first end of the first joint connecting rod, the second end of the first joint connecting rod is fixedly connected to the second joint motor, the output shaft of the second joint motor is fixedly connected to the first end of the second joint connecting rod, and the second end of the second joint connecting rod is fixedly connected to the third joint motor, the upper motion module includes an upper motion module fixing frame and a robotic arm connected in sequence, the output shaft of the third joint motor is fixedly connected to the upper motion module fixing frame, the robotic arm has two degrees of freedom and is orthogonal to the moving direction of the beam frame, and the first joint connecting rod is inclined to the side away from the robotic arm.

[0023] In the interactive motion device provided in the above-mentioned embodiment of the present invention, a wide range of interactive device terminal motion capabilities are provided through the combination of a translational structure and a rotational mechanism, and the terminal six-degree-of-freedom force / torque interaction capability is comprehensively realized. At the same time, it has the property of moving in a wide range of space, and can provide demonstration operation data for the teaching of large-range motion of the robot.

[0024] The present invention is described below by several specific embodiments. In order to keep the following description of the embodiments of the present invention clear and concise, the detailed description of known functions and known components may be omitted. When any component of the embodiments of the present invention appears in more than one accompanying drawings, the component may be represented by the same reference numeral in each of the accompanying drawings.

[0025] refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 The overall structure diagram of an interactive sports device provided by an embodiment of the present invention is as follows. Figure 2 A schematic diagram of the structure of the lower movement module provided by an embodiment of the present invention, Figure 3 A schematic diagram of the structure of the upper movement module provided by an embodiment of the present invention, such as Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present invention provides an interactive motion device, including: a lower motion module, a three-degree-of-freedom rotation unit and an upper motion module, the lower motion module including: a support frame 1, a beam frame 2 mounted on the support frame 1, a moving component 3 driving the beam frame 2 to move, the moving component 3 drives the beam frame 2 to move along the length direction of the support frame 1, the three-degree-of-freedom rotation unit including: a first joint motor 4, a second joint motor 5 and a third joint motor 6 with three orthogonal output shafts, the first joint motor 4 is fixed to the beam frame 2, the output shaft of the first joint motor 4 is fixedly connected to the first end of the first joint connecting rod 7, the second end of the first joint connecting rod 7 is fixedly connected to the second joint motor 5, the output shaft of the second joint motor 5 is fixedly connected to the first end of the second joint connecting rod 8, and the second end of the second joint connecting rod 8 is fixedly connected to the third joint motor 6, the upper motion module includes an upper motion module fixing frame 9 and a mechanical arm connected in sequence, the output shaft of the third joint motor 6 is fixedly connected to the upper motion module fixing frame 9, the mechanical arm has two degrees of freedom and is orthogonal to the moving direction of the beam frame 2, and the first joint connecting rod 7 is inclined to the side away from the mechanical arm. The three-degree-of-freedom rotation unit is coupled to the upper motion module, wherein the first joint motor 4, the second joint motor 5 and the third joint motor 6 receive the driving signal to rotate, respectively driving the first joint connecting rod 7, the second joint connecting rod 8 and the upper motion module fixing frame 9 fixed on their respective motor rotors, directly driving the upper motion module to rotate, and realizing the rotational movement of the end of the interactive motion device along the X-axis, Y-axis and Z-axis.

[0026] In Figure 1, the left side is the main body of the interactive motion device, and the right side is the force / torque information acquisition unit that can be installed at the end of the interactive motion device. For the motion process of the robot's large-scale operation tasks, a wide range of interactive device end motion capabilities are provided by mixing the translation structure and the rotation mechanism. The interactive motion device provided by the embodiment of the present invention allows a person to manipulate the end to perform interactive motion, and has the ability to collect the position and force / torque information of the human hand motion. The end motion range of the interactive motion device exceeds 0.3m×0.3m×0.3m, supports the position / force / torque information acquisition of 6 degrees of freedom, and can actively adjust the rotation of each motor of the device according to the movement of the human hand to achieve a smooth interactive motion process. An interactive motion device provided by the embodiment of the invention realizes a relatively large range of translational motion through the moving component of the upper motion module, realizes a relatively large range of rotation of the three degrees of freedom through the three mutually orthogonal first joint motors, the second joint motors and the third joint motors in the three-degree-of-freedom rotation unit in cooperation with the first joint connecting rod and the second joint connecting rod, and ensures the stability of the first mechanical arm and the second mechanical arm, thereby enabling the first mechanical arm and the second mechanical arm to have a relatively large range of motion, and utilizes the combination of the translational structure and the rotational mechanism to provide a relatively large range of motion capability of the end of the interactive device, and comprehensively realizes the six-degree-of-freedom force / torque interaction capability of the end, and at the same time has the property of moving in a relatively large range of space, and can provide demonstration operation data for the relatively large range of motion of the robot, such as Fig. 9 As shown, the embodiment of the present invention uses the Monte Carlo method to simulate the motion space of the interactive motion device, selects 8000 random points to investigate the motion range of the device end, and the motion space covers a range of 500mm×500mm×500mm.

[0027] refer to Figure 4 , Figure 4 A schematic diagram of the structure of a mobile component provided in an embodiment of the present invention, such as Figure 4 As shown, the moving component 3 includes: a winding motor 30, a first wire wheel 32, a second wire wheel 33 and two telescopic rods 34. The winding motor 30 is fixed to the support frame 1. The output shaft of the winding motor 30 is vertically arranged. Two traction ropes 31 with opposite winding directions are respectively wound on the output shaft of the winding motor 30. Each traction rope 31 has two traction ends, which are respectively arranged up and down corresponding to the two traction ropes 31. The first wire wheel 32 and the second wire wheel 33 are connected to the support frame 1 through a rotating shaft. The two traction ends of each traction rope 31 are respectively fixed to the first wire wheel 32 or the second wire wheel 33. The two telescopic rods 34 are symmetrically arranged on both sides of the winding motor 30. One end of the telescopic rod 34 is fixed to the crossbeam frame 2, and the other end of the telescopic rod 34 is respectively hinged to the rotating shaft.

[0028] The lower motion module is composed of a winding motor 30, a first wire wheel 32, a second wire wheel 33 and two telescopic rods 34. Specifically, a linear slide rail 18 is fixed on two parallel side frames of the support frame 1, and a slider 19 is slidably connected to the linear slide rail 18. The slider 19 is fixed to the crossbeam frame 2, and a take-up drum 35 is fixed on the winding motor 30. Two traction ropes 31 are respectively wound around the take-up drum 35. When the winding motor 30 moves in a fixed direction, the two traction ropes 31 with opposite winding directions respectively pull the first wire wheel 32 and the second wire wheel 33 to move in opposite directions, and then drive the two telescopic rods 34 to extend and retract at the same time to make the slider 19 move along the linear slide rail 18, so as to drive the crossbeam frame 2 to move. Since the traction rope 31 has a flexible feature, the lower motion module can realize the flexible conversion of rotation and translation in a small space, and can realize the X-axis translational freedom, thereby effectively compressing the space occupied by the actuator, improving the space utilization rate, and utilizing the tension characteristics of the winding itself to provide a certain passive flexibility effect for the movement of the upper motion module. The support frame 1 in the embodiment of the present invention is designed to be installed inside the table body, so the lower motion module in the embodiment of the present invention can hide the winding motor 30, the first wire wheel 32, the second wire wheel 33 and the two telescopic rods 34 in the lower motion module in the table body, making the moving part look lighter.

[0029] refer to Figure 5 , Figure 5 A schematic diagram of the structure of a first mechanical arm provided in an embodiment of the present invention is shown in FIG. Figure 5 As shown, the robot arm includes a first robot arm 10 and a second robot arm 11 connected in sequence, the movement directions of the first robot arm 10 and the second robot arm 11 are perpendicular and orthogonal to the movement direction of the beam frame 2, the first robot arm 10 includes: an upper motion module plate 100, a fourth joint motor 101 and a first parallelogram structure 102, the upper motion module plate 100 is arranged parallel to the upper motion module fixed frame 9, the fourth joint motor 101 is fixed to the upper motion module plate 100, the output shaft of the fourth joint motor 101 is rotatably connected to the upper motion module fixed frame 9, the output shaft of the fourth joint motor 101 is parallel to the output shaft of the third joint motor 6, and a connecting rod of the first parallelogram structure 102 is pivotally connected to the output shaft of the fourth joint motor 101 to drive the first swing end plate 103 of the first parallelogram structure 102 to swing along a movement direction perpendicular to the beam frame 2.

[0030] The first parallelogram structure 102 is designed for weight reduction. The weight of the joint will be reduced, which reduces the requirement for the driving torque of the fourth joint motor 101. The whole structure can be made smaller, thereby ensuring that the end of the second robotic arm 11 can move within a large range of space.

[0031] refer to Figure 6 , Figure 6A schematic diagram of the structure of the connection state between the second mechanical arm and the transmission assembly provided in an embodiment of the present invention, such as Figure 6 As shown, the second robotic arm 11 includes: a fixed plate 110 and a second parallelogram structure 112, the fixed plate 110 is vertically fixed to the first swinging end plate 103 of the first parallelogram structure 102, the fixed plate 110 is connected to a transmission shaft 111 perpendicular to it, and a connecting rod of the second parallelogram structure 112 is pivotally connected to the transmission shaft 111 to drive the second swinging end plate 113 of the second parallelogram structure 112 to swing in a direction perpendicular to the first swinging end plate 103.

[0032] In the embodiment of the present invention, the upper motion module is composed of two sets of parallelogram structures, namely the first parallelogram structure 102 and the second parallelogram structure 112. A connecting rod of the first parallelogram structure 102 is fixedly connected to the rotor of the fourth joint motor 101. The rotation of the fourth joint motor 101 can drive the connecting rod to move. The second parallelogram structure 112 realizes the Y and Z axial translational degrees of freedom through the connecting rod fixedly connected to the transmission shaft 111, thereby further realizing the lightweight structure through the two parallelogram structures, thereby ensuring a wide range of interactive device terminal motion capabilities.

[0033] For further reference, Figure 6 and Figure 7 , Figure 7 A schematic diagram of the structure of the connection between the first mechanical arm and the second mechanical arm provided in an embodiment of the present invention, as shown in FIG. Figure 6 and Figure 7 As shown, the first parallelogram structure 102 and the second parallelogram structure 112 are transmitted through a transmission component 12, and the transmission component 12 includes: a transmission motor 120, a belt transmission member 121, a first bevel gear 123 and a second bevel gear 124. The transmission motor 120 is fixed to the upper motion module plate 100, and the output shaft of the transmission motor 120 is parallel to the fourth joint motor 101. The output shaft of the transmission motor 120 is rotatably connected to the upper motion module fixing frame 9. The first swing end plate 103 is rotatably connected with a rotating shaft 122, and the rotating shaft 122 is perpendicular to the output shaft of the transmission motor 120. The belt transmission member 121 is transmission-connected between the output shaft of the transmission motor 120 and the rotating shaft 122. The first bevel gear 123 is fixedly connected to the rotating shaft 122, and the second bevel gear 124 is fixedly connected to the transmission shaft 111. The second bevel gear 124 is vertically meshed with the first bevel gear 123.

[0034] If the transmission motor 120 is directly fixed on the fixed plate 110, the second robot arm 11 will become heavier and the interactive motion performance will deteriorate. Therefore, in the embodiment of the present invention, a lightweight transmission design such as a belt transmission member 121, a first bevel gear 123 and a second bevel gear 124 is used to reduce the load at the end of the second parallelogram structure 112 and improve the interactive motion capability.

[0035] Reference again Figure 6 The transmission assembly 12 further includes: a driving gear 125 and a transmission gear 126. The driving gear 125 is fixed to the output shaft of the transmission motor 120. The transmission gear 126 is rotatably connected to the upper motion module fixing frame 9 through a rotating shaft, and the transmission gear 126 is meshed with the driving gear 125. The belt of the belt transmission member 121 is wound around the rotating shaft of the transmission gear 126. By designing the driving gear 125 and the transmission gear 126 to transmit the torque of the transmission motor 120 to the belt transmission member 121, it is ensured that the design of several axes conforms to a certain geometric relationship, which is convenient for subsequent kinematic design.

[0036] Specifically, the third joint motor 6 and the fourth joint motor 101 are located on both sides of the upper motion module fixing frame 9, the third joint motor 6 is fixed on the third joint motor base plate 17, and the output shaft of the third joint motor 6 is rotatably connected to the upper motion module fixing frame 9, the second joint connecting rod 8 is connected between the third joint motor base plate 17 and the output shaft of the second joint motor 5, and the second joint connecting rod 8 is tilted, so that the upper motion module panel 100 and the upper motion module fixing frame 9 are respectively located on both sides of the first parallelogram structure 102, ensuring the stability of the overall structure and no deflection during a large range of movement.

[0037] The fourth joint motor 101 receives the driving signal and rotates, directly driving the first parallelogram structure 102 to swing. Under the fixed connection between the first swing end plate 103 and the second parallelogram structure 112, the whole performs translational motion along the vertical Z axis and the coupled X axis direction. The transmission motor 120 receives the driving signal and rotates, directly driving the driving gear 125. The driving gear 125 and the transmission gear 126 are meshed with each other. The transmission gear 126 rotates and drives the belt transmission member 121 to move, and then drives the first bevel gear 123 to rotate, and the second bevel gear 124 rotates accordingly. The movement of the second bevel gear 124 directly drives the second parallelogram structure 112 to swing. The fixed plate 110 and a connecting rod of the second parallelogram structure 112 are fixedly connected, and then the second parallelogram structure 112 performs translational motion along the Y axis and coupled translational motion in the X axis direction as a whole.

[0038] Reference again Figure 1 The end of the robot arm is connected to a force / torque information collection unit 13. The interactive device provided by the embodiment of the present invention is composed of a three-degree-of-freedom translation unit, a three-degree-of-freedom rotation unit and an end force / torque information collection unit. The three-degree-of-freedom translation unit is divided into a lower motion module and an upper motion module. The three-degree-of-freedom rotation unit is composed of three rotation axis orthogonal motors and connecting rods, which can realize three axial rotations and generate end motion angles. , and The end motion of the interactive motion device depends on the rotation of each joint motor. The position and speed instructions of the motor rotation are generated by the motion process impedance model. The force / torque data in the model comes from the end force / torque information acquisition unit.

[0039] refer to Figure 8 , Figure 8 A schematic diagram of the structure of a force / torque information acquisition unit provided in an embodiment of the present invention is shown in FIG. Figure 8 As shown, the force / torque information acquisition unit 13 includes a structural fixture 1301 and a first tactile sensor 1302 , a second tactile sensor 1303 and a third tactile sensor 1304 arranged on the structural fixture 1301 . The first tactile sensor 1302 and the third tactile sensor 1304 are arranged opposite and parallel to each other, and the second tactile sensor 1303 is perpendicular to the first tactile sensor 1302 .

[0040] The right side of the figure shows the force / torque information acquisition unit. The first tactile sensor 1302, the second tactile sensor 1303 and the third tactile sensor 1304 can measure the positive vertical pressure and the two-dimensional sliding friction force on the sensor surface. When a person holds the force / torque information acquisition unit with his middle finger and thumb, when manipulating the force / torque information acquisition unit fixed to the end, the relative movement between the human hand and the acquisition unit will generate six degrees of freedom force / torque, marked as , represents a set of real numbers, according to the motion process impedance model , using the fourth-order Runge-Kutta algorithm to numerically solve the differential equation and obtain the position information of the coordinated motion of the end , which includes the three-axis translation information of the end in Cartesian space, The first three elements of represents the translation in the X direction, represents the translation in the Y direction, Indicates the translation of the Z axis and the rotation information of the three axes, using The last three elements of represents the rotation around the X axis, represents the rotation around the Y axis, Indicates rotation around the Z axis; The inertia matrix representing the impedance of the motion process; The damping matrix representing the impedance of the motion process; The elastic matrix representing the impedance of the motion process, , and They are all diagonal matrices, and the elements on the diagonal are all positive numbers; and They are respectively the acceleration and velocity of the end in the Cartesian coordinate system. After obtaining the position information of the coordinated motion of the end, the corresponding angle position and velocity requirements of each joint can be calculated using inverse kinematics. The calculation unit calculates the drive signal of each joint motor according to the requirements to drive each joint to rotate.

[0041] Specifically, the end of the robot arm is connected to the end clamping column 14, and the structural clamp 1301 is detachably plugged into the end clamping column 14. Considering that various tools can be added to the end of the interactive motion device in the future, a detachable design is made.

[0042] The interactive motion device winding motor 30 provided by the embodiment of the present invention realizes the rotational motion of the winding motor 30 to the translational motion of the upper motion module by combining the traction rope 31 and the first and second wire wheels 32 and 33. In the upper motion module, the fourth joint motor 101 and the transmission motor 120 use the gear set to reduce speed and increase torque. Under the condition of meeting the force / torque requirements, the first parallelogram structure 102 and the second parallelogram structure 112 are cooperated to convert the rotation to the translational motion, which can provide a larger interactive force at the end, and the range of motion is also improved. On the basis of the above structural design, combined with the three orthogonally placed first joint motors 4, second joint motors 5 and third joint motors 6 in the upper motion module, the six-degree-of-freedom force / torque interaction capability of the end is comprehensively realized, and at the same time, it has the property of moving in a large range of space, which can provide demonstration operation data for the teaching of large-scale motion of the robot.

[0043] The above inventions are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An interactive sports device, characterized in that: include: The lower motion module comprises: a support frame (1), a crossbeam frame (2) mounted on the support frame (1), and a moving component (3) for driving the crossbeam frame (2) to move, wherein the moving component (3) drives the crossbeam frame (2) to move along the length direction of the support frame (1); The three-degree-of-freedom rotation unit comprises: a first joint motor (4), a second joint motor (5) and a third joint motor (6) having three orthogonal output shafts, the first joint motor (4) being fixed to the crossbeam frame (2), the output shaft of the first joint motor (4) being fixedly connected to the first end of a first joint connecting rod (7), the second end of the first joint connecting rod (7) being fixedly connected to the second joint motor (5), the output shaft of the second joint motor (5) being fixedly connected to the first end of a second joint connecting rod (8), and the second end of the second joint connecting rod (8) being fixedly connected to the third joint motor (6); An upper motion module comprises an upper motion module fixing frame (9) and a mechanical arm which are connected in sequence, wherein the output shaft of the third joint motor (6) is fixedly connected to the upper motion module fixing frame (9), the mechanical arm has two degrees of freedom and is orthogonal to the moving direction of the crossbeam frame (2), and the first joint connecting rod (7) is inclined toward a side away from the mechanical arm.

2. An interactive sports device as claimed in claim 1, characterized in that: The mobile component (3) comprises: A winding motor (30) is fixed to the support frame (1), the output shaft of the winding motor (30) is arranged vertically, two traction ropes (31) with opposite winding directions are respectively wound around the output shaft of the winding motor (30), and each of the traction ropes (31) has two traction ends; The first wire wheel (32) and the second wire wheel (33) are respectively arranged in a one-to-one correspondence with the two traction ropes (31) up and down, the first wire wheel (32) and the second wire wheel (33) are connected to the support frame (1) via a rotating shaft, and the two traction ends of each traction rope (31) are respectively fixed to the first wire wheel (32) or the second wire wheel (33); Two telescopic rods (34) are symmetrically arranged on both sides of the winding motor (30), one end of the telescopic rod (34) is fixed to the crossbeam frame (2), and the other end of the telescopic rod (34) is hinged to the rotating shaft.

3. An interactive sports device as claimed in claim 1, characterized in that: The mechanical arm comprises a first mechanical arm (10) and a second mechanical arm (11) which are connected in sequence, the movement directions of the first mechanical arm (10) and the second mechanical arm (11) are perpendicular and orthogonal to the movement direction of the crossbeam frame (2), and the first mechanical arm (10) comprises: An upper motion module plate (100) is arranged parallel to the upper motion module fixing frame (9); A fourth joint motor (101) is fixed to the upper motion module plate (100), the output shaft of the fourth joint motor (101) is rotatably connected to the upper motion module fixing frame (9), and the output shaft of the fourth joint motor (101) is parallel to the output shaft of the third joint motor (6); A connecting rod of the first parallelogram structure (102) is pivotally connected to the output shaft of the fourth joint motor (101) to drive the first swing end plate (103) of the first parallelogram structure (102) to swing along a moving direction perpendicular to the crossbeam frame (2).

4. An interactive sports device as claimed in claim 3, characterized in that: The second mechanical arm (11) comprises: A fixed plate (110) is vertically fixed to the first swing end plate (103) of the first parallelogram structure (102), and a transmission shaft (111) vertically connected to the fixed plate (110); A connecting rod of the second parallelogram structure (112) is pivotally connected to the transmission shaft (111) to drive the second swing end plate (113) of the second parallelogram structure (112) to swing in a direction perpendicular to the first swing end plate (103).

5. An interactive sports device as claimed in claim 4, characterized in that: The first parallelogram structure (102) and the second parallelogram structure (112) are transmitted via a transmission assembly (12), wherein the transmission assembly (12) comprises: A transmission motor (120) is fixed to the upper motion module plate (100), the output shaft of the transmission motor (120) is parallel to the fourth joint motor (101), and the output shaft of the transmission motor (120) is rotationally connected to the upper motion module fixing frame (9); a belt transmission member (121), wherein a rotating shaft (122) is rotatably connected to the first swing end plate (103), the rotating shaft (122) is perpendicular to the output shaft of the transmission motor (120), and the belt transmission member (121) is drivingly connected between the output shaft of the transmission motor (120) and the rotating shaft (122); A first bevel gear (123) fixedly connected to the rotating shaft (122); The second bevel gear (124) is fixedly connected to the transmission shaft (111), and the second bevel gear (124) is vertically meshed with the first bevel gear (123).

6. An interactive sports device as claimed in claim 5, characterized in that: The transmission assembly (12) further comprises: A driving gear (125) fixed to the output shaft of the transmission motor (120); The transmission gear (126) is rotatably connected to the upper motion module fixing frame (9) via a rotating shaft, and the transmission gear (126) is meshed with the driving gear (125), and the belt of the belt transmission member (121) is wound around the rotating shaft of the transmission gear (126).

7. An interactive sports device as claimed in claim 5, characterized in that: The third joint motor (6) and the fourth joint motor (101) are located on both sides of the upper motion module fixing frame (9).

8. An interactive sports device as claimed in claim 1, characterized in that: The end of the mechanical arm is cooperatively connected to a force / torque information acquisition unit (13).

9. An interactive sports device as claimed in claim 8, characterized in that: The force / torque information acquisition unit (13) comprises a structural fixture (1301) and a first tactile sensor (1302), a second tactile sensor (1303) and a third tactile sensor (1304) arranged on the structural fixture (1301), wherein the first tactile sensor (1302) and the third tactile sensor (1304) are arranged opposite to and in parallel with each other, and the second tactile sensor (1303) is perpendicular to the first tactile sensor (1302).

10. An interactive sports device as claimed in claim 9, characterized in that: The end of the mechanical arm is connected to an end clamping column (14), and the structural clamp (1301) is detachably plugged into the end clamping column (14).

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