Force feedback device

Abstract

The utility model discloses a force feedback device. The force feedback device comprises a base and a feedback mechanism arranged on the base, the feedback mechanism comprises a connecting arm, a hollow fixing shaft and a rope driving part, the connecting arm is installed at the upper end of the hollow fixing shaft based on the rotating component, and the rope driving part is located below the hollow fixing shaft; the rope driving part comprises a first rotating unit, a second rotating unit and a driving shaft, the driving shaft is connected with the rotating part based on a first transmission part, the first rotating unit is connected with one end of the driving shaft, and the second rotating unit is connected with the other end of the driving shaft; the driving shaft is jointly driven by the first rotating unit and the second rotating unit to rotate, the driving shaft drives the rotating component to rotate, and the connecting arm is driven by the rotating component to rotate. The rope driving part is arranged below the connecting arm, so that the rope driving part is prevented from being directly mounted on the connecting arm, the space of the connecting arm is saved, the weight of the connecting arm is reduced, and the flexibility of the connecting arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of force feedback, in particular to a force feedback device. Background Art

[0002] The force feedback device is a stimulator similar to tactile perception. It is a key device for the operator to control the movement of the robotic arm and interact with it. According to the topological structure of the mechanism, the mechanism structure of the force feedback operation device can be divided into parallel mechanism, series mechanism and hybrid mechanism.

[0003] The force feedback devices currently on the market use motors and reduction mechanisms to control the connecting arms of the force feedback devices. However, the motors and reduction mechanisms are installed on the connecting arms, which makes the structure of the connecting arms complex and bulky, and even affects the flexibility and working range of the connecting arms. Utility Model Content

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology. The present invention provides a force feedback device. By arranging a rope driving part below the connecting arm, the rope driving part is avoided from being directly installed on the connecting arm, thereby saving space on the connecting arm, reducing the weight of the connecting arm, and improving the flexibility of the connecting arm.

[0005] Accordingly, the present invention provides a force feedback device, which includes: a base and a feedback mechanism arranged on the base;

[0006] The feedback mechanism includes: a connecting arm, a hollow fixed shaft, and a rope driving portion, wherein the connecting arm is mounted on the upper end of the hollow fixed shaft based on a rotating component, and the rope driving portion is located below the hollow fixed shaft;

[0007] The rope driving unit includes: a first rotating unit, a second rotating unit and a driving shaft, wherein the driving shaft is connected to the rotating component based on a first transmission component, the first rotating unit is connected to one end of the driving shaft, and the second rotating unit is connected to the other end of the driving shaft;

[0008] The driving shaft is driven to rotate by the first rotating unit and the second rotating unit. The driving shaft drives the rotating component to rotate. The connecting arm is driven to rotate by the rotating component.

[0009] Preferably, a first fixing groove is provided on the driving shaft, and the first transmission component is clamped in the first fixing groove.

[0010] Preferably, the first rotating unit includes: a first connecting rod and a first sector-shaped frame, the first connecting rod is located in the first sector-shaped frame, and the center line of the first connecting rod coincides with the center line of the first sector-shaped frame.

[0011] Preferably, the rope driving unit further includes a first hoist, the first hoist is located on one side of the first rotating unit, and the first hoist is connected to the first connecting rod based on a second transmission component;

[0012] The first sector frame is driven by the first hoist to rotate with the connection between the first connecting rod and the first sector frame as the center of the circle.

[0013] Preferably, a first guide pulley is provided below the first rotating unit, the head end of the second transmission component is connected to the output end of the first winch, the end of the second transmission component is connected to the end of the first connecting rod, and the middle section of the second transmission component is wound around the first guide pulley.

[0014] Preferably, the second rotating unit includes: a second connecting rod and a second sector-shaped frame, the second connecting rod is located outside the second sector-shaped frame, and the second connecting rod coincides with an extension line of a center line of the second sector-shaped frame.

[0015] Preferably, the rope driving unit further includes a second hoist, the second hoist is located on one side of the second rotating unit, and the second hoist is connected to the second connecting rod based on a third transmission component;

[0016] The second sector frame is driven by the second hoist to rotate with the connection point between the second connecting rod and the second sector frame as the center of the circle.

[0017] Preferably, a second guide pulley is provided below the second rotating unit, the head end of the third transmission component is connected to the output end of the second winch, the end of the third transmission component is connected to the end of the second connecting rod, and the middle section of the third transmission component is wound around the second guide pulley.

[0018] Preferably, a driving motor is provided on the base, and the feedback mechanism is driven by the driving motor to rotate on the base.

[0019] Preferably, the force feedback device is further provided with a hand controller, and the hand controller is signal-connected to the rope driving part.

[0020] Beneficial effects of the utility model:

[0021] The utility model is provided with a first rotating unit and a second rotating unit, which jointly drive the corresponding driving shaft to rotate, and then drive the rotating component to rotate, so that the connecting arm rotates, avoiding the rope driving part being directly installed on the connecting arm, saving space on the connecting arm, reducing the weight of the connecting arm, and improving the flexibility of the connecting arm; the utility model also outputs torque to the driving shaft through the first rotating unit and the second rotating unit respectively, so that the rotation angle of the driving shaft is more precise, and thus the rotation angle of the connecting arm is more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a structural diagram of the force feedback device in the utility model;

[0024] Figure 2 This is another structural diagram of the force feedback device in the present utility model;

[0025] Figure 3 It is a cross-sectional view of the force feedback device in the present utility model;

[0026] Figure 4 It is a structural diagram of the rope driving part in the utility model.

[0027] In the accompanying drawings, 1. base; 11. drive motor; 2. feedback mechanism; 20. rotating component; 21. connecting arm; 211. hand controller; 22. hollow fixed shaft; 23. rope drive part; 231. first rotating unit; 2311. first connecting rod; 2312. first fan-shaped frame; 232. second rotating unit; 2321. second connecting rod; 2322. second fan-shaped frame; 233. drive shaft; 2331. first fixed groove; 234. first transmission component; 235. first winch; 236. first guide pulley; 237. second winch; 238. second guide pulley. DETAILED DESCRIPTION

[0028] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] Figure 1 Shows a schematic structural diagram of the force feedback device in the present utility model; Figure 2 Another structural schematic diagram of the force feedback device in the present invention is shown; Figure 3 shows a cross-sectional view of the force feedback device in the present utility model; Figure 4 The schematic diagram of the structure of the rope drive part of the present invention is shown. The force feedback device includes: a base 1 and a feedback mechanism 2 arranged on the base 1. The base 1 is used to carry the feedback mechanism 2. When the entire force feedback device needs to be moved, only the base 1 needs to be moved, which reduces the steps of disassembling and transporting the feedback mechanism 2 and then reassembling it, thereby improving the efficiency of transporting the force feedback device.

[0030] Furthermore, the base 1 is provided with a drive motor 11, and the feedback mechanism 2 is driven by the drive motor 11 to rotate on the base 1. The feedback mechanism 2 rotates on the base 1, allowing it to easily face different directions, thereby improving its flexibility. The output end of the drive motor 11 is provided with a reducer, which converts the high-speed, low-torque output generated by the motor into a low-speed, high-torque output, slowing the rotation speed of the feedback mechanism 2. This helps reduce dynamic stress in the feedback mechanism 2 and improves its stability.

[0031] The feedback mechanism 2 includes: a connecting arm 21, a hollow fixed shaft 22 and a rope driving part 23, the connecting arm 21 is installed at the upper end of the hollow fixed shaft 22 based on the rotating part 20, and the rope driving part 23 is located below the hollow fixed shaft 22; the rope driving part 23 includes: a first rotating unit 231, a second rotating unit 232 and a driving shaft 233, the driving shaft 233 is connected to the rotating part 20 based on a first transmission part 234, wherein the first transmission part 234 passes through the hollow part of the hollow fixed shaft 22 to connect the driving shaft 233 and the rotating part 20, thereby reducing the wear caused by friction between the first transmission part 234 and external factors, thereby improving the service life of the first transmission part 234.

[0032] The first rotating unit 231 is connected to one end of the driving shaft 233, and the second rotating unit 232 is connected to the other end of the driving shaft 233; the driving shaft 233 is driven to rotate by the first rotating unit 231 and the second rotating unit 232, and the driving shaft 233 drives the rotating component 20 to rotate, and the connecting arm 21 is driven to rotate by the rotating component 20.

[0033] The first rotating unit 231 and the second rotating unit 232 rotate simultaneously. When the torque output by the first rotating unit 231 to the drive shaft 233 is equal to the torque output by the second rotating unit 232 to the drive shaft 233, the drive shaft 233 does not rotate; when the torque output by the first rotating unit 231 to the drive shaft 233 is greater than the torque output by the second rotating unit 232 to the drive shaft 233, the drive shaft 233 is forced to rotate in the forward direction, driving the first transmission component 234 to move, and the movement of the first transmission component 234 drives the rotating component 20 to rotate, thereby And drive the connecting arm 21 to rotate in the opposite direction; when the torque output by the first rotating unit 231 to the driving shaft 233 is less than the torque output by the second rotating unit 232 to the driving shaft 233, the driving shaft 233 is forced to rotate in the opposite direction, driving the first transmission component 234 to move, and the movement of the first transmission component 234 drives the rotating component 20 to rotate, and then drives the connecting arm 21 to rotate in the forward direction. The first rotating unit and the second rotating unit respectively output torque to the driving shaft, so that the rotation angle of the driving shaft is more precise, and thus the rotation angle of the connecting arm is more precise.

[0034] Furthermore, a first fixing groove 2331 is provided on the drive shaft 233, and the first transmission component 234 is clamped in the first fixing groove 2331. The first fixing groove 2331 is used to fix the first transmission component 234. The first transmission component 234 is in close contact with the root of the first fixing groove 2331. The side walls of the first fixing groove 2331 limit the movement range of the first transmission component 234, preventing the first transmission component 234 from shifting during use. This would cause the first transmission component 234 to abut against the inner wall of the hollow fixed shaft 22, resulting in repeated friction and wear between the first transmission component 234 and the hollow fixed shaft 22. This helps to maintain the working position of the first transmission component 234, reduce friction between the first transmission component 234 and other components, and extend the service life of the first transmission component 234.

[0035] Furthermore, the first rotating unit 231 includes: a first connecting rod 2311 and a first fan-shaped frame 2312. The first connecting rod 2311 is located in the first fan-shaped frame 2312. The first connecting rod 2311 coincides with the center line of the first fan-shaped frame 2312, and one end of the first connecting rod 2311 is aligned with the first fan-shaped frame 2312. The first connecting rod 2311 is fixedly connected to the first fan-shaped frame 2312. When the first connecting rod 2311 is subjected to force, it drives the entire first rotating unit 231 to rotate. The first connecting rod 2311 is located on the center line. When force acts on the center line, it avoids the need to provide a greater force to offset the gravity of the entire first fan-shaped frame 2312 when the force acts on the first fan-shaped frame 2312, which is conducive to driving the first rotating unit 231 to rotate with a smaller force. Secondly, after the first sector frame 2312 rotates to a certain height, when it is not affected by other external forces and is only affected by gravity, the first sector frame 2312 can autonomously rotate to the initial position to achieve the effect of autonomous reset.

[0036] Furthermore, the rope drive unit 23 also includes a first hoist 235, which is located on one side of the first rotating unit 231 and is connected to the first connecting rod 2311 via a second transmission component. The first sector frame 2312 is driven by the first hoist 235 to rotate about the connection point between the first connecting rod 2311 and the first sector frame 2312. The first hoist 235 applies the force to the first connecting rod 2311, causing the first connecting rod 2311 to drive the first sector frame 2312 to rotate. In this embodiment, the second transmission component may be a steel cable or other rope. When the first hoist 235 is in operation, the steel cable is tightened. At this time, the first hoist 235 exerts a traction force on the first connecting rod 2311 via the steel cable, driving the first connecting rod 2311 to rotate, thereby driving the first sector frame 2312 to rotate. When the first hoist 235 winds up a certain number of turns of steel cable and stops working, the friction between the steel cables offsets the gravity of the first fan-shaped frame 2312, so that the first rotating unit 231 remains in the specified position, which is beneficial for the hoist to reduce energy consumption and wear, thereby extending its service life.

[0037] Furthermore, a first guide pulley 236 is provided below the first rotating unit 231. The head end of the second transmission component is connected to the output end of the first hoist 235, the rear end of the second transmission component is connected to the rear end of the first connecting rod 2311, and the middle section of the second transmission component is wound around the first guide pulley 236. The guide pulley has a smooth surface and can rotate freely, so the direction of the rope movement can be easily changed without adding additional friction or resistance. This avoids the first hoist 235 and the first rotating unit 231 being connected in a straight line and occupying a large space, thereby facilitating the rational arrangement of the second transmission components and improving space utilization.

[0038] Furthermore, the second rotating unit 232 includes a second connecting rod 2321 and a second fan-shaped frame 2322. The second connecting rod 2321 is located outside the second fan-shaped frame 2322, and the second connecting rod 2321 coincides with an extension of the centerline of the second fan-shaped frame 2322. The second connecting rod 2321 is fixedly connected to the second fan-shaped frame 2322. When a force is applied to the second connecting rod 2321, the entire second rotating unit 232 is rotated. The second connecting rod 2321 is located on the centerline. When a force is applied to the centerline, the second connecting rod 2321 avoids the need to apply a greater force to offset the gravity of the entire second fan-shaped frame 2322 when the force is applied to the second fan-shaped frame 2322, thereby facilitating the rotation of the second rotating unit 232 with a smaller force. Furthermore, the second connecting rod 2321 and the second fan-shaped frame 2322 form a lever, which can be used to rotate the second connecting rod 2321 and the second fan-shaped frame 2322 with a smaller force, thereby reducing energy consumption. Finally, after the second sector frame 2322 rotates to a certain height, when it is not affected by other external forces but only by gravity, the second sector frame 2322 can rotate autonomously to achieve the effect of autonomous reset.

[0039] Furthermore, the rope drive unit 23 also includes a second hoist 237 located on one side of the second rotating unit 232. The second hoist 237 is connected to the second connecting rod 2321 via a third transmission component. The second sector frame 2322 is driven by the second hoist 237 to rotate about the connection point between the second connecting rod 2321 and the second sector frame 2322. The second hoist 237 applies the force to the second connecting rod 2321, causing the second connecting rod 2321 to drive the second sector frame 2322 to rotate. In this embodiment, the second transmission component may be a steel cable or other rope. When the second hoist 237 is in operation, the steel cable is tightened. At this time, the second hoist 237 exerts a traction force on the second connecting rod 2321 based on the steel cable, driving the second connecting rod 2321 to rotate, and in turn, the second sector frame 2322 to rotate. When the second hoist 237 winds in a certain number of turns of steel cable and stops working, the friction between the steel cables offsets the gravity of the second sector frame 2322, so that the second rotating unit 232 remains in the specified position, which is beneficial for the hoist to reduce energy consumption and wear, thereby extending its service life.

[0040] Furthermore, a second guide pulley 238 is provided below the second rotating unit 232. The head end of the third transmission component is connected to the output end of the second hoist 237, the rear end of the third transmission component is connected to the rear end of the second connecting rod 2321, and the middle section of the third transmission component is wound around the second guide pulley 238. The guide pulley has a smooth surface and can rotate freely, so the direction of rope movement can be easily changed without adding additional friction or resistance. This avoids the second hoist 237 and the second rotating unit 232 being connected in a straight line and occupying a large space, thereby facilitating the rational arrangement of the second transmission components and improving space utilization.

[0041] Furthermore, the force feedback device is also provided with a hand controller 211, which is signal-connected to the rope drive unit 23. The hand controller 211 can detect and provide feedback in real time on the interaction force between the remote manipulator and the environment. When the user manipulates the hand controller 211, the hand controller 211 generates and sends a corresponding signal to the rope drive unit 23. After receiving this signal, the rope drive unit 23 records the configuration parameters during the manipulation process to facilitate subsequent replication of the movement process and movement force of the force feedback device during the manipulation process.

[0042] To sum up, the utility model is provided with a first rotating unit and a second rotating unit, which jointly drive the corresponding drive shaft to rotate, and then drive the rotating component to rotate, so that the connecting arm rotates, avoiding the rope driving part being directly installed on the connecting arm, saving space on the connecting arm, and reducing the weight of the connecting arm, thereby improving the flexibility of the connecting arm; the utility model also outputs torque to the drive shaft through the first rotating unit and the second rotating unit respectively, so that the rotation angle of the drive shaft is more precise, and thus the rotation angle of the connecting arm is more precise.

[0043] In addition, the force feedback device provided by the embodiment of the present invention is introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A force feedback device, characterized in that: The force feedback device comprises: a base and a feedback mechanism arranged on the base; The feedback mechanism includes: a connecting arm, a hollow fixed shaft, and a rope driving portion, wherein the connecting arm is mounted on the upper end of the hollow fixed shaft based on a rotating component, and the rope driving portion is located below the hollow fixed shaft; The rope driving unit includes: a first rotating unit, a second rotating unit and a driving shaft, wherein the driving shaft is connected to the rotating component based on a first transmission component, the first rotating unit is connected to one end of the driving shaft, and the second rotating unit is connected to the other end of the driving shaft; The driving shaft is driven to rotate by the first rotating unit and the second rotating unit. The driving shaft drives the rotating component to rotate. The connecting arm is driven to rotate by the rotating component.

2. The force feedback device according to claim 1, wherein: The driving shaft is provided with a first fixing groove, and the first transmission component is clamped in the first fixing groove.

3. The force feedback device according to claim 1, wherein: The first rotating unit includes: a first connecting rod and a first sector frame. The first connecting rod is located in the first sector frame, and the center line of the first connecting rod coincides with the center line of the first sector frame.

4. The force feedback device according to claim 3, wherein: The rope driving unit further includes a first hoist, the first hoist is located on one side of the first rotating unit, and the first hoist is connected to the first connecting rod based on a second transmission component; The first sector frame is driven by the first hoist to rotate with the connection between the first connecting rod and the first sector frame as the center of the circle.

5. The force feedback device according to claim 4, characterized in that: A first guide pulley is provided below the first rotating unit, the head end of the second transmission component is connected to the output end of the first winch, the end of the second transmission component is connected to the end of the first connecting rod, and the middle section of the second transmission component is wound around the first guide pulley.

6. The force feedback device according to claim 1, wherein: The second rotating unit includes: a second connecting rod and a second sector frame, the second connecting rod is located outside the second sector frame, and the second connecting rod coincides with an extension line of a center line of the second sector frame.

7. The force feedback device according to claim 6, characterized in that: The rope driving unit further includes a second hoist, the second hoist is located on one side of the second rotating unit, and the second hoist is connected to the second connecting rod based on a third transmission component; The second sector frame is driven by the second hoist to rotate with the connection point between the second connecting rod and the second sector frame as the center of the circle.

8. The force feedback device according to claim 7, characterized in that: A second guide pulley is provided below the second rotating unit, the head end of the third transmission component is connected to the output end of the second winch, the end of the third transmission component is connected to the end of the second connecting rod, and the middle section of the third transmission component is wound around the second guide pulley.

9. The force feedback device according to claim 1, wherein: A driving motor is provided on the base, and the feedback mechanism is driven by the driving motor to rotate on the base.

10. The force feedback device according to claim 1, wherein: The force feedback device is further provided with a hand controller, and the hand controller is connected to the rope driving part by signal.

Images