Series force feedback equipment

Abstract

The utility model relates to the technical field of force feedback equipment, and discloses series connection force feedback equipment which comprises a base, a first rotating assembly, a second rotating assembly, a third rotating assembly, a large arm assembly, a torsion spring, a small arm assembly, a small arm balancing weight, an executing mechanism and an executing handle. The output end of the second rotating assembly is fixedly connected with one end of the big arm assembly, one end of the torsion spring is fixed with the second rotating assembly, and the other end of the torsion spring is fixedly connected with the big arm assembly; the output end of the third rotating assembly is connected with the small arm assembly, the small arm assembly is provided with the small arm balancing weight, and the executing mechanism is detachably connected with the executing handle. The force feedback device has the advantages that the large arm is subjected to gravity compensation, the structural size is reduced, the small arm is subjected to gravity compensation, the feedback precision of the force feedback device is improved, and meanwhile the execution handle is detachably arranged, so that the force feedback device can be applied to various use scenes.

Description

TECHNICAL FIELD

[0001] The utility model relates to force feedback equipment technical field, especially a series force feedback equipment. BACKGROUND

[0002] Force feedback equipment has an important position in the field of human-computer interaction, which can reflect the contact force suffered by the user in the virtual environment of the host computer through the force feedback equipment, giving the user a sense of being in the scene. There are generally two types of force feedback equipment on the market: parallel and series. First, parallel force feedback equipment adopts a design way of parallel connection of multiple actuators to build an end moving platform, which makes the parallel force feedback equipment have higher stiffness and stability compared with the series force feedback equipment, which means that the parallel force feedback equipment can withstand greater load and force output. Second, the series force feedback equipment adopts a design way of series connection of multiple actuators to build an end moving platform, which makes the series force feedback equipment have a larger movement space and a smaller body compared with the parallel force feedback equipment.

[0003] Regarding the series force feedback equipment, Chinese patent CN102320040B discloses a 6-DOF force feedback device with gravity compensation. The device belongs to a 6-DOF series force feedback mechanical arm. In order to compensate for the gravity of the large arm, a counterweight block is added at the tail of the base, which can slide along the guide rail. The large arm of the device adopts a lever principle gravity compensation method, so it increases the volume and mass of the device to some extent. Chinese patent CN113669425A discloses a rehabilitation exercise equipment and a rope transmission device. The device has position detection mechanisms in three directions and attitude detection mechanisms in three directions. The device adopts a parallelogram four-bar mechanism for transmission at the large arm, which increases the overall volume of the device.

[0004] Therefore, the series force feedback equipment in the prior art sets a counterweight block to compensate for the gravity of the large arm, which increases the overall volume of the device. In addition, the small arm is not compensated for gravity, which affects the feedback accuracy of the force feedback equipment. In addition, the execution handle at the end of the execution mechanism is generally fixed and cannot be detached, which limits the use scene and is not conducive to replacing the execution handle according to the use scene. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a series force feedback equipment, which reduces the structure volume when compensating for the gravity of the large arm, compensates for the gravity of the small arm, improves the feedback accuracy of the force feedback equipment, and the detachable execution handle can be applied to various use scenes.

[0006] In order to achieve the above object, the utility model provides a series force feedback equipment, including base, first rotation subassembly, second rotation subassembly, third rotation subassembly, big arm subassembly, torsional spring, small arm subassembly, small arm counterweight, actuating mechanism and execution handle,

[0007] The first rotation subassembly is equipped with the second rotation subassembly and the third rotation subassembly at the output end,

[0008] The output end of the second rotation subassembly is fixedly connected with one end of the big arm subassembly and is used to drive the big arm subassembly to rotate, one end of the torsional spring is fixed with the second rotation subassembly, and the other end is fixedly connected with the big arm subassembly,

[0009] The other end of the big arm subassembly is rotatably connected with the small arm subassembly,

[0010] The output end of the third rotation subassembly is connected with the small arm subassembly and is used to drive the small arm subassembly to rotate, one end of the small arm subassembly close to the big arm subassembly is equipped with the small arm counterweight, and the other end away from the big arm subassembly is equipped with the actuating mechanism,

[0011] The actuating mechanism is detachably connected with the execution handle.

[0012] In further embodiments, the execution handle includes a handle body, an input button and an elastic pin, one end of the handle body is provided with a sliding slot, the actuating mechanism is provided with a female socket corresponding to the elastic pin and a limiting boss corresponding to the sliding slot, and the limiting boss is slidingly arranged in the sliding slot.

[0013] In further embodiments, the actuating mechanism includes a fourth rotation subassembly, a fifth rotation subassembly and a sixth rotation subassembly connected in sequence, one end of the fourth rotation subassembly away from the big arm subassembly is fixedly connected with the small arm subassembly, the sixth rotation subassembly includes a sixth mounting table, a sixth rotating table, a sixth rotating shaft, a sixth encoder and a third threaded coupling, the sixth mounting table is fixedly connected with the output end of the fifth rotation subassembly, one end of the sixth rotating shaft is rotatably connected with the sixth mounting table, the other end is connected with the sixth rotating table through the third threaded coupling, the sixth encoder is arranged on the sixth mounting table, the sixth rotating shaft is provided with a magnetic disk corresponding to the sixth encoder, the sixth rotating table can rotate around the axis of the sixth rotating shaft, and the female socket and the limiting boss are both arranged on the sixth rotating table.

[0014] In a further embodiment, the fourth rotating assembly comprises a connecting piece, a fourth mounting base, a fourth rotating shaft, a first threaded coupling, a first counterweight, a fourth rotating base, a fourth threaded coupling, a fourth encoder, a first connecting base, one end of the connecting piece is fixedly connected with the small arm assembly, the other end is fixedly connected with the fourth mounting base, the fourth mounting base is rotationally connected with one end of the fourth rotating shaft, the other end of the fourth rotating shaft is connected with the fourth rotating base through the first threaded coupling, the fourth encoder is arranged on the fourth mounting base, the fourth rotating shaft is provided with a magnetic disk corresponding to the fourth encoder, the fourth rotating base can rotate around the axis of the fourth rotating shaft, the fourth rotating base is fixedly provided with the first counterweight and the first connecting base, and the first connecting base is used for connecting with the fifth rotating assembly.

[0015] In a further embodiment, the axis of the fourth rotating shaft is arranged opposite to the center of the end of the small arm assembly.

[0016] In a further embodiment, the fifth rotating assembly comprises a fifth mounting base, a fifth rotating shaft, a fifth rotating base, a second threaded coupling, and a fifth encoder, the fifth mounting base is fixedly connected with the first connecting base, the fifth mounting base is rotationally connected with one end of the fifth rotating shaft, the other end of the fifth rotating shaft is connected with the fifth rotating base through the second threaded coupling, the fifth mounting base is provided with the fifth encoder, the fifth rotating shaft is provided with a magnetic disk corresponding to the fifth encoder, and the fifth rotating base can rotate around the axis of the fifth rotating shaft.

[0017] In a further embodiment, the second rotating assembly and the third rotating assembly are fixed through a mounting base and the output end of the first rotating assembly, the second rotating assembly comprises a second motor, a second rotating disc, a second rotating shaft, a second winding sleeve, a second encoder, and a first stop ring, the second motor is arranged on the mounting base, the output end of the second motor is provided with the second winding sleeve, the rope on the second winding sleeve is fixedly connected with the second rotating disc, one end of the second rotating shaft is rotationally connected with the mounting base, the other end of the second rotating shaft is provided with the torsional spring and the large arm assembly, one end of the torsional spring is fixed with the mounting base, the other end is fixed with the large arm assembly, the second rotating shaft is provided with the first stop ring for limiting the large arm assembly in the axial direction of the second rotating shaft, the second encoder is arranged on the mounting base, and the second rotating shaft is provided with a magnetic disk corresponding to the second encoder.

[0018] In a further embodiment, the third rotating assembly comprises a third motor, a third rotating disc, a third rotating shaft, a third winding sleeve, a third encoder and a winding device, the third motor is arranged on the mounting base, the output end of the third motor is provided with the third winding sleeve, one end of the third rotating shaft is rotatably connected with the mounting base, the other end of the third rotating shaft is rotatably provided with the winding device, the rope on the third winding sleeve passes through the third rotating disc, the winding device and the small arm assembly in sequence, the third encoder is arranged on the mounting base, and the third rotating shaft is provided with a magnetic disk corresponding to the third encoder.

[0019] In a further embodiment, the first rotating assembly comprises a first motor, a first rotating disc, a first rotating shaft, a first winding sleeve, a first encoder and a fixed wire device, the first motor is fixedly arranged on the base, the output end of the first motor is fixedly provided with the winding sleeve, the first rotating shaft is fixedly connected with the first rotating disc and rotatably connected with the base at the other end, the first encoder is fixedly arranged on the base, the first rotating shaft is provided with a magnetic disk corresponding to the first encoder, and the rope on the first winding sleeve is fixed through the fixed wire device and the first rotating disc, the first motor drives the first winding sleeve to rotate, and then drives the first rotating disc to rotate.

[0020] In a further embodiment, the base is provided with a first limiting column, the first rotating disc is provided with an arc-shaped limiting groove, and the end of the first limiting column is arranged in the arc-shaped limiting groove, so as to limit the rotation angle of the first rotating disc.

[0021] Compared with the prior art, the second rotating assembly drives the large arm assembly to rotate, and the gravity compensation of the large arm assembly is realized through the torsional spring, the gravity compensation structure is simplified, and the overall volume of the equipment is reduced. The third rotating assembly drives the small arm assembly to rotate, and a small arm counterweight is arranged at one end of the small arm assembly close to the large arm assembly, so as to realize the gravity compensation of the small arm assembly during rotation and improve the feedback accuracy of force feedback. At the same time, the output end of the actuator is detachably connected with an execution handle, the execution handle can be replaced according to different use scenarios, and the equipment utilization rate is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic view of the series force feedback equipment of the utility model embodiment;

[0023] Figure 2 is a structural schematic view of the base of the series force feedback equipment of the utility model embodiment;

[0024] Figure 3 is a structural schematic view of the first rotating assembly of the series force feedback equipment of the utility model embodiment;

[0025] Figure 4 is a structural schematic view of the first rotating disc of the series connection force feedback device according to an embodiment of the present application;

[0026] Figure 5 is a structural schematic view of the second rotating assembly of the series connection force feedback device according to an embodiment of the present application;

[0027] Figure 6 is a structural schematic view of the second rotating assembly of the series connection force feedback device according to an embodiment of the present application from another perspective;

[0028] Figure 7 is a structural schematic view of the third rotating assembly of the series connection force feedback device according to an embodiment of the present application;

[0029] Figure 8 is a structural schematic view of the third rotating assembly of the series connection force feedback device according to an embodiment of the present application from another perspective;

[0030] Figure 9 is a structural schematic view of the fourth rotating assembly of the series connection force feedback device according to an embodiment of the present application;

[0031] Figure 10 is a structural schematic view of the first rotating assembly of the series connection force feedback device according to an embodiment of the present application from another perspective;

[0032] Figure 11 is a structural schematic view of the fifth rotating assembly of the series connection force feedback device according to an embodiment of the present application;

[0033] Figure 12 is a structural schematic view of the fifth rotating assembly of the series connection force feedback device according to an embodiment of the present application from another perspective;

[0034] Figure 13 is a structural schematic view of the sixth rotating assembly of the series connection force feedback device according to an embodiment of the present application;

[0035] Figure 14 is a structural schematic view of the sixth rotating assembly of the series connection force feedback device according to an embodiment of the present application from another perspective;

[0036] Figure 15 is a structural schematic view of the execution handle of the series connection force feedback device according to an embodiment of the present application.

[0037] In the figure, 1, base; 100, first plate body; 1001, first limiting column; 200, second plate body; 300, support plate; 400, supporting leg;

[0038] 2, first rotating assembly; 21, first motor; 22, first rotating disc; 221, arc-shaped limiting groove; 23, first rotating shaft; 24, first winding sleeve; 25, first encoder; 26, wire fixing device;

[0039] 3, second rotating assembly; 31, second motor; 32, second rotating disc; 33, second rotating shaft; 34, second winding sleeve; 35, second encoder; 36, first retaining ring;

[0040] 4, third rotating assembly; 41, third motor; 42, third rotating disc; 43, third rotating shaft; 44, third winding sleeve; 45, third encoder; 46, winding device; 47, transmission shaft; 48, connecting screw; 49, spring;

[0041] 5, large arm assembly; 6, torsional spring; 7, small arm assembly; 8, small arm counterweight;

[0042] 9, actuator; 91, fourth rotating assembly; 911, connecting piece; 912, fourth mounting table; 913, fourth rotating shaft; 914, first threaded coupling; 915, first counterweight; 916, fourth rotating table; 917, fourth encoder; 918, first connecting table;

[0043] 92, fifth rotating assembly; 921, fifth mounting table; 922, fifth rotating shaft; 923, fifth rotating table; 924, second threaded coupling; 925, fifth encoder;

[0044] 93, sixth rotating assembly; 931, sixth mounting table; 932, sixth rotating table; 9321, female socket; 9322, limiting boss; 933, sixth rotating shaft; 934, sixth encoder; 935, third threaded coupling;

[0045] 10, actuating handle; 101, handle body; 1011, sliding groove; 102, input button; 103, elastic ejector pin;

[0046] 11, mounting seat. DETAILED DESCRIPTION

[0047] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0048] In the description of the utility model, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer" and the like are used in the utility model to indicate the position or location relationship based on the position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model.

[0049] In the description of the utility model, it should be understood that the terms "first", "second" and the like are used in the utility model to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0050] Referring to Figures 1 to 15 , the utility model preferred embodiment of a series feedback device, including base 1, first rotation subassembly 2, second rotation subassembly 3, third rotation subassembly 4, big arm subassembly 5, torsion spring 6, small arm subassembly 7, small arm counterweight 8, actuating mechanism 9 and execution handle 10, wherein torsion spring 6 is used to carry out gravity compensation to big arm subassembly 5, small arm counterweight 8 is used to carry out gravity compensation to small arm subassembly 7. Specifically, first rotation subassembly 2 is arranged at base 1, the output end of first rotation subassembly 2 is equipped with second rotation subassembly 3 and third rotation subassembly 4, referring to Figure 1 , first rotation subassembly 2 can drive second rotation subassembly 3 and third rotation subassembly 4 to rotate synchronously. In order to facilitate the driving of big arm subassembly 5 to rotate, the output end of second rotation subassembly 3 and one end of big arm subassembly 5 are fixedly connected, in order to facilitate the setting of torsion spring 6, one end of torsion spring 6 and second rotation subassembly 3 are fixed, and the other end and big arm subassembly 5 are fixedly connected, that is, in the process of rotating, big arm subassembly 5 is always compensated by the torsion of torsion spring 6, the gravity compensation structure is simplified, the overall volume of the equipment is reduced, the other end of big arm subassembly 5 and small arm subassembly 7 are rotatably connected, that is, big arm subassembly 5 rotates, and small arm subassembly 7 can also rotate. Similarly, in order to facilitate the driving of small arm subassembly 7 to rotate, at the same time, the gravity of small arm subassembly 7 is compensated, and the force feedback precision is improved, the output end of third rotation subassembly 4 and small arm subassembly 7 are connected, one end of small arm subassembly 7 close to big arm subassembly 5 is equipped with small arm counterweight 8, and the other end away from big arm subassembly 5 is equipped with actuating mechanism 9. In addition, in order to improve the equipment utilization rate, increase the use scene of the equipment, actuating mechanism 9 is detachably connected with execution handle 10.

[0051] Further, referring to Figure 1 , Figure 13 , Figure 14 , Figure 15, in order to facilitate the quick disassembly of the execution handle 10 and the actuator 9, in the embodiment, the execution handle 10 comprises a handle body 101, an input button 102 and an elastic pin 103, wherein the input button 102 is used for pressing input when force feedback test is carried out, the handle body 101 facilitates the overall disassembly of the execution handle 10, specifically, one end of the handle body 101 is provided with a sliding groove 1011, the actuator 9 is provided with a limiting boss 9322 corresponding to the sliding groove 1011, and the limiting boss 9322 is slidingly arranged in the sliding groove 1011. At the same time, the handle body 101 is internally provided with electronic components for force feedback. In order to facilitate the quick power connection of the execution handle 10 and the actuator 9, the actuator 9 is provided with a female socket 9321 corresponding to the elastic pin 103, that is, when the execution handle 10 and the actuator 9 are installed, the limiting boss 9322 is clamped in the sliding groove 1011, the handle body 101 is pushed along the length direction of the sliding groove 1011, the elastic pin 103 is compressed, and after the elastic pin 103 is inserted into the female socket 9321, the elastic pin 103 returns to the original state, thereby realizing the fixation of the execution handle 10 and the actuator 9.

[0052] Further, the first rotating assembly 2, the second rotating assembly 3 and the third rotating assembly 4 are mainly used to drive the actuator 9 to move in multiple directions within a space range, referring to Figure 1 , in order to simplify the structure of each rotating assembly, in the embodiment, referring to Figure 3 、 Figure 4, the first rotating assembly 2 comprises a first motor 21, a first rotating disc 22, a first rotating shaft 23, a first winding sleeve 24, a first encoder 25 and a wire fixing device 26. The first motor 21 is fixed to the base 1 as a power element, and a winding sleeve is fixed to the output end of the first motor 21. The first rotating shaft 23 and the first rotating disc 22 are fixedly connected, and the other end is rotatably connected to the base 1. The wire on the first winding sleeve 24 is fixed to the first rotating disc 22 through the wire fixing device 26. The first motor 21 drives the first winding sleeve 24 to rotate, and then drives the first rotating disc 22 to rotate around the axis of the first rotating shaft 23. In order to facilitate the measurement of the rotation angle of the first rotating disc 22, the first encoder 25 is fixed to the base 1, and the first rotating shaft 23 is provided with a magnetic disk corresponding to the first encoder 25, that is, the magnetic disk and the first rotating shaft 23 rotate synchronously, and the rotation angle of the first rotating disc 22 can be obtained through the first encoder 25. Further, in the prior art, the force feedback device generally uses an incremental encoder, which needs to be calibrated every time it is powered on before use. In addition, due to the elastic deformation of the wire, it will cause errors between the actual data and the encoder data when collecting data. Therefore, in this embodiment, in order to improve the measurement accuracy of the first encoder 25 to the rotation angle, the first encoder 25 is an absolute encoder (all the encoders mentioned later are absolute encoders, so they will not be described here), which can eliminate the error between the actual data and the encoder data, and can also save the angle data after each power off, ensuring that the device does not need to be calibrated every time it is powered on, thereby improving the working efficiency of the device.

[0053] Further, in order to facilitate the limiting of the rotation angle of the first rotating disc 22 and avoid the disconnection of the electrical circuit, Figure 4 the base 1 is provided with a first limiting column 1001, and the first rotating disc 22 is provided with an arc-shaped limiting groove. The end of the first limiting column 1001 is arranged in the arc-shaped limiting groove 221, and is used for limiting the rotation angle of the first rotating disc 22.

[0054] Further, in order to facilitate the design of the base 1 and the installation of electrical elements, Figure 2 the base 1 comprises a first plate body 100 and a second plate body 200 arranged from top to bottom. The second plate body 200 and the two sides of the first plate body 100 are fixedly connected through a vertically arranged support plate 300. Meanwhile, the bottom of the second plate body 200 is provided with a supporting leg 400. The space between the base 1 and the bottom of the second plate body 200 can be used for the installation of electrical elements, and the space between the first plate body 100 and the second plate body 200 is used for the installation of the first rotating shaft 23 and the first motor 21. In addition, the first plate body 100 and the second plate body 200 are provided with reserved holes for the fixation of electrical elements or the arrangement of wires, which facilitates the quick installation of electrical and mechanical parts.

[0055] Furthermore, in order to facilitate the installation of the second rotating assembly 3 and the third rotating assembly 4, and to simplify the device structure and reduce the volume, in this embodiment, the second rotating assembly 3 and the third rotating assembly 4 are fixed by the mounting base 11 and the output end of the first rotating assembly 2. In order to facilitate the design of the second rotating assembly 3 and simplify the overall structure of the device, refer to Figure 5 、 Figure 6 The structure of the second rotating component 3 is similar to that of the first rotating component 2. Specifically, the second rotating component 3 includes a second motor 31, a second turntable 32, a second rotating shaft 33, a second winding sleeve 34, a second encoder 35, and a first retaining ring 36. The second motor 31 is arranged on the mounting seat 11, and the output end of the second motor 31 is provided with a second winding sleeve 34. The rope on the second winding sleeve 34 is fixedly connected to the second turntable 32. One end of the second rotating shaft 33 is rotatably connected to the mounting seat 11 through a bearing, and the other end of the second rotating shaft 33 is provided with a torsion spring 6 and a large arm assembly 5. One end of the torsion spring 6 is fixed to the mounting seat 11, and the other end is fixed to the large arm assembly 5. That is, the second motor 31 reels the rope through the second winding sleeve 34, thereby driving the second turntable 32 and the large arm assembly 5 to rotate synchronously around the axis of the second rotating shaft 33. Furthermore, to facilitate axial positioning of the boom assembly 5 during installation, the second rotating shaft 33 is provided with a first retaining ring 36 for axially limiting the boom assembly 5 on the second rotating shaft 33. Similarly, to measure the rotation angle of the second rotating disk 32, a second encoder 35 is provided on the mounting seat 11, and the second rotating shaft 33 is provided with a magnetic disk corresponding to the second encoder 35. At the same time, to facilitate mechanical positioning of the second rotating disk 32, its positioning structure is designed with reference to the first rotating disk 22 and is not further described here.

[0056] Similarly, the third rotating assembly 4 is used to drive the small arm assembly 7 to rotate, see Figure 7 、 Figure 8The third motor 41 is arranged on the mounting base 11, the output end of the third motor 41 is provided with the third winding sleeve 44, one end of the third rotating shaft 43 is rotatably connected to the mounting base 11 through a bearing, the other end of the third rotating shaft 43 is rotatably provided with the winding device 46, the rope on the third winding sleeve 44 is sequentially connected through the third rotating disc 42, the winding device 46 and the small arm assembly 7, the third encoder 45 is arranged on the mounting base 11, and the third rotating shaft 43 is provided with a magnetic disk corresponding to the third encoder 45. The third motor 41 drives the third winding sleeve 44, the third rotating disc 42 and the third rotating shaft 43 to rotate around the axis, and then drives the small arm assembly 7 to rotate through the rope. Specifically, the transmission shaft 47 is arranged between the large arm assembly 5 and the small arm assembly 7, one end of the transmission shaft 47 is rotatably connected to the large arm assembly 5 through a bearing, the other end is fixed to the small arm assembly 7, in order to facilitate the small arm assembly 7 to rotate along the axial direction of the transmission shaft 47 and pre-tighten the bearing, the spring 49 is arranged on the transmission shaft 47, and in addition, in order to facilitate the small arm assembly 7 to rotate through the rope, the connecting screw 48 is arranged on the transmission shaft 47.

[0057] Further, the actuator 9 comprises a fourth rotating assembly 91, a fifth rotating assembly 92 and a sixth rotating assembly 93 connected in sequence, wherein the fourth rotating assembly 91 is fixedly connected to the end of the small arm assembly 7 away from the large arm assembly 5,

[0058] Specifically, in order to simplify the structure of each rotating assembly, referring to Figure 13 、 Figure 14 The sixth rotating assembly 93 comprises a sixth mounting table 931, a sixth rotating table 932, a sixth rotating shaft 933, a sixth encoder 934 and a third threaded coupling 935, wherein the sixth mounting table 931 is fixedly connected to the output end of the fifth rotating assembly 92, one end of the sixth rotating shaft 933 is rotatably connected to the sixth mounting table 931 through a bearing, the other end is connected to the sixth rotating table 932 through the third threaded coupling 935, the sixth encoder 934 is arranged on the sixth mounting table 931, the sixth rotating shaft 933 is provided with a magnetic disk corresponding to the sixth encoder 934, and the sixth rotating table 932 can rotate around the axis of the sixth rotating shaft 933. In this embodiment, the female socket 9321 and the limiting boss 9322 are arranged on the sixth rotating table 932.

[0059] Similarly, referring to Figure 9 、 Figure 10The fourth rotating assembly 91 includes a connecting member 911, a fourth mounting platform 912, a fourth rotating shaft 913, a first threaded coupling 914, a first counterweight 915, a fourth rotating platform 916, a fourth threaded coupling, a fourth encoder 917, and a first connecting platform 918. One end of the connecting member 911 is fixedly connected to the small arm assembly 7, and the other end is fixedly connected to the fourth mounting platform 912. The fourth mounting platform 912 is rotatably connected to one end of the fourth rotating shaft 913 through a bearing. The other end of the fourth rotating shaft 913 is connected to the first threaded coupling. The fourth encoder 917 is provided on the fourth mounting platform 912, and the fourth shaft 913 is provided with a magnetic disk corresponding to the fourth encoder 917. The fourth rotating platform 916 can rotate around the axis of the fourth shaft 913. The fourth rotating platform 916 is fixed with a first counterweight 915 and a first connecting platform 918, wherein the first counterweight 915 is used to balance the counterclockwise torque caused by the fifth rotating component 92 on the fourth rotating shaft 913, and the first connecting platform 918 is used to connect with the fifth rotating component 92.

[0060] Furthermore, the axis of the fourth rotating shaft 913 is positioned directly opposite the center of the end of the arm assembly 7, facilitating precise force transmission within the force feedback device. In this embodiment, each bearing utilizes a deep groove ball bearing. Deep groove ball bearings are primarily designed to withstand radial loads, but when the radial clearance of the bearings is increased, they exhibit similar performance to angular contact ball bearings, capable of withstanding combined radial and axial loads.

[0061] Furthermore, see Figure 11 、 Figure 12 The fifth rotating assembly 92 includes a fifth mounting platform 921, a fifth rotating shaft 922, a fifth rotating platform 923, a second threaded coupling 924, and a fifth encoder 925, wherein the fifth mounting platform 921 is fixedly connected to the first connecting platform 918, the fifth mounting platform 921 is rotatably connected to one end of the fifth rotating shaft 922 through a bearing, and the other end of the fifth rotating shaft 922 is connected to the fifth rotating platform 923 through a second threaded coupling 924, the fifth mounting platform 921 is provided with a fifth encoder 925, the fifth rotating shaft 922 is provided with a magnetic disk corresponding to the fifth encoder 925, and the fifth rotating platform 923 can rotate around the axis of the fifth rotating shaft 922.

[0062] In conclusion, the utility model embodiment provides a series force feedback equipment, second rotation subassembly 3 drive big arm subassembly 5 rotation, and through torsional spring 6 realizes to big arm subassembly 5 carries out gravity compensation, simplifies gravity compensation structure, reduces equipment overall volume. Third rotation subassembly 4 drive small arm subassembly 7 rotation, and is equipped with small arm counterweight 8 at small arm subassembly 7 close to big arm subassembly 5 one end, to realize to small arm subassembly 7 rotates and carries out gravity compensation, improves the feedback accuracy of force feedback. Meanwhile, the output end of the actuator 9 is detachably connected with the execution handle 10, which can be replaced according to different use scenarios, improving the equipment utilization rate.

[0063] The above is only the preferred embodiment of the utility model, it should be pointed out that for ordinary technical personnel in this technical field, without departing from the technical principle of the utility model, a number of improvements and substitutions can also be made, which should be considered as the protection scope of the utility model.

Claims

1. A serial force feedback device, characterized in that: It comprises a base (1), a first rotating assembly (2), a second rotating assembly (3), a third rotating assembly (4), a large arm assembly (5), a torsion spring (6), a small arm assembly (7), a small arm counterweight (8), an actuator (9) and an actuator handle (10); The first rotating assembly (2) is provided on the base (1), and the second rotating assembly (3) and the third rotating assembly (4) are provided at the output end of the first rotating assembly (2); The output end of the second rotating assembly (3) is fixedly connected to one end of the boom assembly (5) for driving the boom assembly (5) to rotate; one end of the torsion spring (6) is fixed to the second rotating assembly (3), and the other end is fixedly connected to the boom assembly (5); The other end of the large arm assembly (5) is rotatably connected to the small arm assembly (7); The output end of the third rotating assembly (4) is connected to the small arm assembly (7) for driving the small arm assembly (7) to rotate; the small arm assembly (7) is provided with the small arm counterweight (8) at one end close to the large arm assembly (5), and the actuator (9) is provided at the other end away from the large arm assembly (5); The actuating mechanism (9) is detachably connected to the actuating handle (10).

2. The serial force feedback device according to claim 1, wherein: The execution handle comprises a handle body (101), an input button (102) and an elastic ejector pin (103); a slide groove (1011) is provided at one end of the handle body (101); the execution mechanism (9) is provided with a female socket (9321) corresponding to the elastic ejector pin (103), and a limiting boss (9322) corresponding to the slide groove (1011); the limiting boss (9322) is slidably arranged in the slide groove (1011).

3. The serial force feedback device according to claim 2, wherein: The actuator (9) comprises a fourth rotating assembly (91), a fifth rotating assembly (92) and a sixth rotating assembly (93) connected in sequence, wherein the fourth rotating assembly (91) is fixedly connected to an end of the small arm assembly (7) away from the large arm assembly (5), and the sixth rotating assembly (93) comprises a sixth mounting platform (931), a sixth rotating platform (932), a sixth rotating shaft (933), a sixth encoder (934), and a third threaded coupling (935), and the sixth mounting platform (931) is fixedly connected to the output end of the fifth rotating assembly (92). One end of the sixth rotating shaft (933) is rotatably connected to the sixth mounting platform (931), and the other end is connected to the sixth rotating platform (932) through the third threaded coupling (935). The sixth encoder (934) is provided on the sixth mounting platform (931). The sixth rotating shaft (933) is provided with a magnetic disk corresponding to the sixth encoder (934). The sixth rotating platform (932) can rotate around the axis of the sixth rotating shaft (933). The female socket (9321) and the limiting boss (9322) are both provided on the sixth rotating platform.

4. The serial force feedback device according to claim 3, wherein: The fourth rotating assembly (91) includes a connecting member (911), a fourth mounting platform (912), a fourth rotating shaft (913), a first threaded coupling (914), a first counterweight (915), a fourth rotating platform (916), a fourth encoder (917), and a first connecting platform (918). One end of the connecting member (911) is fixedly connected to the small arm assembly (7), and the other end is fixedly connected to the fourth mounting platform (912). The fourth mounting platform (912) is rotatably connected to one end of the fourth rotating shaft (913), and the other end of the fourth rotating shaft (913) is rotatably connected to the fourth rotating shaft (913). One end is connected to the fourth rotating platform (916) through the first threaded coupling (914), the fourth encoder (917) is provided on the fourth mounting platform (912), the fourth rotating shaft (913) is provided with a magnetic disk corresponding to the fourth encoder (917), the fourth rotating platform (916) can rotate around the axis of the fourth rotating shaft (913), the fourth rotating platform (916) is fixed with the first counterweight block (915) and the first connecting platform (918), and the first connecting platform (918) is used to connect with the fifth rotating component (92).

5. The serial force feedback device according to claim 4, wherein: The axis of the fourth rotating shaft (913) is arranged opposite to the end center of the small arm assembly (7).

6. The serial force feedback device according to claim 4, wherein: The fifth rotating assembly (92) includes a fifth mounting platform (921), a fifth rotating shaft (922), a fifth rotating platform (923), a second threaded coupling (924), and a fifth encoder (925). The fifth mounting platform (921) is fixedly connected to the first connecting platform (918). The fifth mounting platform (921) is rotatably connected to one end of the fifth rotating shaft (922). The other end of the fifth rotating shaft (922) is connected to the fifth rotating platform (923) through the second threaded coupling (924). The fifth mounting platform (921) is provided with the fifth encoder (925). The fifth rotating shaft (922) is provided with a magnetic disk corresponding to the fifth encoder (925). The fifth rotating platform (923) can rotate around the axis of the fifth rotating shaft (922).

7. The serial force feedback device according to claim 1, wherein: The second rotating assembly (3) and the third rotating assembly (4) are fixed via a mounting seat (11) and an output end of the first rotating assembly (2); the second rotating assembly (3) comprises a second motor (31), a second turntable (32), a second rotating shaft (33), a second winding sleeve (34), a second encoder (35), and a first retaining ring (36); the second motor (31) is arranged on the mounting seat (11); the output end of the second motor (31) is provided with the second winding sleeve (34); a rope on the second winding sleeve (34) is fixedly connected to the second turntable (32); One end of the second rotating shaft (33) is rotatably connected to the mounting seat (11), and the other end of the second rotating shaft (33) is provided with the torsion spring (6) and the large arm assembly (5). One end of the torsion spring (6) is fixed to the mounting seat (11), and the other end is fixed to the large arm assembly (5). The second rotating shaft (33) is provided with the first retaining ring (36) for axially limiting the large arm assembly (5) on the second rotating shaft (33). The second encoder (35) is provided on the mounting seat (11), and the second rotating shaft (33) is provided with a magnetic disk corresponding to the second encoder (35).

8. The serial force feedback device according to claim 7, wherein: The third rotating assembly (4) includes a third motor (41), a third turntable (42), a third rotating shaft (43), a third winding sleeve (44), a third encoder (45), and a winding device (46). The third motor (41) is arranged on the mounting seat (11). The output end of the third motor (41) is provided with the third winding sleeve (44). One end of the third rotating shaft (43) is rotatably connected to the mounting seat (11). The other end of the third rotating shaft (43) is rotatably provided with the winding device (46). The rope on the third winding sleeve (44) is connected in sequence through the third turntable (42), the winding device (46) and the small arm assembly (7). The third encoder (45) is arranged on the mounting seat (11). The third rotating shaft (43) is provided with a magnetic disk corresponding to the third encoder (45).

9. The serial force feedback device according to claim 1, wherein: The first rotating assembly (2) comprises a first motor (21), a first turntable (22), a first rotating shaft (23), a first winding sleeve (24), a first encoder (25), and a wire fixing device (26). The first motor (21) is fixedly arranged on the base (1). The output end of the first motor (21) is fixedly provided with the winding sleeve (24). The first rotating shaft (23) is fixedly connected to the first turntable (22), and the other end is rotatably connected to the base (1). The first encoder (25) is fixedly arranged on the base (1). The first rotating shaft (23) is provided with a magnetic disk corresponding to the first encoder (25). The rope on the first winding sleeve (24) is fixed to the first turntable (22) through the wire fixing device (26). The first motor (21) drives the first winding sleeve (24) to rotate, thereby driving the first turntable (22) to rotate.

10. The serial force feedback device according to claim 9, wherein: The base (1) is provided with a first limiting column (1001), the first turntable (22) is provided with an arc-shaped limiting groove (221), and the end of the first limiting column (1001) is arranged in the arc-shaped limiting groove (221) for limiting the rotation angle of the first turntable (22).

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