技术领域technical field
本发明涉及一种人机交互装置，尤其涉及一种用于人机交互的多自由度力觉反馈装置。The invention relates to a human-computer interaction device, in particular to a multi-degree-of-freedom force-feedback device for human-computer interaction.
背景技术Background technique
在计算机技术发展初期，人机之间的信息交互是通过鼠标键盘以及显示器等传统输入输出设备完成的，用户只能获得视觉或者听觉的感知，而无法获得更多感官信息。随着虚拟现实技术的出现及发展，人机交互方式也在不断的发生变革，三维鼠标、立体眼镜、数据手套等新型交互设备的出现极大的提升了用户的感官体验，因此研究更多感官的交互技术十分重要。In the early days of the development of computer technology, the information interaction between human and computer was completed through traditional input and output devices such as mouse, keyboard and monitor. Users could only obtain visual or auditory perception, but could not obtain more sensory information. With the emergence and development of virtual reality technology, human-computer interaction methods are also constantly changing. The emergence of new interactive devices such as 3D mice, stereo glasses, and data gloves has greatly improved the sensory experience of users. Therefore, research on more sensory Interaction technology is very important.
力反馈技术是在虚拟现实技术中是对虚拟三维环境力进行真实再现的技术，研究表明，力觉对人类探索世界的重要性仅次于视觉。通过力反馈可以获得和触摸实际物体时相同的力感和运动感，从而获得更真实的沉浸感。近年来，力反馈技术已被广泛用于医学、工业、太空探索等领域，衍生出虚拟介入手术、虚拟装配等先进的计算机力反馈交互系统。因此，研制一种具有多维用于人机交互的多自由度力觉反馈装置，可以获得更为真实的力觉反馈效果，提高计算机虚拟训练效率，具有重要的应用价值和实际意义，而目前国内对这块的研发还是一片空白。Force feedback technology is a technology that truly reproduces the force of a virtual three-dimensional environment in virtual reality technology. Studies have shown that the importance of force sense to human exploration of the world is second only to vision. Through force feedback, you can get the same sense of force and motion as when touching an actual object, so as to obtain a more realistic sense of immersion. In recent years, force feedback technology has been widely used in medicine, industry, space exploration and other fields, and advanced computer force feedback interactive systems such as virtual interventional surgery and virtual assembly have been derived. Therefore, the development of a multi-dimensional multi-degree-of-freedom force feedback device for human-computer interaction can obtain more realistic force feedback effects and improve the efficiency of computer virtual training, which has important application value and practical significance. The development of this area is still blank.
发明内容Contents of the invention
本发明要解决的技术问题是：为了解决上述问题，本发明提供一种用于人机交互的多自由度力觉反馈装置来解决上述问题。The technical problem to be solved by the present invention is: in order to solve the above problems, the present invention provides a multi-degree-of-freedom force feedback device for human-computer interaction to solve the above problems.
本发明解决其技术问题所采用的技术方案是：一种用于人机交互的多自由度力觉反馈装置，包括支架、上臂连杆机构、连杆机构连接件、下臂连杆机构、肩关节纵向力反馈电机、肩关节横向力反馈电机、肘关节纵向力反馈电机、肘关节横向力反馈电机、腕关节轴向力反馈电机、腕关节径向力反馈电机、肩关节电机固定架、腕关节轴向电机固定架、腕关节径向电机固定架和手柄，所述的肩关节电机固定架固定在支架的顶部，所述的肩关节电机固定架上设置肩关节纵向力反馈电机和肩关节横向力反馈电机，所述的肩关节纵向力反馈电机的输出轴和肩关节横向力反馈电机的输出轴垂直，所述的上臂连杆机构包括平行设置的第一上杆和第一下杆，所述的第一下杆位于第一上杆的下方，所述的肩关节纵向力反馈电机的输出轴与第一上杆的一侧铰接，所述的第一上杆相对于肩关节纵向力反馈电机的输出轴转动的方向与肩关节纵向力反馈电机的输出轴旋转的方向垂直，所述的肩关节横向力反馈的电机的输出轴与第一下杆的一侧铰接，所述的第一下杆相对于肩关节横向力反馈电机的输出轴转动的方向与肩关节横向力反馈电机的输出轴旋转的方向垂直，所述的第一上杆和第一下杆远离肩关节电机固定架的一端分别与连杆机构连接件铰接，所述的连杆机构连接件上设置肘关节纵向力反馈电机和肘关节横向力反馈电机，所述的肘关节纵向力反馈电机的输出轴和肘关节横向力反馈电机输出轴垂直，所述的下臂连杆机构包括平行设置的第二上杆和第二下杆，所述的第二下杆位于第二上杆的下方，所述的肘关节纵向力反馈电机的输出轴与第二上杆铰接，所述的第二上杆相对于肘关节纵向力反馈电机的输出轴转动的方向与肘关节纵向力反馈电机的输出轴旋转的方向垂直，所述的肘关节横向力反馈的电机的输出轴与第二下杆铰接，所述的第二下杆相对于肘关节横向力反馈电机的输出轴转动的方向与肘关节横向力反馈电机的输出轴旋转的方向垂直，所述的第二上杆和第二下杆远离连杆机构连接件的一端分别与腕关节轴向电机固定架铰接，所述的腕关节轴向电机固定架上设置腕关节轴向力反馈电机，所述的腕关节轴向力反馈电机的输出轴固定连接有第一齿轮，所述的腕关节轴向电机固定架上还设置有第二齿轮，所述的第二齿轮通过轴承固定在腕关节轴向电机固定架上，所述的第二齿轮与第一齿轮啮合，所述第二齿轮的轮侧面连接腕关节径向电机固定架，所述的腕关节径向电机固定架上设置腕关节径向力反馈电机，所述的腕关节径向力反馈电机的输出轴与腕关节轴向力反馈电机的输出轴垂直，所述的腕关节径向力反馈电机的输出轴与手柄固定板垂直连接，所述的手柄固定板的端部连接手柄。该装置的反馈电机将信号传输给计算机后，计算机利用模拟软件会将手臂运动轨迹等在计算机中还原、统计和计算。The technical solution adopted by the present invention to solve the technical problem is: a multi-degree-of-freedom force feedback device for human-computer interaction, including a bracket, an upper arm linkage mechanism, a linkage mechanism connector, a lower arm linkage mechanism, a shoulder Joint longitudinal force feedback motor, shoulder joint transverse force feedback motor, elbow joint longitudinal force feedback motor, elbow joint transverse force feedback motor, wrist joint axial force feedback motor, wrist joint radial force feedback motor, shoulder joint motor mount, wrist Joint axial motor fixing frame, wrist radial motor fixing frame and handle, the shoulder joint motor fixing frame is fixed on the top of the bracket, and the shoulder joint motor fixing frame is provided with a shoulder joint longitudinal force feedback motor and a shoulder joint The lateral force feedback motor, the output shaft of the shoulder joint longitudinal force feedback motor is perpendicular to the output shaft of the shoulder joint lateral force feedback motor, and the upper arm linkage mechanism includes a first upper rod and a first lower rod arranged in parallel, The first lower rod is located below the first upper rod, the output shaft of the shoulder joint longitudinal force feedback motor is hinged to one side of the first upper rod, and the first upper rod is relatively The rotation direction of the output shaft of the feedback motor is perpendicular to the rotation direction of the output shaft of the shoulder joint longitudinal force feedback motor, and the output shaft of the shoulder joint lateral force feedback motor is hinged to one side of the first lower bar. The rotation direction of the lower rod relative to the output shaft of the shoulder joint lateral force feedback motor is perpendicular to the rotation direction of the output shaft of the shoulder joint lateral force feedback motor, and the first upper rod and the first lower rod are far away from the shoulder joint motor fixing frame One end of each is respectively hinged with the link mechanism connector, the elbow joint longitudinal force feedback motor and the elbow joint transverse force feedback motor are arranged on the linkage mechanism connector, the output shaft of the elbow joint longitudinal force feedback motor and the elbow joint The output shaft of the lateral force feedback motor is vertical, the lower arm linkage mechanism includes a second upper rod and a second lower rod arranged in parallel, the second lower rod is located below the second upper rod, and the elbow joint The output shaft of the longitudinal force feedback motor is hinged to the second upper rod, and the rotation direction of the second upper rod relative to the output shaft of the elbow joint longitudinal force feedback motor is perpendicular to the rotation direction of the output shaft of the elbow joint longitudinal force feedback motor, The output shaft of the motor for lateral force feedback of the elbow joint is hinged to the second lower rod, and the rotation direction of the second lower rod relative to the output shaft of the lateral force feedback motor of the elbow joint is consistent with the output of the lateral force feedback motor of the elbow joint. The direction of shaft rotation is vertical, and the ends of the second upper rod and the second lower rod away from the connecting part of the linkage mechanism are respectively hinged with the wrist joint axial motor holder, and the wrist joint axial motor holder is provided with a wrist A joint axial force feedback motor, the output shaft of the wrist joint axial force feedback motor is fixedly connected with a first gear, and the wrist joint axial motor fixing frame is also provided with a second gear, and the second The gears are fixed on the axial motor mount of the wrist joint through bearings, the second gear meshes with the first gear, the wheel side of the second gear is connected to the radial motor mount of the wrist joint, and the radial motor mount of the wrist joint A radial force feedback motor of the wrist joint is arranged on the motor fixing frame, and the output shaft of the radial force feedback motor of the wrist joint is opposite to the axial force of the wrist joint. The output shaft of the feed motor is vertical, the output shaft of the wrist joint radial force feedback motor is vertically connected to the handle fixing plate, and the end of the handle fixing plate is connected to the handle. After the feedback motor of the device transmits the signal to the computer, the computer uses simulation software to restore, count and calculate the trajectory of the arm movement in the computer.
为了更好的操作性，所述的下臂连杆机构上安装有用于将人的下臂与下臂连杆机构固定在一起的手臂穿戴环。For better operability, an arm wearing ring for fixing the lower arm of the person and the lower arm link mechanism is installed on the lower arm link mechanism.
根据不同操作者的身高，方便操作者操作，所述的支架包括底座和伸缩装置，所述的伸缩装置包括中空的下伸缩杆、设置在下伸缩杆中的上伸缩杆和用于调节上伸缩杆从下伸缩杆中伸缩长度的调节栓。According to the height of different operators, it is convenient for the operator to operate. The support includes a base and a telescopic device. The telescopic device includes a hollow lower telescopic rod, an upper telescopic rod arranged in the lower telescopic rod and a Adjustment pin for telescopic length from the lower telescoping rod.
为了避免重力对操作者手臂的影响，所述的第一上杆和第一下杆远离连杆机构连接件的一端均安装有配重，所述的配重呈圆柱体，两个底面中心之间开有与第一上杆和第一下杆相匹配的通孔，所述的通孔内具有内螺纹，所述的第一上杆和第一下杆远离连杆机构连接件的一侧的外壁上具有外螺纹，所述的内螺纹与外螺纹配合使用。In order to avoid the influence of gravity on the operator's arm, counterweights are installed on the ends of the first upper rod and the first lower rod far away from the connecting parts of the linkage mechanism. There is a through hole matching the first upper rod and the first lower rod, the through hole has an internal thread, and the first upper rod and the first lower rod are away from the side of the link mechanism connecting piece There are external threads on the outer wall, and the internal threads are used in conjunction with the external threads.
为了提高反馈控制精度，所述的手柄固定板与手柄之间还设置有多维力力矩传感器。In order to improve the accuracy of feedback control, a multi-dimensional force torque sensor is also arranged between the handle fixing plate and the handle.
所述的肩关节纵向力反馈电机、肩关节横向力反馈电机、肘关节纵向力反馈电机、肘关节横向力反馈电机、腕关节轴向力反馈电机和腕关节径向力反馈电机均是直流电机且均安装有用于测量转动角度的光电编码盘。The shoulder joint longitudinal force feedback motor, the shoulder joint transverse force feedback motor, the elbow joint longitudinal force feedback motor, the elbow joint transverse force feedback motor, the wrist joint axial force feedback motor and the wrist joint radial force feedback motor are all DC motors And all are equipped with photoelectric encoder discs for measuring the rotation angle.
具体的说，所述的第一上杆的一侧具有第一铰接件，所述的第一铰接件包括呈中空的长方体且上下开口的第一铰接部和第一转轴，所述的第一铰接部的两个短边的端部分别与第一上杆固定连接，两个长边的中心均开有第一通孔，所述的肩关节纵向力反馈电机的输出轴上具有第二通孔，所述的肩关节纵向力反馈电机的输出轴从第一铰接部的开口伸入至第二通孔与第一通孔重合后通过第一转轴插入固定。Specifically, one side of the first upper rod has a first hinge, and the first hinge includes a hollow cuboid with a first hinge part and a first rotating shaft with upper and lower openings. The ends of the two short sides of the hinge are respectively fixedly connected to the first upper rod, the centers of the two long sides are provided with a first through hole, and the output shaft of the shoulder joint longitudinal force feedback motor has a second through hole. hole, the output shaft of the shoulder joint longitudinal force feedback motor extends from the opening of the first hinge part to the second through hole and coincides with the first through hole, and then is inserted and fixed through the first rotating shaft.
具体的说，所述的第一下杆的一侧具有第二铰接件，所述的第二铰接件包括呈中空的长方体且上下开口的第二铰接部和第二转轴，所述的第二铰接部的两个短边的端部分别与第一下杆固定连接，两个长边的中心均开有第三通孔，所述的肩关节横向力反馈电机的输出轴上具有第四通孔，所述的肩关节横向力反馈电机的输出轴从第二交接部的开口伸入至第四通孔与第三通孔重合后通过第二转轴插入固定。Specifically, one side of the first lower rod has a second hinge, and the second hinge includes a hollow cuboid with a second hinge that opens up and down and a second shaft. The ends of the two short sides of the hinge are respectively fixedly connected to the first lower rod, and the centers of the two long sides are provided with a third through hole, and the output shaft of the lateral force feedback motor of the shoulder joint has a fourth through hole. hole, the output shaft of the shoulder joint lateral force feedback motor extends from the opening of the second interface to the fourth through hole and coincides with the third through hole, and then is inserted and fixed through the second rotating shaft.
所述的第一铰接部和第二铰接部的长边中部上下均设置有凸起部，所述的凸起部的截面为梯形。第一铰接部和第二铰接部要起到一个支撑上臂连杆机构和下臂连杆机构的作用，因此相当于一个支点，如果周边做的过细，强度不够，但是做粗了，转角就会变小，故而在保证一定的粗度的同时，加了一个凸起部来增加强度。The middle part of the long side of the first hinge part and the second hinge part is provided with protrusions up and down, and the cross section of the protrusions is trapezoidal. The first hinge part and the second hinge part should play a role in supporting the upper arm linkage mechanism and the lower arm linkage mechanism, so they are equivalent to a fulcrum. If the surrounding is made too thin, the strength is not enough, but if it is made thick, the corner will be broken. becomes smaller, so while ensuring a certain thickness, a raised part is added to increase the strength.
本发明的有益效果是，本发明用于人机交互的多自由度力觉反馈装置，The beneficial effect of the present invention is that the present invention is used for the multi-degree-of-freedom force feedback device for human-computer interaction,
1、用于人机交互的多自由度力觉反馈装置的上臂连杆机构和下臂连杆机构通过串联方式连接，机构简单，便于加工安装和调试，同时每个机构可以单独驱动，简化了计算机的控制算法。1. The upper arm link mechanism and the lower arm link mechanism of the multi-degree-of-freedom force feedback device for human-computer interaction are connected in series. The mechanism is simple and easy to process, install and debug. At the same time, each mechanism can be driven independently, which simplifies Computer control algorithm.
2、本发明高度可调，支架由底座，下伸缩杆，上伸缩杆和调节栓组成，通过调节栓调节上伸缩杆伸出的长度，从而调节整个装置的高度，以适合不同操作者的身高要求。2. The height of the present invention is adjustable. The bracket is composed of a base, a lower telescopic rod, an upper telescopic rod and an adjustment bolt. The length of the upper telescopic rod is adjusted through the adjustment bolt, thereby adjusting the height of the entire device to suit the height of different operators. Require.
3、本发明采用柔性手臂穿戴环将操作者手臂与力反馈装置下臂固定，并且利用配重抵消装置的重力对操作者手臂的影响，可以保证操作过程的舒适度，提高计算机虚拟训练的真实感和沉浸感。3. The present invention uses a flexible arm wearing ring to fix the operator's arm and the lower arm of the force feedback device, and uses the counterweight to offset the influence of the gravity of the device on the operator's arm, which can ensure the comfort of the operation process and improve the reality of computer virtual training. sense and immersion.
4、本发明的手臂末端运动空间大，可以提供多个自由度的力和力矩反馈，力和力矩的大小可以由多维力力矩传感器测得，实现反馈力和力矩大小的精确控制，从而适应多种虚拟训练项目的要求。4. The movement space of the end of the arm of the present invention is large, and can provide force and torque feedback with multiple degrees of freedom. requirements for a virtual training program.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明用于人机交互的多自由度力觉反馈装置的一个角度的结构示意图,Fig. 1 is a structural schematic diagram of an angle of a multi-degree-of-freedom force feedback device for human-computer interaction according to the present invention,
图2是本发明用于人机交互的多自由度力觉反馈装置的另一个角度的结构示意图,Fig. 2 is a structural schematic diagram of another angle of the multi-degree-of-freedom force feedback device for human-computer interaction according to the present invention,
图3是本发明用于人机交互的多自由度力觉反馈装置的第二铰接件的结构示意图。Fig. 3 is a schematic structural view of the second hinge of the multi-degree-of-freedom force feedback device for human-computer interaction according to the present invention.
图中1、支架，2、肩关节纵向力反馈电机，3、肩关节横向力反馈电机，4、肘关节纵向力反馈电机，5、肘关节横向力反馈电机，6、腕关节轴向力反馈电机，7、腕关节径向力反馈电机，8、肩关节电机固定架，9、腕关节轴向电机固定架，10、腕关节径向电机固定架，11、手柄，12、连杆机构连接件，13、第一上杆，14、第一下杆，15、第二上杆，16、第二下杆，17、第一齿轮，18、第二齿轮，19、手柄固定板，20、配重，21、多维力力矩传感器，22、第一铰接件，23、第一铰接部，24、第一转轴，25、第二铰接件，26、第二铰接部，27、第二转轴，28、凸起部。In the figure 1. bracket, 2. shoulder joint longitudinal force feedback motor, 3. shoulder joint transverse force feedback motor, 4. elbow joint longitudinal force feedback motor, 5. elbow joint transverse force feedback motor, 6. wrist joint axial force feedback Motor, 7, wrist joint radial force feedback motor, 8, shoulder joint motor fixing frame, 9, wrist joint axial motor fixing frame, 10, wrist joint radial motor fixing frame, 11, handle, 12, link mechanism connection 13, the first upper rod, 14, the first lower rod, 15, the second upper rod, 16, the second lower rod, 17, the first gear, 18, the second gear, 19, the handle fixing plate, 20, Counterweight, 21, multi-dimensional force moment sensor, 22, first hinge, 23, first hinge, 24, first rotating shaft, 25, second hinge, 26, second hinge, 27, second rotating shaft, 28. Raised portion.
具体实施方式detailed description
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
如图1-2所示，一种用于人机交互的多自由度力觉反馈装置，包括支架1、上臂连杆机构、连杆机构连接件12、下臂连杆机构、肩关节纵向力反馈电机2、肩关节横向力反馈电机3、肘关节纵向力反馈电机4、肘关节横向力反馈电机5、腕关节轴向力反馈电机6、腕关节径向力反馈电机7、肩关节电机固定架8、腕关节轴向电机固定架9、腕关节径向电机固定架10、手柄固定板19和手柄11，肩关节电机固定架8固定在支架1的顶部，肩关节电机固定架8上设置肩关节纵向力反馈电机2和肩关节横向力反馈电机3，肩关节纵向力反馈电机2的输出轴和肩关节横向力反馈电机3的输出轴垂直，上臂连杆机构包括平行设置的第一上杆13和第一下杆14，肩关节纵向力反馈电机2的输出轴与第一上杆13的一侧铰接，第一上杆13相对于肩关节纵向力反馈电机2的输出轴转动的方向与肩关节纵向力反馈电机2的输出轴旋转的方向垂直，肩关节横向力反馈电机3的输出轴与第一下杆14的一侧铰接，第一下杆14相对于肩关节横向力反馈电机3的输出轴转动的方向与肩关节横向力反馈电机3的输出轴旋转的方向垂直，第一上杆13和第一下杆14远离肩关节电机固定架8的一端分别与连杆机构连接件12铰接，连杆机构连接件12上设置肘关节纵向力反馈电机4和肘关节横向力反馈电机5，肘关节纵向力反馈电机4的输出轴和肘关节横向力反馈电机5输出轴垂直，下臂连杆机构包括平行设置的第二上杆15和第二下杆16，肘关节纵向力反馈电机4的输出轴与第二上杆15铰接，第二上杆15相对于肘关节纵向力反馈电机4的输出轴转动的方向与肘关节纵向力反馈电机4的输出轴旋转的方向垂直，肘关节横向力反馈电机5的输出轴与第二下杆16铰接，第二下杆16相对于肘关节横向力反馈电机5的输出轴转动的方向与肘关节横向力反馈电机5的输出轴旋转的方向垂直，第二上杆15和第二下杆16远离连杆机构连接件12的一端分别与腕关节轴向电机固定架9铰接，腕关节轴向电机固定架9上设置腕关节轴向力反馈电机6，腕关节轴向力反馈电机6的输出轴固定连接有第一齿轮17，腕关节轴向电机固定架9上还设置有第二齿轮18，第二齿轮18通过轴承固定在腕关节轴向电机固定架9上，第二齿轮18与第一齿轮17啮合，第二齿轮18的轮侧面连接腕关节径向电机固定架10，腕关节径向电机固定架10上设置腕关节径向力反馈电机7，腕关节径向力反馈电机7的输出轴与腕关节轴向力反馈电机6的输出轴垂直，腕关节径向力反馈电机7的输出轴与手柄固定板19一端垂直连接，手柄固定板19的另一端连接手柄11。As shown in Figure 1-2, a multi-degree-of-freedom force feedback device for human-computer interaction includes a bracket 1, an upper arm linkage mechanism, a linkage mechanism connector 12, a lower arm linkage mechanism, and a shoulder joint longitudinal force Feedback motor 2, shoulder joint lateral force feedback motor 3, elbow joint longitudinal force feedback motor 4, elbow joint lateral force feedback motor 5, wrist joint axial force feedback motor 6, wrist joint radial force feedback motor 7, shoulder joint motor fixed Frame 8, wrist joint axial motor fixing bracket 9, wrist joint radial motor fixing bracket 10, handle fixing plate 19 and handle 11, shoulder joint motor fixing bracket 8 is fixed on the top of support 1, shoulder joint motor fixing bracket 8 is arranged The shoulder joint longitudinal force feedback motor 2 and the shoulder joint transverse force feedback motor 3, the output shaft of the shoulder joint longitudinal force feedback motor 2 and the output shaft of the shoulder joint transverse force feedback motor 3 are vertical, and the upper arm linkage mechanism includes a first upper arm arranged in parallel. Rod 13 and the first lower rod 14, the output shaft of the shoulder joint longitudinal force feedback motor 2 is hinged with one side of the first upper rod 13, and the direction in which the first upper rod 13 rotates relative to the output shaft of the shoulder joint longitudinal force feedback motor 2 Vertical to the direction in which the output shaft of the shoulder joint longitudinal force feedback motor 2 rotates, the output shaft of the shoulder joint lateral force feedback motor 3 is hinged to one side of the first lower rod 14, and the first lower rod 14 is relative to the shoulder joint lateral force feedback motor. The direction in which the output shaft of 3 rotates is perpendicular to the direction in which the output shaft of the shoulder joint lateral force feedback motor 3 rotates, and the ends of the first upper rod 13 and the first lower rod 14 away from the shoulder joint motor fixing bracket 8 are respectively connected to the link mechanism connector 12 hinges, the connecting rod mechanism connector 12 is provided with an elbow joint longitudinal force feedback motor 4 and an elbow joint transverse force feedback motor 5, the output shaft of the elbow joint longitudinal force feedback motor 4 and the elbow joint transverse force feedback motor 5 output shaft are vertical, and the lower The arm link mechanism includes a second upper rod 15 and a second lower rod 16 arranged in parallel, the output shaft of the elbow joint longitudinal force feedback motor 4 is hinged with the second upper rod 15, and the second upper rod 15 is relative to the elbow joint longitudinal force feedback The direction in which the output shaft of the motor 4 rotates is perpendicular to the direction in which the output shaft of the elbow joint longitudinal force feedback motor 4 rotates, and the output shaft of the elbow joint lateral force feedback motor 5 is hinged to the second lower rod 16, and the second lower rod 16 is relative to the elbow joint. The direction in which the output shaft of the joint lateral force feedback motor 5 rotates is perpendicular to the direction in which the output shaft of the elbow joint lateral force feedback motor 5 rotates, and the ends of the second upper rod 15 and the second lower rod 16 away from the link mechanism connector 12 are respectively connected to Wrist joint axial motor fixing frame 9 is hinged, wrist joint axial force feedback motor 6 is arranged on wrist joint axial motor fixing frame 9, and the output shaft of wrist joint axial force feedback motor 6 is fixedly connected with first gear 17, and wrist joint The axial motor fixed frame 9 is also provided with a second gear 18, the second gear 18 is fixed on the wrist joint axial motor fixed frame 9 by a bearing, the second gear 18 meshes with the first gear 17, and the wheel of the second gear 18 The side is connected to the radial motor fixing frame 10 of the wrist joint, the radial force feedback motor 7 of the wrist joint is arranged on the radial motor fixing frame 10 of the wrist joint, the output shaft of the radial force feedback motor 7 of the wrist joint and the axial force feedback motor 6 of the wrist joint The output shaft is vertical, wrist-off The output shaft of the pitch radial force feedback motor 7 is vertically connected to one end of the handle fixing plate 19 , and the other end of the handle fixing plate 19 is connected to the handle 11 .
下臂连杆机构上安装有用于将人的下臂与下臂连杆机构固定在一起的手臂穿戴环，手臂穿戴环由柔性材料制成，用于固定下臂连杆机构与人手臂，使装置能与人手臂同步运动。The lower arm link mechanism is equipped with an arm wearing ring for fixing the lower arm of the person and the lower arm link mechanism together. The arm wearing ring is made of flexible material and is used to fix the lower arm link mechanism and the human arm, so that The device can move synchronously with the human arm.
支架1包括底座和伸缩装置，伸缩装置包括中空的下伸缩杆、设置在下伸缩杆中的上伸缩杆和用于调节上伸缩杆从下伸缩杆中伸缩长度的调节栓。The support 1 includes a base and a telescopic device, and the telescopic device includes a hollow lower telescopic rod, an upper telescopic rod arranged in the lower telescopic rod and an adjustment bolt for adjusting the telescopic length of the upper telescopic rod from the lower telescopic rod.
第一上杆13和第一下杆14远离连杆机构连接件12的一端均安装有配重20，配重20呈圆柱体，两个底面中心之间开有与第一上杆和第一下杆相匹配的通孔，通孔内具有内螺纹，第一上杆13和第一下杆14远离连杆机构连接件12的一侧的外壁上具有外螺纹，内螺纹与外螺纹配合使用，可以通过调节配重20的位置，来改变重力对操作者手臂的影响，而且配重20相当于以第一铰接件22和第二铰接件25为支点，来平衡重力对操作者手臂的影响。The first upper rod 13 and the first lower rod 14 are all equipped with a counterweight 20 away from the end of the link mechanism connector 12. The through hole matched by the lower rod has an internal thread in the through hole, and the outer wall of the first upper rod 13 and the first lower rod 14 away from the connecting rod mechanism connector 12 has an external thread, and the internal thread and the external thread are used together. , the influence of gravity on the operator's arm can be changed by adjusting the position of the counterweight 20, and the counterweight 20 is equivalent to using the first hinge 22 and the second hinge 25 as fulcrums to balance the influence of gravity on the operator's arm .
手柄固定板19与手柄11之间还设置有多维力力矩传感器21。A multi-dimensional force torque sensor 21 is also arranged between the handle fixing plate 19 and the handle 11 .
肩关节纵向力反馈电机2、肩关节横向力反馈电机3、肘关节纵向力反馈电机4、肘关节横向力反馈电机5、腕关节轴向力反馈电机6和腕关节径向力反馈电机7均是直流电机且均安装有用于测量转动角度的光电编码盘。该装置的每个活动关节安装的电机是直流电机，并且带有光电编码盘，可以测量转动角度，进而通过各关节几何关系和尺寸计算得出用于人机交互的多自由度力觉反馈装置末端的三维空间位置。Shoulder joint longitudinal force feedback motor 2, shoulder joint transverse force feedback motor 3, elbow joint longitudinal force feedback motor 4, elbow joint transverse force feedback motor 5, wrist joint axial force feedback motor 6 and wrist joint radial force feedback motor 7 It is a DC motor and is equipped with a photoelectric encoder disc for measuring the rotation angle. The motor installed on each movable joint of the device is a DC motor with a photoelectric encoder disc, which can measure the rotation angle, and then calculate the multi-degree-of-freedom force feedback device for human-computer interaction through the calculation of the geometric relationship and size of each joint. The three-dimensional position of the end.
如图3所示，第一上杆13的一侧具有第一铰接件22，第一铰接件22包括呈中空的长方体且上下开口的第一铰接部23和第一转轴24，第一铰接部23的两个短边的端部分别与第一上杆13固定连接，两个长边的中心均开有第一通孔，肩关节纵向力反馈电机2的输出轴上具有第二通孔，肩关节纵向力反馈电机2的输出轴从第一铰接部23的开口伸入至第二通孔与第一通孔重合后通过第一转轴24插入固定。As shown in Figure 3, one side of the first upper rod 13 has a first hinge 22, and the first hinge 22 includes a hollow cuboid and a first hinge 23 and a first rotating shaft 24 with upper and lower openings. The ends of the two short sides of 23 are respectively fixedly connected with the first upper rod 13, the centers of the two long sides are provided with a first through hole, and the output shaft of the shoulder joint longitudinal force feedback motor 2 has a second through hole, The output shaft of the shoulder joint longitudinal force feedback motor 2 extends from the opening of the first hinge part 23 to the second through hole and coincides with the first through hole, and then is inserted and fixed through the first rotating shaft 24 .
第一下杆14的一侧具有第二铰接件25，第二铰接件25包括呈中空的长方体且上下开口的第二铰接部26和第二转轴27，第二铰接部26的两个短边的端部分别与第一下杆14固定连接，两个长边的中心均开有第三通孔，肩关节横向力反馈电机3的输出轴上具有第四通孔，所述的肩关节横向力反馈电机3的输出轴从第二铰接部26的开口伸入至第四通孔与第三通孔重合后通过第二转轴27插入固定。One side of the first lower bar 14 has a second hinge 25, the second hinge 25 includes a hollow cuboid and a second hinge 26 and a second shaft 27 that are open up and down, the two short sides of the second hinge 26 The ends of the two sides are respectively fixedly connected with the first lower rod 14, and the center of the two long sides has a third through hole, and the output shaft of the shoulder joint lateral force feedback motor 3 has a fourth through hole, and the shoulder joint lateral direction The output shaft of the force feedback motor 3 extends from the opening of the second hinge part 26 to the fourth through hole and coincides with the third through hole, and then is inserted and fixed through the second rotating shaft 27 .
该连接方式可以使上臂连杆机构和下臂连杆机构具有两个方向的转动自由度。This connection mode can make the upper arm link mechanism and the lower arm link mechanism have two degrees of freedom of rotation.
第一铰接部23和第二铰接部26的长边中部上下均设置有凸起部28，凸起部28的截面为梯形。Protruding portions 28 are arranged above and below the middle of the long sides of the first hinged portion 23 and the second hinged portion 26 , and the cross section of the raised portion 28 is trapezoidal.
第一铰接部23和第二铰接部26要起到一个支撑上臂连杆机构和下臂连杆机构的作用，因此相当于一个支点，如果周边做的过细，强度不够，但是做粗了，转角就会变小，故而在保证一定的粗度的同时，加了一个凸起部28来增加强度。The first hinged part 23 and the second hinged part 26 should play a role in supporting the upper arm linkage mechanism and the lower arm linkage mechanism, so they are equivalent to a fulcrum. will become smaller, so while ensuring a certain thickness, a raised portion 28 is added to increase the strength.
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。Inspired by the above-mentioned ideal embodiment according to the present invention, through the above-mentioned description content, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410291332.XACN105215992B (en) | 2014-06-24 | 2014-06-24 | Multi-DOF Force Feedback Device for Human-Computer Interaction |
| Application Number | Priority Date | Filing Date | Title |
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| CN201410291332.XACN105215992B (en) | 2014-06-24 | 2014-06-24 | Multi-DOF Force Feedback Device for Human-Computer Interaction |
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| CN201410291332.XAExpired - Fee RelatedCN105215992B (en) | 2014-06-24 | 2014-06-24 | Multi-DOF Force Feedback Device for Human-Computer Interaction |
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