CN101719002A - Two-freedom degree force sense interactive device - Google Patents
Two-freedom degree force sense interactive device Download PDFInfo
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- CN101719002A CN101719002A CN200910237798A CN200910237798A CN101719002A CN 101719002 A CN101719002 A CN 101719002A CN 200910237798 A CN200910237798 A CN 200910237798A CN 200910237798 A CN200910237798 A CN 200910237798A CN 101719002 A CN101719002 A CN 101719002A
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- ball bearing
- interactive device
- deep groove
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Abstract
The invention provides a two-freedom degree force sense interactive device, which has a main structure as follows: an operation handle is installed on a rotation shaft, the rotation shaft is connected with a steel wire rope speed reducing mechanism, the other end of the steel wire rope speed reducing mechanism is connected with a DC motor, the rotation shaft of the DC motor is connected with a rotary coder, and the operation handle is further provided with a key switch and a photo switch. The control system not only can output power to the operation handle through the DC motor so as to be sensed by a person, but also can detect the rotation angle of the manually operated handle through the rotary coder, and can receive a control command of the person though the key switch and the photo switch.
Description
Technical field:
The present invention relates to a kind of two-freedom degree force sense interactive device, a kind of specifically direction controller.
Technical background:
When people go to handle various plant equipment in the daily life, many various controllers can be used, modally switch and button will be counted.To use bearing circle when in addition driving a car, pilot a ship and to use steering wheel, then will use jociey stick when driving an airplane, can use operating rod when handling engineering machinery.These direction controllers are single-degree-of-freedom or Two-Degree-of-Freedom mechanism, by mechanical drive or hydrostatic transmission control signal are passed to steering mechanism then, thereby change direction.
Because the degree of accuracy of machinery and hydraulicdriven hysteresis and control is not high, some direction controller is not having the situation lower-pilot difficulty of power-assisted, the signal transfer mode of direction controller is little by little replaced by Electrified Transmission, folk prescription is to control signal is passed to topworks but traditional Electrified Transmission is, but can't be with topworks's feedback of status of living in to manipulatable end, offer the operator, so that make correct operation.
Along with mechanical and electronic technology, development of computer, the diverse discipline mixing together has formed many emerging technologies.Human-computer interaction technology is exactly one of them.Human-computer interaction technology is mainly studied and is realized man-machine communication how better.Introduce human-computer interaction technology, the advantages of machinery, hydrostatic transmission and Electrified Transmission is got up, not only operator's operation can be converted into electric signal and export to steering mechanism, and the power that the status signal of topworks can be converted into simultaneously feels that signal passes to the operator, helps the operator better to finish direction control.
Summary of the invention:
The purpose of this invention is to provide a kind of two-freedom degree force sense interactive device, impression that can simulation true environment lower-pilot plant equipment, output function person's control signal simultaneously.
A kind of two-freedom degree force sense interactive device of the present invention comprises horizontally rotating joint and vertical cradle head two parts;
This vertical cradle head comprises:
One pedestal comprises a base plate and is separately fixed at the jig at base plate two ends, and this jig all is to be cooperated with big screw thread by the U-shaped part to constitute;
One vertical solid shaft passes the circular hole on the base plate, is connected with base plate; Top and bottom at vertical solid shaft respectively are with a deep groove ball bearing; Adopt transition fit between the inner ring of described deep groove ball bearing and vertical solid shaft; Be fixed with a catch on the top end face of this vertical solid shaft,, prevent its play up and down to withstand deep groove ball bearing inner ring end face.
One vertical tubular shaft, the groove at its two ends respectively with the outer ring transition fit of described deep groove ball bearing;
One direct current motor, the axle of its upper end passes the through hole of base plate, and vertically is fixed on the base plate, and the end of this direct current generator links to each other with a rotary encoder by a flange and a spring coupling, and dc motor shaft and rotary encoder rotating shaft can be rotated synchronously.
One reducing gear comprises a large drive wheel and a little power wheel, and this little power wheel is fixed on the axle of direct current generator upper end, and this large drive wheel is connected with vertical tubular shaft, and by wire rope and the transmission of brief biography driving wheel;
In addition, be screwed into a dog screw in the threaded hole corresponding to the bottom plate groove position on large drive wheel, just can form spacing with base plate.
This horizontally rotates the joint, comprising:
One back up pad is connected with vertical tubular shaft in the vertical cradle head by the through hole on it.
Two stands, i.e. a left socle, a right support are individually fixed in the left and right sides of back up pad; Lay a deep groove ball bearing in the through hole on the two stands, and each fixes an end cap to end that should deep groove ball bearing in the outside of two stands.
One horizontal tubular shaft is inserted in the inner ring of deep groove ball bearing with transition fit, thus and the location, a side end face of withstanding deep groove ball bearing with the shaft shoulder.
One reducing gear comprises a large drive wheel and a little power wheel, and this large drive wheel and horizontal tubular shaft are connected,
Two operating grips are separately fixed at horizontal tubular shaft two ends, and their structures are identical, form by handle box and handle cover, and are fluted in the handle box, just form cavity after covering handle cover, and the cavity in this two operating grip communicates with the cavity of horizontal tubular shaft; Wherein, respectively have two square holes on the operating grip and a circular hole is used for laying two keyswitches and an optoelectronic switch respectively, switch leads just can penetrate in the horizontal tubular shaft by cavity, passes access control system from horizontal tubular shaft middle part then.
One direct current motor is installed on the back up pad by the electric machine support level, and the little power wheel in the reducing gear is fixed on the motor front axle, and the motor rear axle links to each other with a rotary encoder by a flange and a spring coupling.
Be screwed into a dog screw on the horizontal in addition tubular shaft in the threaded hole of corresponding right support incision site, just can form spacing with right support.
The special-purpose force sense interactive device of a kind of two-freedom of the present invention, its advantage and effect are: this device structure is simple, not only operator's control signal accurately can be detected and pass to topworks, the feedback signal of topworks accurately can be passed to the operator simultaneously.
Description of drawings:
Fig. 1 be interactive device system construction drawing, Fig. 2 is the structural drawing of another angle of interactive device;
Fig. 3 is the system construction drawing of vertical cradle head, and Fig. 4 is the explosive view of vertical cradle head;
Fig. 5 is the system construction drawing that horizontally rotates the joint, and Fig. 6 is the explosive view that horizontally rotates the joint;
Fig. 7 is the structural drawing of motor part;
Fig. 8 is the structural drawing of handle portion, and Fig. 9 is the structural drawing of vertical tubular shaft;
Figure 10 is the structural drawing of right support.
| A, vertical cradle head | ||||
| A01, base plate | A02, U-shaped part 1 | A03, U-shaped part 2 | A04, big screw | A05, big screw |
| A06, vertical solid shaft | A07, deep groove ball bearing | A08, deep groove ball bearing | A09, catch | A10, vertical tubular shaft |
| A11, large drive wheel | A12, direct current generator | A13, rotary encoder | A14, flange | A15, spring coupling |
| A, vertical cradle head | ||||
| A16, brief biography driving wheel through hole | A17, dog screw | A01-1, circular hole | A06-1, the shaft shoulder | A10-1, groove |
| A10-2, groove | A11-1, threaded hole | A11-2, aperture | A14-1, through hole | A16-1, helicla flute |
| A16-2, aperture | ||||
| B, horizontally rotate the joint | ||||
| B01, back up pad | B02, left socle | B03, right support | B04, deep groove ball bearing | B05, deep groove ball bearing |
| B06, left end cap | B07, right end cap | B08, horizontal tubular shaft | B09, large drive wheel | B10, left handle box |
| B11, left handle lid | B12, right handles box | B13, right handles lid | B14, left button switch 1 | B15, left button switch 2 |
| B16, left optoelectronic switch | B17, right keyswitch 1 | B18, right keyswitch 2 | B19, right optoelectronic switch | B20, direct current generator |
| B21, electric machine support | B22, little power wheel | B23, flange | B24, rotary encoder | B25, spring coupling |
| B26, dog screw | B01-1, through hole | B02-1, through hole | B03-1, through hole | B03-2, otch |
| B08-1, the shaft shoulder | B08-2, the shaft shoulder | B10-1, groove | B12-1, groove | B21-1, through hole |
| B22-1, helicla flute | B22-2, aperture | B23-1, fluting |
Embodiment:
The present invention is further described below in conjunction with drawings and Examples.
The present invention is a kind of two-freedom degree force sense interactive device, and it can receive the control information that the operator sends and be converted into the electric signal that machine can be discerned, and exports the power visual information that the operator can perception simultaneously.This force sense interactive device can be regarded a tandem two-freedom robot as, different is but with the common machines robot mechanism, force sense interactive device has the reverse drive performance, promptly can be the end effector of operating grip as robot, the instruction of sending according to the upper strata control system acts accordingly.Also can be the input end of operating grip as control system, input control order, thus make control system according to instruction works.
This force sense interactive device is formed with vertical cradle head two parts by horizontally rotating the joint.Horizontally rotate the joint and be divided into fixed part and movable part.Fixed part is the pedestal of interactive device.The main body of fixed part is the base plate A01 that is placed on the worktable, and two U-shaped part A02 and A03 constitute two jigs with two big screw A04 and A05 by threaded engagement respectively, and two cover jigs are connected on the base plate A01 with four screws respectively.Big screw A04 and A05 on two cover jigs screw in, and withstand the lower surface of worktable, and jig has just been clamped worktable firmly, and fixed part steadily is fixed on the worktable.Vertically solid shaft A06 passes the circular hole A01-1 on the base plate A01, uses four screw retention then on base plate A01, respectively is with a deep groove ball bearing A07 and A08 in top and the bottom of vertical solid shaft A06.The lower surface of deep groove ball bearing A07 inner ring withstands on the shaft shoulder A06-1 of vertical solid shaft A06.All adopt transition fit between the inner ring of deep groove ball bearing A07 and A08 and vertical solid shaft A06.At last catch A09 is fixed on the upper surface of vertical solid shaft A06, withstands the inner ring end face of deep groove ball bearing A08, to prevent the play up and down of deep groove ball bearing.
The outer ring of deep groove ball bearing A07 and A08 then adopts transition fit to be placed in the groove A10-1 and A10-2 at vertical tubular shaft A10 two ends respectively.Large drive wheel A11 in the reducing gear 1 is inserted in from vertical tubular shaft A10 lower end, and with two screws the two is connected as a single entity.Thereby vertically the movable part of the large drive wheel A11 composition in tubular shaft A10 and the reducing gear 1 just can rotate around vertical solid shaft.
The direct current generator A12 that drives vertical cradle head also is positioned on the base plate A01 by through hole A01-2, and locked with six screws, vertically is installed on the base plate A01.The rear end of direct current generator A12 is equipped with rotary encoder A13, and the two connects with flange A14.Fit in the end face of flange A14 and direct current generator rear end, with four screw retention, locate rotary encoder A13 thereon by through hole A14-1 the other end, and connect with screw.The rotating shaft of the rear axle of direct current generator A12 and rotary encoder A13 is enclosed within the two ends of spring coupling A15 respectively.Dc motor shaft and rotary encoder rotating shaft just can be rotated synchronously like this.
Brief biography driving wheel A16 is enclosed within on the direct current generator front axle, and is fixed on the machine shaft with two jackscrews.
Brief biography driving wheel A16 gives large drive wheel by two wire rope with transmission of power.The helicla flute A16-1 of one end of wire rope on brief biography driving wheel A16 twines thereon, passes aperture A16-2 then, knotting.The other end then is wrapped on the light groove of large drive wheel A11, and passes aperture A11-2, by artificial tensioning, is screwed then.In like manner another root wire rope also couples together big or small power wheel A11 and A16.The reducing gear of so just having formed vertical cradle head.Large drive wheel A11 and vertical tubular shaft A10 are connected, thereby the output torque of direct current generator A12 drives movable part then and rotates through the reducing gear amplification, and the corner of movable part also can calculate according to the rotary encoder reading of axle head behind the motor simultaneously.
In large drive wheel A11 upper screwed hole A11-1, be screwed into a dog screw A17 in addition, just can form spacing with the correspondence position groove A01-3 of base plate in the fixed part.
Horizontally rotating the joint is made up of fixed part and movable part two parts equally.Back up pad B01 is enclosed within on the vertical tubular shaft A10 in the vertical cradle head by the through hole B01-1 on it, and is connected on the vertical tubular shaft A10 with four screws.The upper surface of the bottom surface of left socle B02 and back up pad B01 is fitted, and is screwed on back up pad B01.In like manner right support B03 also is fixed on the back up pad B01.Respectively lay a deep groove ball bearing B04 and B05 in through hole B02-1 on left and right sides support B02 and the B03 and the B03-1.Left end cap B06 on the outboard cover of left socle B02, a side end face of withstanding bearing B04 is connected as a single entity left end cap B06 and left socle B02 with screw.Right end cap B07 on the outboard cover of right support B03, a side end face of withstanding bearing B05 is connected as a single entity right end cap B07 and right support B03 with screw.
Horizontal tubular shaft B08 is inserted in the inner ring of deep groove ball bearing B04 and B05 with transition fit, thereby and withstands bearing B04 and location, B05 one side end face with shaft shoulder B08-1 and B08-2.Large drive wheel B09 in the reducing gear 2 is enclosed within on the horizontal tubular shaft B08 and is screwed.Left and right sides operating grip is enclosed within horizontal tubular shaft B08 two ends respectively, and is fixed on the B08 with two jackscrews.Left side operating grip is made up of two parts, left handle box B10 and left handle lid B11, and fluted B10-1 in the left handle box B10 covers and just forms cavity after left handle covers B11.Right operating grip also is made up of two parts, right handles box B12 and right handles lid B13, and fluted B12-1 in the right handles box B12 covers and just forms cavity after right handles is covered B13.The left handle internal cavity communicates with horizontal tubular shaft B08 cavity, have two square holes on the handle and a circular hole is used for laying two keyswitch B14, B15 and an optoelectronic switch B16 respectively, switch leads just can penetrate in the horizontal tubular shaft B08 by cavity, pass access control system from horizontal tubular shaft B08 middle part then.In like manner also lay two keyswitch B17, B18 and an optoelectronic switch B19 on the right handles.
The direct current generator B20 that driving horizontally rotates the joint is installed on the back up pad B01 by electric machine support B21 level.Electric machine support B21 is positioned at direct current generator B20 on the support B21 by through hole B21-1, and is screwed.Electric machine support B21 bottom surface and back up pad B01 upper surface are fitted and also are screwed.Brief biography driving wheel B22 in the reducing gear 2 is housed on the same direct current generator B20 front axle, and the rear end is connected with rotary encoder B24 by flange B23, and connects direct current generator rear axle and rotary encoder rotating shaft with spring coupling B25.Fluting B23-1 is arranged, so that the screw on the fastening elasticity shaft joint B25 on the flange B23.
Brief biography driving wheel B22 on the dc motor shaft by two wire rope with transmission of torque to large drive wheel B09.The helicla flute B22-1 of wire rope one end on brief biography driving wheel B22 is wrapped on the little power wheel, and passes aperture B22-2, and it is thereon locked to tie a knot.The other end is wrapped in large drive wheel B09 outer rim, passes aperture, through after the artificial tensioning, withstands with screw, with anti-loosening, thereby is fixed on the large drive wheel B23.In like manner another root wire rope also couples together big or small power wheel B22 and B09.Thereby formed reducing gear 2.Direct current generator B20 drives horizontal rotating shaft by reducing gear 2 and handle rotates, and the corner of horizontal rotating shaft also can be drawn through conversion by the rotary encoder B24 reading of axle head behind the direct current generator simultaneously.
Being screwed into a dog screw B26 in the threaded hole on the horizontal in addition tubular shaft B08 can form spacing with the otch B03-2 on the right support B03.
So far, the movable part that horizontally rotates joint and vertical cradle head is connected, thereby is connected on the vertical cradle head, and operating grip rotates around transverse axis, and rotates relative to pedestal around vertical rotating shaft with horizontally rotating the joint, realizes the motion of two degree of freedom.
Claims (7)
1. a two-freedom degree force sense interactive device comprises horizontally rotating joint and vertical cradle head two parts; It is characterized in that:
This vertical cradle head comprises:
One pedestal comprises a base plate and is separately fixed at the jig at base plate two ends;
One vertical solid shaft passes the circular hole on the base plate, is connected with base plate; Top and bottom at vertical solid shaft respectively are with a deep groove ball bearing; Be fixed with a catch on the top end face of this vertical solid shaft,, prevent its play up and down to withstand deep groove ball bearing inner ring end face;
One vertical tubular shaft, the groove at its two ends respectively with the outer ring transition fit of described deep groove ball bearing;
One direct current motor, the axle of its upper end passes the through hole of base plate, and vertically is fixed on the base plate, and the end of this direct current generator links to each other with a rotary encoder by a flange and a spring coupling, and dc motor shaft and rotary encoder rotating shaft can be rotated synchronously;
One reducing gear comprises a large drive wheel and a little power wheel, and this little power wheel is fixed on the axle of direct current generator upper end, and this large drive wheel is connected with vertical tubular shaft, and by wire rope and the transmission of brief biography driving wheel;
This horizontally rotates the joint, comprising:
One back up pad is connected with vertical tubular shaft in the vertical cradle head by the through hole on it;
Two stands, i.e. a left socle, a right support are individually fixed in the left and right sides of back up pad; Respectively lay a deep groove ball bearing in the through hole on the two stands, and each fixes an end cap to end that should deep groove ball bearing in the outside of two stands;
One horizontal tubular shaft is inserted in the inner ring of deep groove ball bearing with transition fit, thereby and the location, a side end face of withstanding deep groove ball bearing with the shaft shoulder;
One reducing gear comprises a large drive wheel and a little power wheel, and this large drive wheel and horizontal tubular shaft are connected;
Two operating grips are separately fixed at horizontal tubular shaft two ends, wherein, respectively have two square holes on the operating grip and a circular hole is used for laying two keyswitches and an optoelectronic switch respectively, and switch leads inserts outside control system;
One direct current motor is installed on the back up pad by the electric machine support level, and the little power wheel in the reducing gear is fixed on the motor front axle, and the motor rear axle links to each other with a rotary encoder by a flange and a spring coupling.
2. two-freedom degree force sense interactive device according to claim 1 is characterized in that: this jig all is to be cooperated with big screw thread by the U-shaped part to constitute.
3. two-freedom degree force sense interactive device according to claim 1 is characterized in that: adopt transition fit between the inner ring of the deep groove ball bearing of this vertical cradle head and vertical solid shaft.
4. two-freedom degree force sense interactive device according to claim 1 is characterized in that: be screwed into a dog screw in the threaded hole corresponding to the bottom plate groove position on the large drive wheel of this vertical cradle head, just can form spacing with base plate.
5. two-freedom degree force sense interactive device according to claim 1 is characterized in that: described two operating grip structures are identical, form by handle box and handle cover, and are fluted in the handle box, just form cavity after covering handle cover.
6. two-freedom degree force sense interactive device according to claim 5 is characterized in that: the cavity in described two operating grips communicates with the cavity of horizontal tubular shaft.
7. two-freedom degree force sense interactive device according to claim 1 is characterized in that: be screwed into a dog screw on this horizontal tubular shaft in the threaded hole of corresponding right support incision site, just can form spacing with right support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102377980A CN101719002B (en) | 2009-11-19 | 2009-11-19 | Two-freedom degree force sense interactive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102377980A CN101719002B (en) | 2009-11-19 | 2009-11-19 | Two-freedom degree force sense interactive device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101719002A true CN101719002A (en) | 2010-06-02 |
| CN101719002B CN101719002B (en) | 2012-02-01 |
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ID=42433585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102377980A Expired - Fee Related CN101719002B (en) | 2009-11-19 | 2009-11-19 | Two-freedom degree force sense interactive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101719002B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976522A (en) * | 2010-09-26 | 2011-02-16 | 北京航空航天大学 | Aircraft steering wheel force feedback system |
| CN103786779A (en) * | 2012-10-26 | 2014-05-14 | 宁波如意股份有限公司 | Double-group pulse output electric steering gear |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU7482298A (en) * | 1997-05-12 | 1998-12-08 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
| ES2356615T3 (en) * | 2003-01-07 | 2011-04-11 | Universite Des Sciences Et Technologies De Lille | GROUND-BASED TYPICAL INTERFACE AND THAT CONSISTS AT LEAST OF TWO SEPARATE ROTARY DIGITAL EFFECTORS. |
| CN100355539C (en) * | 2005-11-11 | 2007-12-19 | 北京航空航天大学 | Three-freedom dynamic sensing interexchanging apparatus |
-
2009
- 2009-11-19 CN CN2009102377980A patent/CN101719002B/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976522A (en) * | 2010-09-26 | 2011-02-16 | 北京航空航天大学 | Aircraft steering wheel force feedback system |
| CN101976522B (en) * | 2010-09-26 | 2013-05-01 | 北京航空航天大学 | Aircraft steering wheel force feedback system |
| CN103786779A (en) * | 2012-10-26 | 2014-05-14 | 宁波如意股份有限公司 | Double-group pulse output electric steering gear |
| CN103786779B (en) * | 2012-10-26 | 2016-04-27 | 宁波如意股份有限公司 | A kind of two group pulse exports electrical steering |
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| Publication number | Publication date |
|---|---|
| CN101719002B (en) | 2012-02-01 |
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