CN101788823B - Fixed length steel cable electrodynamic force feedback device - Google Patents
Fixed length steel cable electrodynamic force feedback device Download PDFInfo
- Publication number
- CN101788823B CN101788823B CN201010103370XA CN201010103370A CN101788823B CN 101788823 B CN101788823 B CN 101788823B CN 201010103370X A CN201010103370X A CN 201010103370XA CN 201010103370 A CN201010103370 A CN 201010103370A CN 101788823 B CN101788823 B CN 101788823B
- Authority
- CN
- China
- Prior art keywords
- pulley
- mentioned
- fixed pulley
- guide rail
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention discloses a fixed length steel cable electrodynamic feedback device with small volume, low input power and flexible control. The feedback device comprises a head board and a back board which are oppositely arranged, a sliding guide rail is connected between the head board and the back board; the sliding guide rail is connected with a lug in a sliding way, the lug is fixedly connected with a connecting arm; the connecting arm is rotatably connected on a sensor part, the sensor part is fixedly connected with a first end part of a master lever; a first end part of the master lever penetrates the head board; besides the feedback device also comprises a twisting guide rail, a first end part of the twisting guide rail penetrates the sensor part and is inserted into the inner chamber of the master lever, a first end part of the twisting guide rail is connected with a twisting force feedback mechanism; the twisting guide rail is connected with sensor part by a key and a key slot; the lug is connected with a pull pressure feedback mechanism; and the sensor part, the twisting feedback mechanism and the pull pressure feedback mechanism are all connected with a controller.
Description
Technical field
The present invention relates to a kind of device for force feedback, relate in particular to a kind of fixed length steel cable electrodynamic force feedback device.
Background technology
In actual aircraft and all kinds of flight simulation system, sometimes needing provides force feedback to the operator, also claim to handle load, promptly along with aircraft kinematic parameter and attitude, flight environment of vehicle change, jociey stick (or control wheel) is handled displacement or speed difference, the operator experiences resistibilitys different on the jociey stick, makes the operator feel the force feedback of aircraft to operational motion.Can provide the maneuvering device of this force feedback to be called force feedback system or force feedback maneuvering device.Especially, can provide the aircraft jociey stick of force feedback to be called force feedback jociey stick or flight control load system.
The basic demand of force feedback system is that feedback force is controlled in real time, the dynamic element of its basic comprising, kinematic train, the direct actuation member that contacts with operating personnel.Its control mode mainly contains the power size of control dynamical element output or controls two kinds of ratio of gear sizes.At present, mainly contain three kinds of technical schemes.The one, be power with hydraulic pressure, use the size of hydraulic servo principle real-time control system power output, can be called the hydraulic coupling feedback system; The 2nd, with power driven system, be power as servomotor, the application of motor control device is controlled the size of motor output torque in real time, can be called the electric power feedback system; The 3rd, with mechanical energy storage element (being the generating device of power), be power as spring, utilize power driven system to regulate the output transmission ratios of power, thereby the size of control power output can be called the mechanical force feedback system.Hydraulic coupling feedback system and electric power feedback system generally all are the sizes of control power source power output, and the mechanical force feedback system then is a control ratio of gear size.The shortcoming of hydraulic coupling feedback system is to need hydraulic power source, and system is complicated.The shortcoming of electric power feedback system is that power output is less, and volume is bigger.The shortcoming of mechanical force feedback system is that controllability is relatively poor.
Summary of the invention
Technical matters to be solved by this invention provides that a kind of volume is small and exquisite, power input is little, control fixed length steel cable electrodynamic force feedback device flexibly.
The present invention includes the front apron and the backboard of positioned opposite, between above-mentioned forward and backward baffle plate, connect a rail plate; On above-mentioned rail plate, be slidingly connected one the fork ear, a fixedly connected linking arm on the described fork ear; Described linking arm is rotatably connected on the sensor element, and the sensor parts are fixedly connected on the first end of a master lever; The second end of described master lever runs through front apron; Also comprise in addition and reverse guide rail, the described first end that reverses guide rail runs through in the inner chamber that sensor element extend into master lever, and the described the second end that reverses guide rail links to each other with a twisting resistance feedback mechanism; The above-mentioned guide rail that reverses interconnects by key and keyway and sensor element; Connect a pressure feedback mechanism on the above-mentioned fork ear; The sensor parts, twisting resistance feedback mechanism and pressure feedback mechanism all are electrically connected with a controller.
Preferably, the sensor parts comprise sensor outer sleeve and tubular sensor; Connect the first flange and the first little flange respectively at the both ends of described tubular sensor; First end at master lever connects the second little flange that mates mutually with the above-mentioned first little flange, and an end of sensor outer sleeve connects the second largest flange that mates mutually with above-mentioned first flange, and the other end of sensor outer sleeve connects a cylindrical portion; Described tubular sensor is nested with outside master lever, and the first little flange and the second little flange interconnect; Described sensor outer sleeve then is enclosed within outside the tubular sensor, and first flange and second largest flange interconnect; The linking arm of described fork ear is nested with outside cylindrical portion, interconnects by means of deep groove ball bearing and cylindrical portion; Be nested with two surface bearings that are distributed in described linking arm both sides on above-mentioned cylindrical portion, a latch segment is nested with on cylindrical portion, removably is connected on the cylindrical portion, compressing mutually between two surface bearings and linking arm and the sensor outer sleeve; Describedly reverse the inner chamber that guide rail passes above-mentioned cylindrical portion, extend in the inner chamber of master lever always; The above-mentioned guide rail that reverses links to each other with cylindrical portion with keyway by key.
Preferably, above-mentioned twisting resistance feedback mechanism comprises first servomotor, driving pulley, driven pulley and driving-belt; The described other end that reverses guide rail runs through backboard, interconnects with driven pulley; The output terminal and the driving pulley of first servomotor interconnect; Above-mentioned driving-belt is on described driving pulley and driven pulley; Described first servomotor is connected electrically on the controller.
Preferably, described pressure feedback mechanism comprises second servomotor, wire reel, bearing, rope, torsion pass axle, first toggle, second toggle, coupling shaft and pulley blocks gear train; The output termination torsion pass axle of described second servomotor; The two ends of the two ends of first toggle and second toggle are hinged and connected to respectively on described torsion pass axle and the described wire reel; Above-mentioned first toggle and second toggle all are made up of two single armeds that are hinged mutually; On a part of lateral surface of described wire reel the screw-shaped winding slot is set, on the tube side, chamber of wire reel internal thread is set, the pitch of above-mentioned screw-shaped winding slot equates with the pitch of the internal thread of wire reel; Described coupling shaft is connected on the above-mentioned bearing, on the lateral surface of coupling shaft external thread is set; Described wire reel is threaded on the above-mentioned coupling shaft; Described rope twines some weeks on wire reel, and on the pulley blocks gear train; Described second servomotor is connected electrically on the controller.
Preferably, described pulley blocks gear train comprises first pulley bracket, bidirectional slide wheel, second pulley bracket, first fixed pulley, second fixed pulley, the 3rd fixed pulley, the 4th fixed pulley and the 5th fixed pulley; Described first pulley bracket is fixedly connected on the downside of fork ear, and described bidirectional slide wheel is connected on first pulley bracket, and first fixed pulley is connected on the medial surface of described front apron, and second fixed pulley and the 3rd fixed pulley are connected on the medial surface of backboard; Second pulley bracket is arranged in the below of described first pulley bracket, and the 4th fixed pulley and the 5th fixed pulley are connected on above-mentioned second pulley bracket; Described the 4th fixed pulley is in the top of the 5th fixed pulley; The wheel shaft of the wheel shaft of the wheel shaft of above-mentioned first fixed pulley, second fixed pulley and the 3rd fixed pulley layout that all is the level of state; The wheel shaft of the wheel shaft of the 4th fixed pulley and the 5th fixed pulley all is vertical state arrangement; First end of described rope is fixedly connected on the front apron, and second end is fixedly connected on the backboard; From the direction of first end to the second end of above-mentioned rope, described rope is walked around bidirectional slide wheel, first fixed pulley, the 4th fixed pulley successively, and after twining some weeks on the wire reel, walks around the 5th fixed pulley, second fixed pulley, the 3rd fixed pulley and bidirectional slide wheel.
Preferably,, an oiling chamber is set on described coupling shaft, on the side in described oiling chamber internal thread is set along the axis direction of described coupling shaft; One oil hole that is interconnected with described oiling chamber is set on the sidewall of described coupling shaft; The threaded one end in above-mentioned oiling chamber connects a plug cock, the other end oiling bolt that is threaded.
Preferably, be connected by bearing between described master lever and the front apron; Above-mentioned bearing comprises that a linear axis holds and a deep groove ball bearing, and described linear bearing directly links to each other with master lever, and deep groove ball bearing is enclosed within outside the linear bearing, directly links to each other with front apron.
Volume of the present invention is small and exquisite, power input is little, control is flexible.
Motor shaft among the present invention directly links to each other with wire reel, and the cable wire on the wire reel will inevitably move axially along with the rotation of wire reel produces, thereby under the situation at fixing tightwire two ends, can make that the length of cable wire is elongated or shortens.Cable wire is inner if cable wire is elongated can produce internal stress, makes the rope tension, produces extra resistance in through transmission process such as pulleys, promptly consumes the power of more motors.If cable wire shortens, then produce the gap, can't transmission.Thereby to keep rope length constant be the necessary condition that realizes transmission.Design proposal of the present invention compensating axial motion automatically guarantees the cable wire fixed length.If motor shaft is directly linked to each other with wire reel, then motor shaft need bear torque and radial force, so motor shaft has fixing diameter according to output power.The present invention separates wire reel and motor shaft, and bearing left side thread spindle is born radial force, and motor shaft is born torque.Torque and radial force are separated, can make the radius of wire reel can do lessly, offer cable wire so can export bigger power.
Oil hole design proposal among the present invention can or be adjusted screw length railway grease is clamp-oned between bearing thread spindle and the wire reel inner chamber by the precession screw, can be according to the maintenance scheme of condition of work design to mechanism.
The power output of the scalable system of pulley blocks gear train among the present invention.The tension and compression direction is the cable wire transmission, is delivered to cable wire because travelling block is connected with pull bar by the power of motor output, so be that the power that acts on the pull bar is 2 times of motor power output at travelling block.Torsional direction is the belt wheel transmission, by adjusting the diameter ratio of master and slave belt wheel, can improve the motor power output.Because this structural scheme has reduced the high-power demand of motor, has also just reduced the power of motor, then the volume of motor is also corresponding reduces, and makes one-piece construction compact more.Realize the conversion of rotation and translation.Because motor can only export torque, and the direction of torque be motor shaft radially.By cable wire, and travelling block, the combination of fixed pulley has realized by the conversion that turns to translation, and is easier to realize bidirectional-movement.Make system architecture simplify more.
Description of drawings
Fig. 1 is axonometric drawings such as fixed length steel cable device for force feedback integral body;
Fig. 2 is the structural representation of twisting resistance feedback mechanism;
Fig. 3 is sensor and syndeton synoptic diagram thereof;
Fig. 4 is the structural representation of pressure feedback mechanism;
Fig. 5 is a pressure feedback fixed length steel cable detailed schematic;
Fig. 6 is the theory diagram of pressure feedback procedure;
Fig. 7 is the theory diagram of twisting resistance feedback procedure.
Embodiment
As shown in Figure 1, the fixed length steel cable device for force feedback in the present embodiment comprises front apron 1 and backboard 2, described front apron 1 and backboard 2 positioned opposite.Connect a rail plate 3 between above-mentioned front apron 1 and backboard 2, the two ends of described rail plate 3 are fixedly connected on respectively on front apron 1 and the backboard 2.
On above-mentioned rail plate 3, be slidingly connected one the fork ear 4, a fixedly connected linking arm 4-1 on the described fork ear 4.A described linking arm 4-1 and a sensor element 5 are rotationally connected.The sensor parts 5 are fixedly connected on an end of master lever 6, and the other end of described master lever 6 runs through front apron 1, and link to each other by bearing 7 between master lever 6 and the front apron 1.Above-mentioned bearing 7 comprises that a linear axis holds and a deep groove ball bearing, and described linear bearing directly links to each other with master lever 6, and deep groove ball bearing then is enclosed within outside the linear bearing, directly links to each other with front apron 1.
Also comprise in addition and reverse guide rail 8.A described end that reverses guide rail 8 runs through in the inner chamber that sensor element 5 extend into master lever 6, and the other end runs through backboard 2 and links to each other with twisting resistance feedback mechanism 9.The described guide rail 8 that reverses interconnects by key and keyway and sensor element 5.
As described in Figure 2, above-mentioned twisting resistance feedback mechanism 9 comprises the first servomotor 9-1, driving pulley 9-2, driven pulley 9-3 and driving-belt 9-4.Above-mentioned driven pulley 9-4 is connected the other end that reverses guide rail 8 by key and keyway.The first servomotor 9-1 is arranged in the inboard of backboard 2, and the output terminal of the first servomotor 9-1 runs through above-mentioned backboard 2, links to each other with driving pulley 9-2 with keyway by means of key.Above-mentioned driving-belt 9-4 is on described driving pulley 9-2 and driven pulley 9-3.
As shown in Figure 3, the sensor parts 5 comprise sensor outer sleeve 5-1 and tubular sensor 5-2.Connect the first flange 5-3 and the first little flange 5-4 respectively at the both ends of described tubular sensor 5-2.End at master lever 6 connects the second little flange 5-5 that mates mutually with the above-mentioned first little flange 5-4, the end of sensor outer sleeve 5-1 connects the second largest flange 5-6 that mates mutually with above-mentioned first flange 5-3, and the other end of sensor outer sleeve 5-1 connects a cylindrical portion 5-7.Described tubular sensor 5-2 is nested with outside master lever 6, and the first little flange 5-4 and the second little flange 5-5 interconnect.Described sensor outer sleeve 5-1 then is enclosed within outside the tubular sensor 5-2, and first flange 5-3 and second largest flange 5-6 interconnect.
Get back to Fig. 1, the linking arm 4-1 of described fork ear 4 is nested with outside cylindrical portion 5-7, interconnects with cylindrical portion 5-7 by means of deep groove ball bearing (not showing among the figure).Be nested with two surface bearing 5-8 and 5-9 on above-mentioned cylindrical portion 5-7, described two surface bearing 5-8 and 5-9 are distributed in the both sides of described linking arm 4-1.Latch segment 5-10 is nested with on cylindrical portion 5-7, removably is connected on the cylindrical portion 5-7, compressing mutually between surface bearing 5-8, linking arm 4-1, surface bearing 5-9 and the sensor outer sleeve 5-1.
Describedly reverse the inner chamber that guide rail 8 passes cylindrical portion 5-7, extend in the inner chamber of master lever 6 always.On the madial wall of above-mentioned cylindrical portion 5-7, keyway is set, reverses the key that cooperatively interacts and be connected with above-mentioned keyway is set on the lateral surface of guide rail 8.
As shown in Figure 4, described fork ear 4 links to each other with a pressure feedback mechanism 10.Described pressure feedback mechanism 10 comprises the first pulley bracket 10-1, bidirectional slide wheel 10-2, the second pulley bracket 10-3, the first fixed pulley 10-4, the second fixed pulley 10-5, the 3rd fixed pulley 10-6, the 4th fixed pulley 10-7, the 5th fixed pulley 10-8, the second servomotor 10-9, wire reel 10-10, bearing 10-11, rope 10-12, torsion pass axle 10-13, the first toggle 10-14, the second toggle 10-15, coupling shaft 10-16
The described first pulley bracket 10-1 is fixedly connected on the downside of fork ear 4.Bidirectional slide wheel 10-2 is connected on the first pulley bracket 10-1, and the first fixed pulley 10-4 is connected on the medial surface of described front apron 1, and the second fixed pulley 10-5 and the 3rd fixed pulley 10-6 are connected on the medial surface of backboard 2.The second pulley bracket 10-3 is arranged in the below of the described first pulley bracket 10-1, and the 4th fixed pulley 10-7 and the 5th fixed pulley 10-8 are connected on the above-mentioned second pulley bracket 10-3.Described the 4th fixed pulley 10-7 is in the top of the 5th fixed pulley 10-8.The wheel shaft of the wheel shaft of the wheel shaft of the above-mentioned first fixed pulley 10-4, the second fixed pulley 10-5 and the 3rd fixed pulley 10-6 layout that all is the level of state; The wheel shaft of the wheel shaft of the 4th fixed pulley 10-7 and the 5th fixed pulley 10-8 all is vertical state arrangement.Certainly, above-mentioned the 4th fixed pulley 10-7 and the 5th fixed pulley 10-8 also can be replaced by the larger-size fixed pulley of a radius.
As shown in Figure 5, the output terminal of the second servomotor 10-9 is connected torsion pass axle 10-13 by key with keyway.The two ends of the first toggle 10-14 are hinged and connected to respectively on described torsion pass axle 10-13 and the described wire reel 10-10; In the same manner, the two ends of the second toggle 10-15 also are hinged and connected to respectively on described torsion pass axle 10-13 and the described wire reel 10-10.The described first toggle 10-14 and the second toggle 10-15 all are made up of two single armeds that are hinged mutually.
On a part of lateral surface of described wire reel 10-10 the screw-shaped winding slot is set, on the tube side, chamber of wire reel 10-10 internal thread is set, the pitch of above-mentioned screw-shaped winding slot equates with the pitch of the internal thread of wire reel 10-10.Described coupling shaft 10-16 is connected on the above-mentioned bearing 10-11, on the lateral surface of coupling shaft 10-16 external thread is set.Described wire reel 10-10 is threaded on the above-mentioned coupling shaft 10-16.
Preferably,, an oiling chamber 10-16-1 is set on described coupling shaft 10-16, on the side of described oiling chamber 10-16-1 internal thread is set along the axis direction of described coupling shaft 10-16.Oil hole 10-16-2 is set on the sidewall of described coupling shaft 10-16.The threaded one end of above-mentioned oiling chamber 10-16-1 connects a plug cock 10-17, the other end oiling bolt 10-18 that is threaded.
Get back to Fig. 4, the first end 10-12-1 of described rope 10-12 is fixedly connected on the front apron 1, and the second end 10-12-2 is fixedly connected on the backboard 2.
Direction from first end 10-12-1 to the second end 10-12-2 of above-mentioned rope 10-12, described rope 10-12 walks around bidirectional slide wheel 10-2, the first fixed pulley 10-4, the 4th fixed pulley 10-7 successively, and after twining some weeks on the wire reel 10-10, walk around the 5th fixed pulley 10-8, the second fixed pulley 10-5, the 3rd fixed pulley 10-6, bidirectional slide wheel 10-2.
As shown in Figure 6, the tension and compression feedback procedure is as follows: the operator is to the handle application of force, drive master lever 6, corner and angular velocity by the second servomotor 10-9, calculate in the bar displacement and bar speed and substitution force feedback model of current master lever 6, the required target stick force input controller that provides is provided.Controller applies electrical current to master lever 6 according to target force, and then sends initial torque and be applied on the handle.Record actual stick force by sensor element 5 this moment, and be input in the controller via feedback element, controller compares the stick force that the actual stick force that records and Model Calculation go out, and adjusts the electric current that is input to the second servomotor 10-9, equate with target force up to actual forces, realize feedback.The depression bar feedback procedure is identical, and direction is opposite.
Show as Fig. 7, it is as follows to reverse feedback procedure: the operator executes torsion to handle, drive master lever 6, corner and angular velocity by the first servomotor 9-1, calculate in the bar angular displacement and bar angular velocity and substitution force feedback model of current master lever 6, the required target stem moment of torsion input controller that provides is provided.Controller applies electrical current to the first servomotor 9-1 according to target torque, and then sends initial torsional moment and be applied on the handle.Record actual bar torsion by sensor element 5 this moment, and be input in the controller via feedback element, controller compares the bar moment of torsion that the actual bar torsion that records and Model Calculation go out, adjustment is input to the electric current of the first servomotor 9-1, equate with target moment up to actual moment, realize feedback.
Claims (7)
1. a fixed length steel cable electrodynamic force feedback device is characterized in that: comprise the front apron and the backboard of positioned opposite, connect a rail plate between above-mentioned forward and backward baffle plate; On above-mentioned rail plate, be slidingly connected one the fork ear, a fixedly connected linking arm on the described fork ear; Described linking arm is rotatably connected on the sensor element, and the sensor parts are fixedly connected on the first end of a master lever; The second end of described master lever runs through front apron; Also comprise in addition and reverse guide rail, the described first end that reverses guide rail runs through in the inner chamber that sensor element extend into master lever, and the described the second end that reverses guide rail links to each other with a twisting resistance feedback mechanism; The above-mentioned guide rail that reverses interconnects by key and keyway and sensor element; Connect a pressure feedback mechanism on the above-mentioned fork ear; The sensor parts, twisting resistance feedback mechanism and pressure feedback mechanism all are electrically connected with a controller.
2. fixed length steel cable electrodynamic force feedback device according to claim 1 is characterized in that: the sensor parts comprise sensor outer sleeve and tubular sensor; Connect the first flange and the first little flange respectively at the both ends of described tubular sensor; First end at master lever connects the second little flange that mates mutually with the above-mentioned first little flange, and an end of sensor outer sleeve connects the second largest flange that mates mutually with above-mentioned first flange, and the other end of sensor outer sleeve connects a cylindrical portion; Described tubular sensor is nested with outside master lever, and the first little flange and the second little flange interconnect; Described sensor outer sleeve then is enclosed within outside the tubular sensor, and first flange and second largest flange interconnect; The linking arm of described fork ear is nested with outside cylindrical portion, interconnects by means of deep groove ball bearing and cylindrical portion; Be nested with two surface bearings that are distributed in described linking arm both sides on above-mentioned cylindrical portion, a latch segment is nested with on cylindrical portion, removably is connected on the cylindrical portion, compressing mutually between two surface bearings and linking arm and the sensor outer sleeve; Describedly reverse the inner chamber that guide rail passes above-mentioned cylindrical portion, extend in the inner chamber of master lever always; The above-mentioned guide rail that reverses links to each other with cylindrical portion with keyway by key.
3. fixed length steel cable electrodynamic force feedback device according to claim 1 is characterized in that: above-mentioned twisting resistance feedback mechanism comprises first servomotor, driving pulley, driven pulley and driving-belt; The described the second end that reverses guide rail runs through backboard, interconnects with driven pulley; The output terminal and the driving pulley of first servomotor interconnect; Above-mentioned driving-belt is on described driving pulley and driven pulley; Described first servomotor is connected electrically on the controller.
4. fixed length steel cable electrodynamic force feedback device according to claim 1 is characterized in that: described pressure feedback mechanism comprises second servomotor, wire reel, bearing, rope, torsion pass axle, first toggle, second toggle, coupling shaft and pulley blocks gear train; The output termination torsion pass axle of described second servomotor; The two ends of the two ends of first toggle and second toggle are hinged and connected to respectively on described torsion pass axle and the described wire reel; Above-mentioned first toggle and second toggle all are made up of two single armeds that are hinged mutually; On a part of lateral surface of described wire reel the screw-shaped winding slot is set, on the tube side, chamber of wire reel internal thread is set, the pitch of above-mentioned screw-shaped winding slot equates with the pitch of the internal thread of wire reel; Described coupling shaft is connected on the above-mentioned bearing, on the lateral surface of coupling shaft external thread is set; Described wire reel is threaded on the above-mentioned coupling shaft; Described rope twines some weeks on wire reel, and on the pulley blocks gear train; Described second servomotor is connected electrically on the controller.
5. fixed length steel cable electrodynamic force feedback device according to claim 4 is characterized in that: described pulley blocks gear train comprises first pulley bracket, bidirectional slide wheel, second pulley bracket, first fixed pulley, second fixed pulley, the 3rd fixed pulley, the 4th fixed pulley and the 5th fixed pulley; Described first pulley bracket is fixedly connected on the downside of fork ear, and described bidirectional slide wheel is connected on first pulley bracket, and first fixed pulley is connected on the medial surface of described front apron, and second fixed pulley and the 3rd fixed pulley are connected on the medial surface of backboard; Second pulley bracket is arranged in the below of described first pulley bracket, and the 4th fixed pulley and the 5th fixed pulley are connected on above-mentioned second pulley bracket; Described the 4th fixed pulley is in the top of the 5th fixed pulley; The wheel shaft of the wheel shaft of the wheel shaft of above-mentioned first fixed pulley, second fixed pulley and the 3rd fixed pulley layout that all is the level of state; The wheel shaft of the wheel shaft of the 4th fixed pulley and the 5th fixed pulley all is vertical state arrangement; First end of described rope is fixedly connected on the front apron, and second end is fixedly connected on the backboard; From the direction of first end to the second end of above-mentioned rope, described rope is walked around bidirectional slide wheel, first fixed pulley, the 4th fixed pulley successively, and after twining some weeks on the wire reel, walks around the 5th fixed pulley, second fixed pulley, the 3rd fixed pulley and bidirectional slide wheel.
6. according to claim 4 or 5 described fixed length steel cable electrodynamic force feedback devices, it is characterized in that: along the axis direction of described coupling shaft, an oiling chamber is set on described coupling shaft, on the side in described oiling chamber internal thread is set; One oil hole that is interconnected with described oiling chamber is set on the sidewall of described coupling shaft; The threaded one end in above-mentioned oiling chamber connects a plug cock, the other end oiling bolt that is threaded.
7. fixed length steel cable electrodynamic force feedback device according to claim 1 is characterized in that: be connected by bearing between described master lever and the front apron; Above-mentioned bearing comprises that a linear axis holds and a deep groove ball bearing, and described linear bearing directly links to each other with master lever, and deep groove ball bearing is enclosed within outside the linear bearing, links to each other with front apron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010103370XA CN101788823B (en) | 2010-01-29 | 2010-01-29 | Fixed length steel cable electrodynamic force feedback device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010103370XA CN101788823B (en) | 2010-01-29 | 2010-01-29 | Fixed length steel cable electrodynamic force feedback device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101788823A CN101788823A (en) | 2010-07-28 |
| CN101788823B true CN101788823B (en) | 2011-08-10 |
Family
ID=42532062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010103370XA Active CN101788823B (en) | 2010-01-29 | 2010-01-29 | Fixed length steel cable electrodynamic force feedback device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101788823B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658749A (en) * | 2012-05-14 | 2012-09-12 | 浙江工业大学 | Force-sensing operating device for digital engraving machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110286689B (en) * | 2019-06-13 | 2023-05-23 | 中国空气动力研究与发展中心高速空气动力研究所 | Switching master-slave control method suitable for double-shaft linkage overrunning load electrohydraulic servo system |
-
2010
- 2010-01-29 CN CN201010103370XA patent/CN101788823B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658749A (en) * | 2012-05-14 | 2012-09-12 | 浙江工业大学 | Force-sensing operating device for digital engraving machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101788823A (en) | 2010-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11465277B2 (en) | Cable-driven system with magnetorheological fluid clutch apparatuses | |
| RU2471646C2 (en) | Counterrotating engines with line output | |
| CN1930757B (en) | In-line actuator apparatus and method | |
| CN103836145B (en) | Linear actuator | |
| CN1995777A (en) | Wire cable transmission mechanism for use in mechanical arm | |
| CN101456355A (en) | Deceleration device for vehicle, electronic parking brake and electronic motor brake using reduction device | |
| CN202125580U (en) | Two-degree-of-freedom controllable five-rod mechanism with characteristics of outputting large torque and high speed simultaneously | |
| CN100394055C (en) | Actuating device for a clutch | |
| JP2018008683A (en) | Electrically driven derailleur of bicycle | |
| CN101788823B (en) | Fixed length steel cable electrodynamic force feedback device | |
| CN102211622A (en) | Cylinder series connection elastic driver | |
| CN103229038B (en) | Wind turbine transmission test stand | |
| CN107725758A (en) | A kind of Zipper-type clutch control executing agency and its execution method | |
| CN107810342A (en) | Clutch actuator for the stator case with single type of motor vehicle | |
| CN209410042U (en) | A kind of electronic hydraulic brake system device | |
| CN205239478U (en) | Electromechanical magnetism integration braking booster unit | |
| CN101187416A (en) | Inverse sliding type stepless speed changer | |
| CN102478099A (en) | Mechanical transmission of electric vehicle | |
| CN201484394U (en) | Auxiliary brake control device | |
| CN202038386U (en) | Cylindrical series elastic driver | |
| JP2023551489A (en) | Gear shifting equipment and related mobility machines | |
| CN208295049U (en) | A kind of power transmission gear-box | |
| JP2008534867A (en) | Actuator device | |
| CN216742784U (en) | Cone disc speed change linkage device of centrifugal movable tooth stepless speed changer | |
| CN102182809B (en) | Compact pull-rope-type elastic driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |