CN104209942A - Proportional pressure regulating valve PWM (pulse-width modulation) control pneumatic force sense reappearing device and method - Google Patents
Proportional pressure regulating valve PWM (pulse-width modulation) control pneumatic force sense reappearing device and method Download PDFInfo
- Publication number
- CN104209942A CN104209942A CN201410413996.9A CN201410413996A CN104209942A CN 104209942 A CN104209942 A CN 104209942A CN 201410413996 A CN201410413996 A CN 201410413996A CN 104209942 A CN104209942 A CN 104209942A
- Authority
- CN
- China
- Prior art keywords
- power
- robot finger
- finger
- sense
- mechanical hand
- 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.)
- Granted
Links
Abstract
The invention relates to a proportional pressure regulating valve PWM (pulse-width modulation) control pneumatic force sense reappearing device, which comprises a machine wrist part, a machine hand palm, a machine hand finger, a machine finger force sense driving air cylinder, a voltage type proportional pressure regulating valve and a PWM controller, wherein the machine hand palm is arranged in a rotating matching hole of the machine wrist part, the machine hand finger is hinged to the machine hand palm and can rotate, the machine hand finger force sense driving air cylinder is in reversed installation and is respectively hinged to the machine hand finger and the machine hand palm at the same time, air source air is sent into the machine hand finger force sense driving air cylinder after being subjected to air pressure regulation through the voltage type proportional pressure regulating valve, so that the resistance force on the machine hand finger is generated, i.e., the force sense force is generated. The outlet air pressure value of the voltage type proportional pressure regulating valve is controlled by the PWM controller so that the required force sense force is obtained. The proportional pressure regulating valve PWM control pneumatic force sense reappearing device has the advantages that a universal air cylinder reversed installation structure is adopted, the structure is simple, the size is small, and the active and slave remote operation force sense reappearing control can be easily realized.
Description
Technical field
The present invention relates to a kind of proportional dump valve PWM and control aerodynamic force sense transcriber and method.
Background technology
Master-slave mode remote operating refers to that operator is locally through the operation to master machine hand, realizes a kind of operation format to handling operation under uncertain condition from mechanical hand.Master-slave mode teleoperation robot occurred from nineteen sixties, and through semicentennial development nearly, its achievement is extensively employed for industry, civilian every field.When current intelligent robot can't realize complete utonomous working, principal and subordinate's remote operating is the effective way of carrying out complicated operation under solving high temperature, high pressure, intense radiation, the extreme environment such as to suffocate.
Telepresenc technology is that focus be put on man, by various sensor by the interactive information of far mechanical hand and environment (comprise vision, power felt, sense of touch, the sense of hearing, cinesthesia etc.) feed back to local operator place in real time, generate the virtual environment consistent with far environment, make operator produce impression on the spot in person, thus realize the control to machine hand strap sensation.When teleoperation robot carries out contact operation to operand, as crawl, insertion etc., the dynamic characteristic of environment seems particularly important, and in these operations, the information of 70% is felt by power provides.Therefore, force teleprence is the emphasis of telepresenc technical research all the time.In recent years, telepresenc technology causes extensive concern abroad, especially the U.S., Japan, Britain and Germany have achieved suitable achievement in research in this respect, although China's starting is more late, the key technology of telepresenc teleoperation robot technology as intelligence machine human agent conducts a research by 863 Program.
Undoubtedly, combined by force teleprence with master-slave mode remote control system, can improve the operating characteristics of system, complete precise operation, control completes complicated job task effectively, significant.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of novel pneumatic structure and control mode to reproduce with realizable force sense.This advantages of compact and light structure, highly versatile, can be widely used in clamp-type two and refer in mechanical hand system.
The technical solution adopted for the present invention to solve the technical problems is: a kind of proportional dump valve PWM controls aerodynamic force sense transcriber, comprises mechanical hand wrist, mechanical hand palm, robot finger, power sense driving cylinder, voltage-type proportional dump valve, PWM controller.
Source of the gas enters voltage-type than after row pressure regulator valve, voltage signal through PWM controller output controls and exports the power sense driving cylinder of corresponding air pressure to robot finger, produce relative force between cylinder barrel and cylinder piston rod, thrust is delivered to upper drag and the power sense forming finger of finger then.
Further restriction, power sense drives cylinder to be inverted and installs, piston rod and the mechanical hand palm of power sense driving cylinder are hinged, cylinder barrel and the robot finger of power sense driving cylinder are hinged, mechanical hand palm and robot finger hinged, while robot finger rotates round pin joint relative to mechanical hand palm, drive sense drives the piston rod of cylinder stretch out or regain.
Further restriction, power sense drives the admission pressure of cylinder to be regulated than row pressure regulator valve by the voltage-type that is subject to PWM controller control, thus is pointed drag and power sense accordingly.
The invention has the beneficial effects as follows: this proportional dump valve PWM controls aerodynamic force sense transcriber and adopts cylinder to be inverted mounting means and be controlled by the voltage-type proportional dump valve regulating the qi flowing in the channels pressure mode of PWM controller, the finger grip power of Work machine hand can be reproduced in operator on hand in proportion, realize the sense of teleoperation of robot power and reproduce.Advantages of compact and light structure, highly versatile, can be widely used in clamp-type two and refer in mechanical hand system.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described;
Fig. 1 is the structure principle chart that proportional dump valve PWM of the present invention controls aerodynamic force sense transcriber.
Fig. 2 is power sense transcriber power sense formation basic theory figure.
In figure: 1. mechanical hand wrist, 2. mechanical hand palm, the power sense of 3-1. first robot finger drives cylinder piston rod, the power sense of 3-2. first robot finger drives cylinder barrel, 4. the first robot finger, the power sense of 5-1. second robot finger drives cylinder piston rod, the power sense of 5-2. second robot finger drives cylinder barrel, 6. the second robot finger, 7. the voltage-type proportional dump valve that the first robot finger is corresponding, 8. the PWM controller that the first robot finger is corresponding, 9. the voltage-type proportional dump valve that the second robot finger is corresponding, 10. the PWM controller that the second robot finger is corresponding.
Detailed description of the invention
As shown in Figure 1, proportional dump valve PWM controls aerodynamic force sense transcriber, comprise mechanical hand wrist 1, mechanical hand palm 2, the power sense of the first robot finger drives cylinder piston rod 3-1, the power sense of the first robot finger drives cylinder barrel 3-2, first robot finger 4, the power sense of the second robot finger drives cylinder piston rod 5-1, the power sense of the second robot finger drives cylinder barrel 5-2, second robot finger 6, the voltage-type proportional dump valve 7 that first robot finger is corresponding, the PWM1 controller 8 that first robot finger is corresponding, the voltage-type proportional dump valve 9 that second robot finger is corresponding, the PWM2 controller 10 that second robot finger is corresponding.
Mechanical hand palm 2 is arranged in mechanical hand wrist 1 mating holes and also can rotates, first robot finger 4 is hinged and can rotate with mechanical hand palm 2, first robot finger power sense drives cylinder to be inverted and installs, its cylinder barrel 3-2 and piston rod 3-1 also distinguishes hinged with the first robot finger 4 and mechanical hand palm 2 simultaneously respectively, source gas is sent into the sense of robot finger power and is driven cylinder barrel 3-2 after voltage-type proportional dump valve 7 adjustable pressure, with generation to the resistance of the first robot finger 4 and power force-sensitive, the output pressure size of voltage-type proportional dump valve 7 is controlled to obtain required power force-sensitive by PWM1 controller 8, in like manner, the second robot finger 6 also can obtain required power force-sensitive.
the course of work is as follows:
As shown in Figure 2, for the course of work of the first robot finger 4, when mechanical hand closes up grasping object, the finger of operator moves downward in the first robot finger 4 finger ring, source gas is sent into the sense of robot finger power and is driven cylinder barrel 3-2 after voltage-type proportional dump valve 7 adjustable pressure that the first robot finger is corresponding, because the sense of robot finger power drives cylinder to be inverted to install and robot finger is hinged with mechanical hand palm difference simultaneously with respectively, cylinder internal gas pressure produces thrust FP1, and act on the first robot finger 4 by pin joint Op1, L
f1for the arm of force between thrust FP1 and pin joint O1, L
s1be the arm of force between the first robot finger 4 power induction reactance power Fs1 and pin joint O1, equivalence produces moment M
1(M
1=L
f1* F
p1) formed on the first robot finger 4 operator finger power induction reactance power Fs1(F
s1=M
1/ L
s1); Gas pressure due to voltage-type proportional dump valve 7 output is subject to the control of PWM controller corresponding to the first robot finger 8, therefore, the power induction reactance power on operator's finger is subject to the control of PWM controller corresponding to the first robot finger 8 and exports the power induction reactance power F corresponding with load
s1, realize the sense of operator's remote force and reproduce; In like manner, the operator's finger on the second robot finger 6 also can form the power induction reactance power F corresponding with load
s2.
Claims (5)
1. proportional dump valve PWM controls an aerodynamic force sense transcriber, it is characterized in that: described device comprises mechanical hand and rotates wrist
Portion, mechanical hand palm, robot finger, power sense drive cylinder, voltage-type proportional dump valve, PWM controller and source of the gas; Mechanical hand palm is arranged in mechanical hand wrist mating holes and also can rotates; Robot finger and mechanical hand palm hinged and can rotate; Power sense drives cylinder to be inverted, piston rod and the mechanical hand palm of power sense driving cylinder are hinged, cylinder barrel and the robot finger of power sense driving cylinder are hinged, source of the gas enters voltage-type than after row pressure regulator valve, voltage signal through PWM controller output controls and exports the power sense driving cylinder of corresponding air pressure to robot finger, produce relative force between cylinder barrel and cylinder piston rod, thrust is delivered to upper drag and the power sense forming finger of finger then.
2. a kind of proportional dump valve PWM as claimed in claim 1 controls aerodynamic force sense transcriber, it is characterized in that: work as machine
While hand finger rotates round pin joint relative to mechanical hand palm, drive sense drives the piston rod of cylinder stretch out or regain.
3. a kind of proportional dump valve PWM as claimed in claim 1 controls aerodynamic force sense transcriber, it is characterized in that: power sense drives the admission pressure of cylinder to be regulated than row pressure regulator valve by the voltage-type that is subject to PWM controller control, thus is pointed drag and power sense accordingly.
4. a kind of proportional dump valve PWM as claimed in claim 1 controls aerodynamic force sense transcriber, it is characterized in that: described device comprises mechanical hand wrist (1), mechanical hand palm (2), the power sense of the first robot finger drives cylinder piston rod (3-1), the power sense of the first robot finger drives cylinder barrel (3-2), first robot finger (4), the power sense of the second robot finger drives cylinder piston rod (5-1), the power sense of the second robot finger drives cylinder barrel (5-2), second robot finger (6), the voltage-type proportional dump valve (7) that first robot finger is corresponding, the PWM controller (8) that first robot finger is corresponding, the voltage-type proportional dump valve (9) that second robot finger is corresponding, the PWM2 controller (10) that second robot finger is corresponding, the side of the first robot finger (4) and mechanical hand palm (2) is hinged and can rotate, first robot finger power sense drives cylinder to be inverted and installs, its cylinder barrel (3-2) and piston rod (3-1) and simultaneously respectively with the first robot finger (4) and mechanical hand palm (2) hinged respectively, source gas is sent into the sense of robot finger power and is driven cylinder barrel (3-2) after voltage-type proportional dump valve (7) adjustable pressure, with generation to the resistance of the first robot finger (4) and power force-sensitive, the output pressure size of voltage-type proportional dump valve (7) is controlled by the PWM controller (8) that the first robot finger is corresponding to obtain required power force-sensitive, in like manner, the second robot finger (6) also can obtain required power force-sensitive.
5. a proportional dump valve PWM controls aerodynamic force sense reproducting method, it is characterized in that: when mechanical hand closes up grasping object, the finger of operator moves downward in the first robot finger (4) finger ring, source gas is sent into the sense of robot finger power and is driven cylinder barrel (3-2) after voltage-type proportional dump valve (7) adjustable pressure that the first robot finger is corresponding, because the sense of robot finger power drives cylinder to be inverted installation, also the first robot finger (4) is hinged with mechanical hand palm (2) difference simultaneously with respectively, cylinder internal gas pressure produces thrust FP1, and act on the first robot finger (4) by pin joint Op1, L
f1for the arm of force between thrust FP1 and pin joint O1, L
s1be the arm of force between the first robot finger (4) power induction reactance power Fs1 and pin joint O1, equivalence produces moment M
1(M
1=L
f1* F
p1) in the upper power induction reactance power Fs1(F forming operator's finger of the first robot finger (4)
s1=M
1/ L
s1), the gas pressure exported due to voltage-type proportional dump valve (7) is subject to the control of PWM controller corresponding to the first robot finger (8), therefore, the power induction reactance power on operator's finger is subject to the control of PWM controller (8) corresponding to finger first robot finger and exports the power induction reactance power F corresponding with load
s1, realize the sense of operator's remote force and reproduce, in like manner, the operator's finger on the second robot finger (6) also can form the power induction reactance power F corresponding with load
s2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410413996.9A CN104209942B (en) | 2014-08-21 | Proportional dump valve PWM controls aerodynamic force sense transcriber and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410413996.9A CN104209942B (en) | 2014-08-21 | Proportional dump valve PWM controls aerodynamic force sense transcriber and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104209942A true CN104209942A (en) | 2014-12-17 |
| CN104209942B CN104209942B (en) | 2017-01-04 |
Family
ID=
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0197581A (en) * | 1987-10-06 | 1989-04-17 | Komatsu Ltd | Force sensing type finger mechanism |
| CN1608809A (en) * | 2004-11-24 | 2005-04-27 | 东南大学 | Force feedback device for force feedback gloves |
| JP2005169561A (en) * | 2003-12-11 | 2005-06-30 | Fuji Heavy Ind Ltd | Remote control device |
| CN102359872A (en) * | 2011-09-06 | 2012-02-22 | 宜宾天瑞达汽车零部件有限公司 | Detection device of vacuum solenoid valve |
| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
| CN103648730A (en) * | 2011-04-29 | 2014-03-19 | 雷斯昂公司 | Teleoperated robotic system |
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0197581A (en) * | 1987-10-06 | 1989-04-17 | Komatsu Ltd | Force sensing type finger mechanism |
| JP2005169561A (en) * | 2003-12-11 | 2005-06-30 | Fuji Heavy Ind Ltd | Remote control device |
| CN1608809A (en) * | 2004-11-24 | 2005-04-27 | 东南大学 | Force feedback device for force feedback gloves |
| CN103648730A (en) * | 2011-04-29 | 2014-03-19 | 雷斯昂公司 | Teleoperated robotic system |
| CN102359872A (en) * | 2011-09-06 | 2012-02-22 | 宜宾天瑞达汽车零部件有限公司 | Detection device of vacuum solenoid valve |
| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
Non-Patent Citations (2)
| Title |
|---|
| 孙中圣等: "气动力觉再现装置研究现状", 《机床与液压》 * |
| 韩江义等: "夹钳式力反馈遥微操作系统的设计与试验", 《机器人》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105856185A (en) | Piston-drive magnetic flow flexible robot hand device | |
| CN104554711B (en) | Aerodynamic control servo system for controlling load tilt angle of aerial rudder of aircraft | |
| RU2010121884A (en) | CONTROL SYSTEM AND METHOD OF CONTROL | |
| CN103386685A (en) | Robot programming control method | |
| CN103786157A (en) | Embedded type control system based on upper limb exoskeleton assisting robots | |
| CN106914904B (en) | A kind of complex-curved blade force-location mix control system of processing based on ROS | |
| CN203141070U (en) | Multifunctional air pressure pointer push mounting device for automotive pointer instrument | |
| CN205489284U (en) | Transmission line patrols and examines robot control system | |
| Liang et al. | Robot teleoperation system based on mixed reality | |
| US20200171664A1 (en) | Robot | |
| Zhou et al. | A grasping component mapping approach for soft robotic end-effector control | |
| WO2018046296A8 (en) | Technique for characterising an electromechanical actuator unit for a vehicle brake | |
| CN104209942A (en) | Proportional pressure regulating valve PWM (pulse-width modulation) control pneumatic force sense reappearing device and method | |
| CN104209942B (en) | Proportional dump valve PWM controls aerodynamic force sense transcriber and method | |
| CN104656676A (en) | Hand, leg and eye servo control device and method for humanoid robot | |
| CN116852336A (en) | Upper body teleoperation force feedback equipment for double-arm robot | |
| CN105680371A (en) | Control system of line patrol robot of power transmission line | |
| KR101263487B1 (en) | Teaching device for robot | |
| CN107578616A (en) | A kind of wireless remote controller suitable for unmanned vehicle | |
| CN102858074A (en) | Control system and method of LED (Light Emitting Diode) driving voltage mode | |
| CN205497463U (en) | Disconnect -type robot drags teaching handle | |
| CN204812561U (en) | Intelligence hair -dressing device | |
| CN104827486A (en) | Flexible joint of humanoid robot | |
| CN207127802U (en) | A kind of hinged bolt and can night illumination hydraulic tongs | |
| CN110450191A (en) | It is a kind of to carry camera system from growth soft robot top |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211216 Address after: Room 407-2-6, building C, Tian'an Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213100 Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: CHANGZHOU University |