CN106020463B - A kind of Three Degree Of Freedom operating mechanism for touch feedback - Google Patents
A kind of Three Degree Of Freedom operating mechanism for touch feedback Download PDFInfo
- Publication number
- CN106020463B CN106020463B CN201610323966.8A CN201610323966A CN106020463B CN 106020463 B CN106020463 B CN 106020463B CN 201610323966 A CN201610323966 A CN 201610323966A CN 106020463 B CN106020463 B CN 106020463B
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- Prior art keywords
- handle
- disc type
- degree
- operating mechanism
- linear dampers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/015—Force feedback applied to a joystick
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The present invention relates to a kind of Three Degree Of Freedom operating mechanisms for touch feedback, including handle (2), disc type damper (3) and two linear dampers, the disc type damper (3) and linear dampers are MR damper, the disc type damper (3) and handle (2) is coaxially connected, described linear dampers one end is rotatablely connected with handle (2), the other end and a fixture are rotatablely connected, the computer control in by haptic feedback system respectively of the damping size of the MR damper, disc type damper (3) applies rotational resistance to the spinning motion of handle (2), linear dampers apply linear resistance to the translational motion of handle (2).Compared with prior art, the present invention has many advantages, such as that motion range is big, moves flexible, easily controllable, flexible structure, is light-weight, being easily installed and replace.
Description
Technical field
The present invention relates to a kind of operating mechanism for touch feedback, more particularly, to it is a kind of for touch feedback three from
By degree operating mechanism.
Background technology
Virtual reality technology can utilize computer generate one it is true to nature, three-dimensional, there is certain vision, the sense of hearing, power
Feel the virtual environment of the sensing capabilities such as tactile and smell, user can be mutual with the entity in virtual environment by various sensing equipments
Effect, makes user generate feeling on the spot in person.The essential characteristic of virtual reality technology is the property immersed, interactivity and imagination property.
According to the difference of sensory channel, virtual reality technology can be divided into virtual visualization technology, power feels that haptic feedback technology, computer are smelt
Feel technology etc..In recent years, virtual visualization technology development it is more rapid, while with put forth effort feel haptic feedback devices development,
Power feels that the degree that haptic feedback technology attracts attention also is continuously improved.Power feels that haptic feedback technology can enhance reality environment
With interactive immersive effects, have been obtained for applying in fields such as remote operating, surgical operation training, amusements, in manufacturing industry
It has broad application prospects.
Virtual reality technology is a kind of computer virtual simulation system for creating and experiencing.It is generated using computer
A kind of system emulation of the interactive Three Dimensional Dynamic Simulation environment and entity behavior of Multi-source Information Fusion.User is set to be dissolved into this
In environment, the perception such as energy is tactile, power is felt, or even further include smell and the sense of taste.Up to the present, haptic system relative visual and
The research of audio feedback is less.Device is largely that the power or torque proportional to virtual environment are generated by motor.But they
It is excessively heavy, of high cost, reality simulation perceptual difference.Using magnetorheological fluid, variable viscosity, the big feature of shearing force are come under magnetic field
Design new executing agency.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of flexible structure, movements
Range is big, the flexible Three Degree Of Freedom operating mechanism for being used for touch feedback of movement.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of Three Degree Of Freedom operating mechanism for touch feedback, including handle, disc type damper and two linear dampings
Device, the disc type damper and linear dampers are MR damper, and the disc type damper coaxially connects with handle
It connects, described linear dampers one end is rotatablely connected with handle, and the other end and a fixture are rotatablely connected, the magnetic current variable resistance
The computer control in by haptic feedback system, disc type damper apply the spinning motion of handle to the damping size of Buddhist nun's device respectively
Rotational resistance, linear dampers apply linear resistance, the force action of rotational resistance and linear resistance to the translational motion of handle
In handle, the expection resistance set by computer is generated.
The linear dampers include shell, along the shell inner wall do linear movement piston and setting outside
Coil in shell and magnetorheological fluid, piston rod are rotatablely connected with handle, electricity of the coil encircling in piston outer periphery, coil
Stream size controlled by computer, when curent change in coil, magnetorheological fluid generate damping change, make piston rod movement by
Resistance variation, since piston rod and handle are rotatablely connected, which is directly delivered to handle, is generated to the translational motion of handle
Resistance.
The shell is equipped with column pin hole, for being rotatablely connected with fixture, in use, linear dampers one end is led to
It crosses pin to be fixed on level table, makes linear dampers that can be rotated around pin.
The handle end is arranged support shaft, and described piston rod one end carries sleeve or lantern ring, the sleeve or
Lantern ring is sleeved in support shaft, constitutes clearance fit.
The support shaft end is threaded, and for connecting the nut through surface fine grinding processing, nut is supported with extraneous
Friction coefficient between object such as level table is low, to reduce frictional force, improves the precision of touch feedback.
The disc type damper includes the outer cover and coil being arranged in outer cover, magnetorheological fluid and turntable, described
Coil encircling is interference fitted in turntable periphery, the handle with turntable, the handle and outer cover clearance fit.
Two linear dampers initial positions are in 90 degree of angles, are conducive to stablizing for operating mechanism and place.
Compared with prior art, the present invention has the following advantages：
(1) by the way that disc type damper to be used in combination with two linear dampers, make operating mechanism that there is Three Degree Of Freedom, packet
Laterally free degree, the longitudinal degress of feedom and rotary freedom are included, keeps operating mechanism motion range big, movement is flexible.
(2) damper is MR damper, and coil current size and magnetic field intensity are controlled by computer, and magnetorheological fluid exists
Under magnetic field variable viscosity and shearing force is big, easily controllable, flexible structure, it is light-weight, be easily installed and replace.
(3) piston rod of linear dampers is rotatablely connected with handle, and the resistance that piston rod is subject to is directly delivered to handle, right
The translational motion of handle generates resistance, reduces influence of the linear dampers to the spinning motion of handle.
(4) shell of linear dampers is equipped with column pin hole, for being rotatablely connected with fixture, makes linear dampers can be with
It is rotated with the translation of handle, increases operating mechanism motion range.
(5) handle end is arranged support shaft, and the sleeve or lantern ring of piston rod one end are sleeved in support shaft, constitutes gap and matches
It closes, the component of rotation connection is replaceable, extends operating mechanism service life.
(6) support shaft end be threaded, for connect through surface fine grinding processing nut, nut with the external world supporter it
Between friction coefficient it is low, to reduce frictional force, improve the precision of touch feedback.
(7) turntable of handle and disc type damper is interference fitted, and the outer cover clearance fit with disc type damper makes disc type hinder
The resistance that Buddhist nun's device turntable is subject to is directly delivered to handle, reduces the friction between outer cover and handle, improves computer electric current control
The precision of system.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present embodiment Three Degree Of Freedom operating mechanism；
Fig. 2 is the main structure diagram of the present embodiment Three Degree Of Freedom operating mechanism；
Fig. 3 is the A-A sectional views of Fig. 2；
Fig. 4 is the overlooking structure diagram of the present embodiment Three Degree Of Freedom operating mechanism；
Fig. 5 is the present embodiment disc type damper schematic cross-sectional view；
Fig. 6 is the present embodiment linear dampers schematic cross-sectional view；
Fig. 7 is the present embodiment plug structures schematic diagram；
Fig. 8 is the present embodiment axle assemble supporting schematic diagram；
Fig. 9 is the A-A sectional views of Fig. 8；
Figure 10 is the motion range schematic diagram of handle in the present embodiment；
Figure 11 is the present embodiment haptic feedback system structural schematic diagram；
Reference numeral：
1 is the first linear dampers；2 be handle；21 be support shaft；22 be nut；3 be disc type damper；31 be outer cover；
32 be coil；33 be turntable；4 be the second linear dampers；5 be shell；6 be piston rod；7 be coil；8 be column pin hole；81 are
Pin；9 pitch for angle；10 be computer；11 be data acquisition board；12 be amplifier；13 be executing agency.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
As shown in Figure 1 to 4, a kind of Three Degree Of Freedom operating mechanism for touch feedback, including the damping of handle 2, disc type
Device 3, the first linear dampers 1 and the second linear dampers 4, the linear resistance of the first linear dampers 1, disc type damper 3 and second
Buddhist nun's device 4 is MR damper.
As shown in figure 5, disc type damper 3 include outer cover 31 and be arranged in outer cover 31 coil 32, magnetorheological fluid and
Turntable 33, coil 32 are looped around 33 periphery of turntable, and handle 2 is interference fitted with turntable 33, handle 2 and 31 clearance fit of outer cover.
As shown in fig. 6, the first linear dampers 1 and 4 structure of the second linear dampers are roughly the same, include shell 5, edge
The inner wall of shell 5 does the piston of linear movement and the coil being arranged in shell 57 and magnetorheological fluid, the piston rod 6 of piston with
Handle 2 is rotatablely connected, and coil 7 is looped around piston outer periphery, and the size of current in coil 7 is controlled by computer, when electric current in coil 7
When variation, the damping change that magnetorheological fluid generates makes piston rod 6 move the resistance variation being subject to.5 one, shell is end cap, separately
One end face is equipped with column pin hole 8, for being rotatablely connected with fixture, in use, the pin 81 on level table and column pin hole 8
Revolute is formed, so that linear dampers is rotated around pin, pin shape is as shown in Figure 7.
As shown in Figure 1 and Figure 2,2 end of handle is arranged support shaft 21, and as shown in Figure 8, Figure 9,21 one end of support shaft carries ring
Shape face 20, annular surface 20 play the role of supporting disc type damper 3, and 21 other end of support shaft is threaded, and screw thread is for connecting
Nut 22 through surface fine grinding processing, in use, support shaft 21 stands on level table vertically, the nut 22 of 21 bottom of support shaft with
Level table contacts, and since the friction coefficient between nut 22 and level table is low, to reduce frictional force, improves touch feedback
Precision.
As shown in Fig. 1, Fig. 3 and Fig. 6,6 end of piston rod of the first linear dampers 1 pitches 9 with angle, and angle pitches 9 ends and is
Lantern ring, lantern ring are sleeved in support shaft 21, form rotation connection.
Unlike the first linear dampers 1,6 end of piston rod of the second linear dampers 4 carries sleeve, covers jacket casing
It is located in support shaft 21, forms rotation connection, two lantern rings are divided into sleeve both ends, do not make the rotations of two linear dampers mutually not
It influences.
As shown in figure 11, haptic feedback system is electric-control system, including computer 10, data acquisition board 11, amplifier 12
With Three Degree Of Freedom operating mechanism, Three Degree Of Freedom operating mechanism is executing agency 13, and a displacement is fixed in executing agency 13 and is passed
Sensor is to obtain the position of operating mechanism.
Electric-control system operation principle：
Computer 10 generates control signal, is transferred to data acquisition board 11, due to controlling the electricity of signal according to default
Stream is smaller, adds amplifier 12 and amplifies electric current generation driving current by a certain percentage, driving current is transferred to executing agency 13
In coil, to generate corresponding resistance.
The handle end of executing agency 13 is equipped with position sensor, detects the position of handle end, by circuit by position
Signal passes to computer 10.
When operation handle 2, handle 2 can be done rotation movement simultaneously and transverse motion, and transverse motion drives linear dampers to do
Linear movement, the coil 7 being wrapped on piston rod 6 are passed through the electric current of electric-control system, and respective strengths are generated according to the setting of system
Magnetic field, when magnetorheological fluid flows through the gap between piston rod 6 and shell 5, due under different magnetic field intensity magnetorheological fluid hinder
Buddhist nun is different, generates damping force.The motion range of handle 2 is as shown in Figure 10, and dotted line is the initial position of handle 2 in figure.
Claims (6)
1. a kind of Three Degree Of Freedom operating mechanism for touch feedback, which is characterized in that including handle (2), disc type damper (3)
With two linear dampers, the disc type damper (3) and linear dampers are MR damper, disc type resistance
Buddhist nun's device (3) and handle (2) are coaxially connected, and described linear dampers one end is rotatablely connected with handle (2), and the other end and one is fixed
Object is rotatablely connected, the damping size computer control in by haptic feedback system respectively of the MR damper, disc type
Damper (3) applies rotational resistance to the spinning motion of handle (2), and linear dampers apply line to the translational motion of handle (2)
Property resistance.
2. a kind of Three Degree Of Freedom operating mechanism for touch feedback according to claim 1, which is characterized in that described
Linear dampers include shell, do the piston and setting coil and magnetic in the shell of linear movement along the inner wall of the shell
Rheology liquid, piston rod are rotatablely connected with handle (2), and size of current of the coil encircling in piston outer periphery, coil is counted
Calculation machine controls, and when curent change in coil, the damping change that magnetorheological fluid generates makes the resistance that piston rod movement is subject to become
Change.
3. a kind of Three Degree Of Freedom operating mechanism for touch feedback according to claim 2, which is characterized in that described
Shell is equipped with column pin hole, for being rotatablely connected with fixture.
4. a kind of Three Degree Of Freedom operating mechanism for touch feedback according to claim 1 or 3, which is characterized in that institute
Handle (2) end stated is arranged support shaft, and described linear dampers one end carries sleeve or lantern ring, the sleeve or lantern ring
It is sleeved in support shaft.
5. a kind of Three Degree Of Freedom operating mechanism for touch feedback according to claim 4, which is characterized in that described
Support shaft end is threaded, for connecting the nut through surface fine grinding processing.
6. a kind of Three Degree Of Freedom operating mechanism for touch feedback according to claim 1, which is characterized in that described
Disc type damper (3) includes the outer cover and coil being arranged in outer cover, magnetorheological fluid and turntable, and the coil encircling is turning
Disk periphery, the handle (2) are interference fitted with turntable, the handle (2) and outer cover clearance fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610323966.8A CN106020463B (en) | 2016-05-16 | 2016-05-16 | A kind of Three Degree Of Freedom operating mechanism for touch feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610323966.8A CN106020463B (en) | 2016-05-16 | 2016-05-16 | A kind of Three Degree Of Freedom operating mechanism for touch feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106020463A CN106020463A (en) | 2016-10-12 |
| CN106020463B true CN106020463B (en) | 2018-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610323966.8A Expired - Fee Related CN106020463B (en) | 2016-05-16 | 2016-05-16 | A kind of Three Degree Of Freedom operating mechanism for touch feedback |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229334B (en) * | 2017-05-27 | 2019-08-20 | 东南大学 | It is a kind of based on active and passive device small-sized haptic feedback method |
| CN107340783B (en) * | 2017-07-12 | 2020-04-17 | 华南农业大学 | Two-degree-of-freedom touch remote controller based on magnetorheological fluid and control method thereof |
| CN107632701A (en) * | 2017-08-03 | 2018-01-26 | 东南大学 | A kind of control method of man-machine interaction virtual training force feedback parameter |
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| CN101261781A (en) * | 2008-05-08 | 2008-09-10 | 上海交通大学 | Five-degree force feedback virtual operation instrument |
| CN101327591A (en) * | 2008-07-22 | 2008-12-24 | 吉林大学 | Two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system |
| CN105116961A (en) * | 2015-07-21 | 2015-12-02 | 东南大学 | Intelligent force feedback handle and control method thereof |
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| WO2006099484A1 (en) * | 2005-03-14 | 2006-09-21 | Northeastern University | Variable resistance exercise and rehabilitation hand device |
| JP5211287B2 (en) * | 2008-05-19 | 2013-06-12 | 国立大学法人 名古屋工業大学 | A haptic manipulator with a single center of rotation |
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2016
- 2016-05-16 CN CN201610323966.8A patent/CN106020463B/en not_active Expired - Fee Related
Patent Citations (3)
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|---|---|---|---|---|
| CN101261781A (en) * | 2008-05-08 | 2008-09-10 | 上海交通大学 | Five-degree force feedback virtual operation instrument |
| CN101327591A (en) * | 2008-07-22 | 2008-12-24 | 吉林大学 | Two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system |
| CN105116961A (en) * | 2015-07-21 | 2015-12-02 | 东南大学 | Intelligent force feedback handle and control method thereof |
Non-Patent Citations (2)
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| Design of a general purpose 6-DOF haptic interface;Soo S. Lee 等;《Mechatronics》;20130930;第13卷(第7期);第697-722页 * |
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| CN106020463A (en) | 2016-10-12 |
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Granted publication date: 20180911 |