CN106032012A - A three-dimensional motion control handle based on a force sensor - Google Patents
A three-dimensional motion control handle based on a force sensor Download PDFInfo
- Publication number
- CN106032012A CN106032012A CN201510104116.4A CN201510104116A CN106032012A CN 106032012 A CN106032012 A CN 106032012A CN 201510104116 A CN201510104116 A CN 201510104116A CN 106032012 A CN106032012 A CN 106032012A
- Authority
- CN
- China
- Prior art keywords
- hooke
- hinge
- joystick
- connector
- moving sets
- 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.)
- Pending
Links
Abstract
The invention provides a three-dimensional motion control handle based on a force sensor and relates to the technical field of electromechanical automation equipment. The invention aims to solve the technical problems that it is difficult for conventional motion control handles to realize control on multi-dimension control occasions, the structure is complicated and the stability is reduced. The three-dimensional motion control handle based on a force sensor comprises a handle rod, a tower spring, a support, a Hooke joint cross shaft, a Hooke joint lower connecting body, a moving pair pedestal, a three-dimension force sensor and an extension spring.
Description
Technical field
The present invention relates to electromechanical automatic equipment technical field, particularly to a kind of based on force transducer three
Maintenance and operation moves joystick.
Background technology
Motor control handle is a kind of conventional man-machine interface instrument, and it is widely used in engineering machinery, friendship
The motor control operation of the equipment such as logical means of transport, armarium, measuring machine, game machine.According to use
Occasion, joystick is divided into industrial handle, accurate joystick and game paddle.Industrial handle is fitted
Relatively severe for environment, use occasion frequently, such as fork truck, crane, agricultural machinery, military
The application scenarios such as machinery；Accurately joystick is applicable to turn to, positions and speed controlling etc. is to control accuracy
Require higher occasion, such as microscope control, coordinate measurment instrument, camera adjustments, wheelchair, doctor
The occasions such as treatment equipment；Game paddle is primarily used to carry out game operation.Conventional joystick has current potential
Device formula, inductance type, photoelectric effect formula, pressure resistance type, hall effect type and microswitch type etc..Such as
The JC6000 type multiaxis operating control handle that PALFIN company produces uses hall effect sensor or current potential
Device, can produce the analogue signal proportional to upper end displacement, and it possesses one and is also by configuration
Other output signal of row, direction or mid level switch function, joystick operating physical force, and handle upper end
Form.Having compact profile, the control bar of high intensity and splendid ratio control, and are multiple highway
Vehicle, including crane, loader, excavator, hoistable platform, the ideal of tractor and harvester etc.
Control device.
Motor control handle uses displacement or the displacement of angular transducer detection handle or angle letter mostly at present
Breath realizes the step motion of equipment, and these modes implement relatively difficult in multidimensional controls occasion, knot
Structure is complicated, and stability declines.
Summary of the invention
It is stranded the present invention is to solve existing motor control handle multidimensional controls to implement comparison in occasion
Difficulty, structure is complicated, the technical problem that stability declines.
In order to solve the problems referred to above, the invention provides a kind of three-dimensional motion based on force transducer and control hands
Handle, including: connector, movement under handlebar, tower spring, support, Hooke's hinge cross axle, Hooke's hinge
Sub-mount, three-dimensional force sensor and stretching spring；
Being three-dimensional force sensor bottom described joystick, pedestal lower end is fixed on the upper of three-dimensional force sensor
On platform, pedestal upper end is connected with the larger diameter end of tower spring, and the miner diameter end of tower spring is connected with handlebar,
Moving sets base lower surface is connected with the upper mounting plate of three-dimensional force sensor, and is positioned at the center of upper mounting plate, moves
Dynamic sub-mount center has the counterbore of certain depth, and described counterbore is connected with the cylinder of connector under Hooke's hinge
And constituting moving sets, one end of stretching spring is connected with moving sets base counterbore base, the other end and Hooke
The cylinder of the lower connector of hinge connects, and handlebar is connected by Hooke's hinge cross axle with connector under Hooke's hinge.
More preferably, the counterbore that described moving sets base center has certain depth is square.
More preferably, under described Hooke's hinge, connector one end is square cylinder.
More preferably, described moving sets base is four prisms cylinder.
More preferably, handlebar upper end is ball head.
More preferably, handle rod end is connected by revolute pair with an axle of Hooke's hinge cross axle, Hooke's hinge ten
Another root axle of word axle is connected by revolute pair with connector upper end under Hooke's hinge.
More preferably, stretching spring is cylindric.
As seen through the above technical solutions, the present invention provides a kind of three-dimensional motion based on force transducer to control
Handle, this handle detects motor message by multi-dimension force sensor, has structure and principle is easy, performance
Reliable and stable, can realize the parameters such as equipment three-dimensional displacement, speed, acceleration are controlled simultaneously,
The advantages such as operation is directly perceived.
Accompanying drawing explanation
A kind of three-dimensional motion joystick structural representation based on force transducer of Fig. 1；
A kind of three-dimensional motion joystick joint linkage structure schematic diagram based on force transducer of Fig. 2.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme is described in detail.
If it should be noted that do not conflict, each feature in the embodiment of the present invention and embodiment can
To be combined with each other, all within protection scope of the present invention.
Embodiment one, a kind of three-dimensional motion joystick based on force transducer, as shown in Figure 1 and Figure 2,
Including: connector 5 under handlebar 1, tower spring 2, support 3, Hooke's hinge cross axle 4, Hooke's hinge,
Moving sets base 6, three-dimensional force sensor 7, stretching spring 8.
It is three-dimensional force sensor bottom described three-dimensional motion joystick based on force transducer, support 3 times
End is fixed on the upper mounting plate of three-dimensional force sensor 7, and support 3 upper end connects with the larger diameter end of tower spring 2
Connecing, the miner diameter end of tower spring 2 is connected with handlebar 1, and moving sets base 6 lower surface senses with three-dimensional force
The upper mounting plate of device 7 connects, and is positioned at the center of upper mounting plate, and moving sets base 6 center has certain depth
Counterbore, described counterbore is connected with the cylinder of connector under Hooke's hinge 5 and constitutes moving sets, stretches spring
One end of 8 is connected with moving sets base 6 counterbore base, the other end and the cylinder of connector 5 under Hooke's hinge
Connecting, handlebar 1 is connected by Hooke's hinge cross axle 4 with connector under Hooke's hinge 5.
Embodiment two, a kind of three-dimensional motion joystick based on force transducer, as shown in Figure 1 and Figure 2,
On the basis of embodiment one, farther include:
Further, the counterbore that described moving sets base 6 center has certain depth is square.Can also
For circle, if can with under described Hooke's hinge connector 5 be connected.
Further, under described Hooke's hinge, connector 5 one end is square cylinder, with moving sets base 6 side
Shape counterbore coordinates composition moving sets.Place stretching spring 8 in moving sets base 6 squared counter bore, stretch bullet
The two ends of spring 8 connect connector 5 and moving sets base 6 under Hooke's hinge respectively.Connect under described Hooke's hinge
Body 5 one end is can also be for circle, as long as certain depth can be had with described moving sets base 6 center
Counterbore be connected.
Further, described moving sets base 6 is four prisms cylinder；It is not limited to four prisms cylinder, it is also possible to for
Cylinder etc..
Further, handlebar 1 upper end is ball head, it is simple to grip.Handlebar 1 upper end is not limited to circle
Bulb, it is also possible to be easy to grip to obtain structure for other.
Further, handlebar 1 end is connected by revolute pair with an axle of Hooke's hinge cross axle 4, tiger
Gram hinge cross axle 4 another root axle be connected by revolute pair with connector under Hooke's hinge 5 upper end.
Further, stretching spring 8 is cylindric；Can also realize playing stretch function for other shape
Spring.
The operation principle of described three-dimensional motion joystick based on force transducer is: when pushing away in the horizontal direction
Start shank time, Hooke's hinge rotates, tower spring generation elastic deformation, and by the size and Orientation of horizontal force
It is delivered on three-dimensional force sensor by support；When at vertical direction driving handle bar, moving sets stretches,
Stretching camber of spring, and vertical direction power is delivered on three-dimensional force sensor.In this way, by three-dimensional
Force transducer testing result, the size and Orientation of driving handle stick force information on available space three-dimensional direction,
Again by motion control arithmetic, electromechanical equipment can be realized at three-dimensional top offset, speed and acceleration etc.
The control of parameter.
The present invention can be used in the motor control of multiaxial motion electromechanical equipment, particularly industrial robot, real
The existing displacement quick, flexible, accurate of equipment, speed, Acceleration Control.The present invention have structure and
Principle is easy, stable and reliable for performance, can realize three-dimensional state modulator simultaneously, the advantages such as operation is directly perceived.
Certainly, the present invention also can have other various embodiments, spiritual and essence without departing substantially from the present invention
In the case of, those of ordinary skill in the art work as can make various corresponding change and deformation according to the present invention,
But these change accordingly and deform the scope of the claims that all should belong to the present invention.
Claims (7)
1. a three-dimensional motion joystick based on force transducer, it is characterised in that including: handlebar,
Connector, moving sets base, three-dimensional force sensing under tower spring, support, Hooke's hinge cross axle, Hooke's hinge
Device and stretching spring；
Being three-dimensional force sensor bottom described joystick, pedestal lower end is fixed on the upper of three-dimensional force sensor
On platform, pedestal upper end is connected with the larger diameter end of tower spring, and the miner diameter end of tower spring is connected with handlebar,
Moving sets base lower surface is connected with the upper mounting plate of three-dimensional force sensor, and is positioned at the center of upper mounting plate, moves
Dynamic sub-mount center has the counterbore of certain depth, and described counterbore is connected with the cylinder of connector under Hooke's hinge
And constituting moving sets, one end of stretching spring is connected with moving sets base counterbore base, the other end and Hooke
The cylinder of the lower connector of hinge connects, and handlebar is connected by Hooke's hinge cross axle with connector under Hooke's hinge.
2. joystick as claimed in claim 1, it is characterised in that described moving sets base center has
The counterbore having certain depth is square.
3. joystick as claimed in claim 1, it is characterised in that connector one under described Hooke's hinge
End is square cylinder.
4. joystick as claimed in claim 1, it is characterised in that described moving sets base is four ribs
Cylinder.
5. joystick as claimed in claim 1, it is characterised in that handlebar upper end is ball head.
6. joystick as claimed in claim 1, it is characterised in that handle rod end and Hooke's hinge cross
A piece axle of axle is connected by revolute pair, under another root axle of Hooke's hinge cross axle and Hooke's hinge on connector
End is connected by revolute pair.
7. joystick as claimed in claim 1, it is characterised in that stretching spring is cylindric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510104116.4A CN106032012A (en) | 2015-03-10 | 2015-03-10 | A three-dimensional motion control handle based on a force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510104116.4A CN106032012A (en) | 2015-03-10 | 2015-03-10 | A three-dimensional motion control handle based on a force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106032012A true CN106032012A (en) | 2016-10-19 |
Family
ID=57151137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510104116.4A Pending CN106032012A (en) | 2015-03-10 | 2015-03-10 | A three-dimensional motion control handle based on a force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106032012A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638095A (en) * | 2018-04-02 | 2018-10-12 | 深圳小趴智能科技有限公司 | A kind of robot movement control device and its operating method |
-
2015
- 2015-03-10 CN CN201510104116.4A patent/CN106032012A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638095A (en) * | 2018-04-02 | 2018-10-12 | 深圳小趴智能科技有限公司 | A kind of robot movement control device and its operating method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107168186B (en) | 4 automatic horizontal control systems and its working method based on six axis combination sensors | |
| JP4589007B2 (en) | Multi-axis joystick and transducer means therefor | |
| CN103192387B (en) | Robot and its control method | |
| CN106985141A (en) | A kind of both arms cooperation robot | |
| CN103492972B (en) | 3 dimensions can move and rotate the universal motion controller of input | |
| CN107053156A (en) | A kind of bionical body-sensing mechanical arm of seven freedom | |
| CN1792329A (en) | Force feedback data gloves based on pneumatic artificial muscle | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| US20120078419A1 (en) | Robot and control method thereof | |
| WO2021021320A1 (en) | Independent pan of coaxial robotic arm and perception housing | |
| CN103406908A (en) | Force feedback hand controller with three degrees of freedom rotation | |
| CN109623822A (en) | Robotic Hand-Eye Calibration method | |
| CN106032012A (en) | A three-dimensional motion control handle based on a force sensor | |
| CN109159120B (en) | Active control method and system based on current feedback of joint motor of rehabilitation mechanical arm | |
| CN112757301B (en) | Robot anti-disturbance control method and device, electronic equipment and storage medium | |
| CN204487581U (en) | A kind of three-dimensional motion joystick based on force snesor | |
| CN206748410U (en) | A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot | |
| CN205043780U (en) | Multi -freedom -degree manipulator | |
| CN105476818A (en) | Rehabilitation training device | |
| CN203922537U (en) | Wireless tower crane swings monitoring system | |
| CN106033230A (en) | Two-dimensional motion control handle based on one-dimensional force sensors | |
| CN206578829U (en) | A kind of bionical body-sensing mechanical arm of seven freedom | |
| KR200410088Y1 (en) | Robot arm using the injector for the students | |
| JP2019180888A (en) | Multi-joint link knee joint | |
| Sun et al. | Design of a snake robot based on modular joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161019 |