CN106033230A - Two-dimensional motion control handle based on one-dimensional force sensors - Google Patents
Two-dimensional motion control handle based on one-dimensional force sensors Download PDFInfo
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- CN106033230A CN106033230A CN201510104094.1A CN201510104094A CN106033230A CN 106033230 A CN106033230 A CN 106033230A CN 201510104094 A CN201510104094 A CN 201510104094A CN 106033230 A CN106033230 A CN 106033230A
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- dimensional
- dimensional force
- force transducer
- joystick
- contiguous block
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Abstract
The invention discloses a two-dimensional motion control handle based on one-dimensional force sensors, wherein the two-dimensional motion control handle relates to the technical field of electromechanical automatic equipment. The two-dimensional motion control handle settles the technical problems of complicated structure, relatively large number of motion components and stability reduction in an existing two-dimensional motion control handle. The two-dimensional motion control handle comprises a handle rod, four one-dimensional force sensors, a connecting block, four springs, a spherical-hinge base and a base.
Description
Technical field
The present invention relates to electromechanical automatic equipment technical field, particularly to one based on one-dimensional force transducer
Two dimensional motion joystick.
Background technology
Motor control handle, also known as controlling bar, is a kind of common man-machine interface instrument.It is widely used in trip
Play stick, in the operation handle on the machine such as industrial robot, automobile, train.According to operation principle,
Motor control handle can be divided into potentiometer, inductance type, photoelectric effect formula, hall effect type etc..Traditional
Handle is typically all potentiometer type, and output is analog quantity, can directly control various driver part
Action.Owing to there is Mechanical Contact, the handle major defect of potentiometer type is that the life-span is short, capacity of resisting disturbance
Difference, is usually used in the occasion that required precision is the highest.Along with the development of sensing principle, occur in that in recent years based on
The Untouched control handle of Hall effect or photoelectric effect principle, this handle provides abundant interface,
Properties of product and application further expand and strengthen.It addition, use integrated acceleration or angle sensor
Device equally realizes the acquisition of motion control signal.Its principle is for using two orthogonal acceleration
Sensor or velocity sensor are followed handle and are swung together, and handle swings and makes its axis direction and gravitational field
The angle in direction converts, and this angular transformation can be detected by acceleration or angular transducer,
It is being transformed into the controlled quentity controlled variable that handle pendulum angle is proportional, it is achieved the control mesh of handle by certain computing
's.
The most universal being hinged, two axles it are usually between handlebar and the base of existing two dimensional motion joystick
Corner size is detected, by hall effect sensor or current potential respectively by hall effect sensor or potentiometer
The device output signal of telecommunication controls two-dimensional directional motion.This joystick structure is complicated, and moving component is more,
Stability declines.
Summary of the invention
The present invention is to solve existing two dimensional motion joystick structure is complicated, moving component is more, surely
The technical problem of qualitative decline.
In order to solve the problems referred to above, the invention provides a kind of two dimensional motion control based on one-dimensional force transducer
Handle processed, including: handlebar, four one-dimensional force transducers, contiguous block, four springs, ball pivot seat,
Base；
Four one-dimensional force transducers are the most vertically placed, and being divided into X, Y both direction, each direction is two
One-dimensional force transducer, four one-dimensional force transducer one end are fixed on base, the other end respectively with four bullets
One end of spring connects, and spring is fixed on the inner side of one-dimensional force transducer, and the axis of spring passes with one-dimensional power
Sensor measuring surface is vertical, the other end of four springs respectively with just side to it in four sides of contiguous block
Face connects, contiguous block center drilling, and handlebar passes through contiguous block center drilling, handlebar lower end and ball pivot
Seat connects, and ball pivot seat is fixed on the geometric center of base upper surface.
More preferably, described one-dimensional force transducer is force transducer of weighing.
More preferably, described base is square platform, and each one-dimensional force transducer one end is separately fixed at
On a side in four sides of base.
More preferably, described four springs are cylindrical.
More preferably, described contiguous block center drilling is circular hole, and contiguous block can be along handle bar shaft on handle
Slide in line direction.
More preferably, described handlebar constitutes cylindrical pair by contiguous block center hole.
More preferably, the upper end of described handlebar is holding end, and lower end is ball head, the ball head of lower end with
Ball pivot seat connects and composes spherical pair.
As seen through the above technical solutions, the present invention is proposed a plan and is controlled by the detection of one-dimensional force transducer
Amount size processed, simplifies the structure of joystick, has structure and principle is easy, stable and reliable for performance,
Two-dimensional directional control signal exports simultaneously, to parameters such as equipment both direction top offset, speed, acceleration
Control, there is the advantages such as force feedback ability.
Accompanying drawing explanation
A kind of two dimensional motion joystick structural representation based on one-dimensional force transducer of Fig. 1.
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 two dimensional motion joystick based on one-dimensional force transducer, as it is shown in figure 1,
Including: handlebar 1, one-dimensional force transducer 2, contiguous block 3, spring 4, ball pivot seat 5, base 6.
Four one-dimensional force transducers 2 are the most vertically placed, and being divided into X, Y both direction, each direction is two
Individual one-dimensional force transducer 2, four one-dimensional force transducer 2 one end are fixed on base 6, and the other end is respectively
Being connected with one end of four springs 4, spring 4 is fixed on the inner side of one-dimensional force transducer 2, and spring 4
Axis vertical with one-dimensional force transducer 2 measuring surface, the other end of four springs 4 respectively with contiguous block 3
Four sides in just its side is connected, contiguous block 3 center drilling, handlebar 1 passes through contiguous block
3 center drillings, handlebar 1 lower end is connected with ball pivot seat 5, and ball pivot seat 5 is fixed on base 6 upper surface
Geometric center.
Embodiment two, a kind of two dimensional motion joystick based on one-dimensional force transducer, as it is shown in figure 1,
On the basis of embodiment one it is further:
Further, described one-dimensional force transducer 2 is force transducer of weighing.One-dimensional force transducer 2 is mark
Quasi-LOAD CELLS, it is also possible to for the one-dimensional force transducer of other versions；
Further, described base 6 is square platform, and each one-dimensional force transducer 2 one end is respectively
It is fixed on a side in four sides of base 6.Four one-dimensional force transducers 2 are the most vertically placed,
Lower end is fixed on four sides of base 6, and upper end is connected with one end of cylindrical spring 4.
Further, described four springs 4 are cylindrical.Cylindrical spring 4 can bear stretching and compression,
One end is connected to the upper end of one-dimensional force transducer 2, and the axis of cylindrical spring 4 and one-dimensional force transducer 2
Measuring surface is vertical.The other end of cylindrical spring 4 is connected with contiguous block 3.Four cylindrical springs 4 respectively at
Four sides of square contiguous block 3 are connected.
Further, described contiguous block 3 center drilling is circular hole, and contiguous block 3 can be along hands on handle
Shank 1 axis direction slides.Contiguous block 3 center drilling can also be easy on handle along handlebar for other
The shape that 1 axis direction slides.
Further, described handlebar 1 constitutes cylindrical pair by contiguous block 3 center hole.
Further, the upper end of handlebar 1 is holding end, and lower end is ball head, the ball head of lower end with
Ball pivot seat 5 constitutes spherical pair and connects.
The operation principle of described two dimensional motion joystick based on one-dimensional force transducer is: four one-dimensional power
Sensor 2 is divided into X, Y both direction, each direction to be two force transducers, when operator promotes
During the handlebar of joystick, according to pushing direction, four cylindrical springs 4 can be stretched or compressed, this
Shi Danwei force transducer 2 stress.When after one-dimensional force transducer 2 stress, export certain voltage signal,
Signal magnitude is in the same size with stress.By resolving, the testing result by four one-dimensional force transducers 2 can
The size and Orientation of power is applied when knowing operator's driving handle bar.The testing result of one-dimensional force transducer 2 is made
It is connected with electromechanical device control system for input signal.Finally according to applying power during operator's driving handle bar
Size and Orientation, the self-movement of controllable device both direction, including position, speed, acceleration
Motor control all can be realized etc. parameter.One direction also can realize the present invention with an one-dimensional force transducer,
Average with two and measurement result can be made more accurate, increase redundancy and can improve certainty of measurement.
The present invention can be used in the motor control of multi-dimensional movement electromechanical equipment and virtual unit, particularly industry
In the motor control of robot, it is achieved the displacement quick, flexible, accurate of equipment, speed, acceleration
Control.The present invention has structure and principle is easy, stable and reliable for performance, and two-dimensional directional control signal is simultaneously
Output, has the advantages such as force feedback ability.
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 two dimensional motion joystick based on one-dimensional force transducer, it is characterised in that including: hands
Shank, four one-dimensional force transducers, contiguous block, four springs, ball pivot seat, bases；
Four one-dimensional force transducers are the most vertically placed, and being divided into X, Y both direction, each direction is two
One-dimensional force transducer, four one-dimensional force transducer one end are fixed on base, the other end respectively with four bullets
One end of spring connects, and spring is fixed on the inner side of one-dimensional force transducer, and the axis of spring passes with one-dimensional power
Sensor measuring surface is vertical, the other end of four springs respectively with just side to it in four sides of contiguous block
Face connects, contiguous block center drilling, and handlebar passes through contiguous block center drilling, handlebar lower end and ball pivot
Seat connects, and ball pivot seat is fixed on the geometric center of base upper surface.
2. joystick as claimed in claim 1, it is characterised in that described one-dimensional force transducer is for claiming
Gravity sensor.
3. joystick as claimed in claim 1, it is characterised in that described base is that square is put down
Platform, each one-dimensional force transducer one end is separately fixed on a side in four sides of base.
4. joystick as claimed in claim 1, it is characterised in that described four springs are cylindrical.
5. joystick as claimed in claim 1, it is characterised in that described contiguous block center drilling is
Circular hole.
6. joystick as claimed in claim 1, it is characterised in that described handlebar passes through contiguous block
Center hole constitutes cylindrical pair.
7. joystick as claimed in claim 1, it is characterised in that the upper end of described handlebar is for holding
Holding end, lower end is ball head, and the ball head of lower end and ball pivot seat connect and compose spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510104094.1A CN106033230A (en) | 2015-03-10 | 2015-03-10 | Two-dimensional motion control handle based on one-dimensional force sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510104094.1A CN106033230A (en) | 2015-03-10 | 2015-03-10 | Two-dimensional motion control handle based on one-dimensional force sensors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106033230A true CN106033230A (en) | 2016-10-19 |
Family
ID=57150999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510104094.1A Pending CN106033230A (en) | 2015-03-10 | 2015-03-10 | Two-dimensional motion control handle based on one-dimensional force sensors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106033230A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107560777A (en) * | 2017-07-31 | 2018-01-09 | 东南大学 | Three-dimensional force feedback handle restoring force control structure and method based on power/torque sensor |
| CN112497234A (en) * | 2020-12-04 | 2021-03-16 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
-
2015
- 2015-03-10 CN CN201510104094.1A patent/CN106033230A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107560777A (en) * | 2017-07-31 | 2018-01-09 | 东南大学 | Three-dimensional force feedback handle restoring force control structure and method based on power/torque sensor |
| CN112497234A (en) * | 2020-12-04 | 2021-03-16 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
| CN112497234B (en) * | 2020-12-04 | 2024-02-02 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161019 |
|
| WD01 | Invention patent application deemed withdrawn after publication |