CN107239095A - A kind of power feels feedback and rotates the three-dimensional revolving gear of attitude measurement - Google Patents
A kind of power feels feedback and rotates the three-dimensional revolving gear of attitude measurement Download PDFInfo
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- CN107239095A CN107239095A CN201710398508.5A CN201710398508A CN107239095A CN 107239095 A CN107239095 A CN 107239095A CN 201710398508 A CN201710398508 A CN 201710398508A CN 107239095 A CN107239095 A CN 107239095A
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- Prior art keywords
- rotating shaft
- attitude measurement
- revolving gear
- rotates
- power
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Rehabilitation Tools (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Feel feedback the invention discloses a kind of power and rotate the three-dimensional revolving gear of attitude measurement.The power of the present invention feels feedback and rotates the three-dimensional revolving gear of attitude measurement, it is characterized in that, including being located at X, Y, Z three-dimensional shaft upward rotating shaft A, rotating shaft C and rotating shaft B respectively, connected between the rotating shaft A and the rotating shaft B by connection member two, connected between described rotating shaft B and the rotating shaft C by connection member one, the rotating shaft A, rotating shaft B, a MR damper is installed respectively in axial direction in rotating shaft C, Inertial Measurement Unit is installed on each described MR damper.The present invention combines mechanical structure, Li Jue mechanisms, measuring mechanism, realizes that power sense is exported, and realizes control purpose by rotating attitude measurement.
Description
Technical field：
Feel feedback the present invention relates to a kind of power and rotate the three-dimensional revolving gear of attitude measurement, belong to technical field.
Background technology：
There is rotational freedom coupling, the low shortcoming of rotational angle measurement accuracy more current same device, accurate control is not suitable for
The application scenarios of system.In addition, common three-dimensional revolving gear is generally pure mechanic structure, turning for three, space coordinate direction can only be carried out
Dynamic motion, impression output is felt without power, it is impossible to is applied and is effectively being felt the usage scenario of information output；In addition, common Three dimensional rotation
Mechanism lacks the attitude measurement technology of rotation, it is impossible to accurately measure the rotational angle in three reference axis, it is impossible to will rotate appearance
State is synchronized to control end.
The content of the invention
Feel feedback it is an object of the invention to provide a kind of power and rotate the three-dimensional revolving gear of attitude measurement, with reference to machinery knot
Structure, Li Jue mechanisms, measuring mechanism, realize that power sense is exported, and realize control purpose by rotating attitude measurement.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of power feels feedback and rotates the three-dimensional revolving gear of attitude measurement, including is located at turn of X, Y, Z three-dimensional shaft upwards respectively
Axle A, rotating shaft C and rotating shaft B, are connected between the rotating shaft A and the rotating shaft B by connection member two, described rotating shaft B and described
Connected between rotating shaft C by connection member one, the rotating shaft A, rotating shaft B, be provided with respectively in axial direction in rotating shaft C one it is magnetorheological
Inertial Measurement Unit is installed on damper, each described MR damper.
Described power feels feedback and rotates the three-dimensional revolving gear of attitude measurement, and described rotating shaft A is pacified by support member
In fixed plate.
Described power feels feedback and rotates the three-dimensional revolving gear of attitude measurement, and described rotating shaft C is connected by shaft coupling
Handle.
Described power is felt feedback and rotated in the three-dimensional revolving gear of attitude measurement, described connection member two positioned at described
Rotating shaft A side is provided with one section of extension, described extension and is connected with counterweight.
Described power is felt feedback and rotated is connected with direct current generator on the three-dimensional revolving gear of attitude measurement, described handle
And trigger.
Beneficial effect：
Using the spatial triaxial of two connection member connections, the mechanically decoupled of rotational motion is realized, the rotation on each axial direction
It is separate non-interference, provide facility to rotate attitude measurement.
Using MR damper as force feedback actuator, the output of power tactile, and power are realized by output torque
The size and Orientation suspension control signal control of square, can feel the various scenes of output with power with expanded application.
Using handle arrangement, hand is facilitated to grip；Designed at handle using trigger-type, meet human efficiency subject, and increase
The force feedback of finger motion.
Using Inertial Measurement Unit, each rotating shaft top is placed in, each axial rotational angle can be accurately measured, so that
The rotation posture of whole three-dimensional revolving gear is precisely described.
Gravitational moment of the whole rotating mechanism in rotating shaft C is balanced using counterweight, mitigates human hand and operates this three-dimensional structure
Power load, makes the whole rotating mechanism of driving become more easily laborsaving.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
In figure：1st, rotating shaft A；2nd, rotating shaft C；3rd, rotating shaft B；4th, connection member two；5th, connection member one；6th, magnetorheological damping
Device；7th, Inertial Measurement Unit；8th, support member；9th, fixed plate；10th, shaft coupling；11st, handle；12nd, counterweight.
Embodiment
With reference to embodiment, the present invention is furture elucidated, it should be understood that following embodiments are only used for
The bright present invention rather than limitation the scope of the present invention.
The power of the present embodiment feels feedback and rotates the three-dimensional revolving gear of attitude measurement, including is located at X, Y, Z three-dimensional respectively
Rotating shaft A 1, rotating shaft C 2 and rotating shaft B 3 on axial direction, are connected between the rotating shaft A and the rotating shaft B by connection member 24,
Connected between described rotating shaft B and the rotating shaft C by connection member 1, the rotating shaft A, rotating shaft B, in rotating shaft C respectively along axle
To a MR damper 6 is provided with, Inertial Measurement Unit 7 is installed on each described MR damper.It is not coaxial
Upward MR damper produces the damping torque of different directions, so that end can obtain the power sense of different directions；It is used
Property measuring unit device measure rotational angle in three rotor shaft directions, the rotary state of three axles is described.
Power described in the present embodiment feels feedback and rotates the three-dimensional revolving gear of attitude measurement, and described rotating shaft A passes through
Support member 8 is arranged in fixed plate 9.
Power described in the present embodiment feels feedback and rotates the three-dimensional revolving gear of attitude measurement, and described rotating shaft C passes through
Shaft coupling 10 connects handle 11.
Power described in the present embodiment feels feedback and rotates the three-dimensional revolving gear of attitude measurement, described connection member two
The upper side positioned at the rotating shaft A, which is provided with one section of extension, described extension, is connected with counterweight 12, with being reused in balance
Whole gravitational moment of the rotating mechanism in rotating shaft C.
Described power is felt feedback and rotated to be connected with the three-dimensional revolving gear of attitude measurement, described handle, direct current
Machine and trigger, motor output torque apply force feedback by trigger to finger.
The course of work：
When hand band fixed handle, C motions, realize the rotational motion free degree on C axles around the shaft；In rotation process, inertia
Measure original paper and obtain the angle rotated around C axles in real time, and angle information is passed into control end by coding；When control end hair
When going out to export the control signal of C axle rotating torques, torque is passed to hand by the MR damper work on C axles by rotating shaft
Portion.
When hand drives connection member one, B is moved around the shaft, realizes the rotational motion free degree in B axle；Rotating
Cheng Zhong, inertia measurement original paper obtains the angle rotated around B axle in real time, and angle information is passed into control end by coding；When
When control end sends the control signal of output B axle rotating torque, torque is passed through rotating shaft by the MR damper work in B axle
Pass to hand.
Hand drives connection member one and connection member two, and A is moved around the shaft, and the rotational motion realized on A axles is free
Degree；In rotation process, inertia measurement original paper obtains the angle rotated around A axles in real time, and angle information is passed through into coding, transmission
To control end；When control end sends the control signal of output A axle rotating torques, the MR damper work on A axles, by power
Square passes to hand by rotating shaft.
MR damper output torque at the top of three rotating shafts, obtains corresponding force sense, control end sends output, and some turns
During the control signal of axle rotating torque, torque is passed to hand by the MR damper work in some rotating shaft by rotating shaft
Inertial Measurement Unit device at the top of three rotating shafts measures the attitude angle of three rotating shafts, returns data to processing system.
It should be pointed out that above-mentioned embodiment is only intended to clearly illustrate example, and not to embodiment
Limit, there is no necessity and possibility to exhaust all the enbodiments.Each part being not known in the present embodiment
Realized with prior art.For those skilled in the art, the premise of the principle of the invention is not being departed from
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of power feels feedback and rotates the three-dimensional revolving gear of attitude measurement, it is characterised in that including being located at X, Y, Z tri- respectively
Rotating shaft A, rotating shaft C and the rotating shaft B on axial direction are tieed up, is connected between the rotating shaft A and the rotating shaft B by connection member two, it is described
Rotating shaft B and the rotating shaft C between connected by connection member one, the rotating shaft A, rotating shaft B, pacify respectively in axial direction in rotating shaft C
Equipped with a MR damper, Inertial Measurement Unit is installed on each described MR damper.
2. power according to claim 1 feels feedback and rotates the three-dimensional revolving gear of attitude measurement, it is characterised in that described
Rotating shaft A by support member be arranged on fixed plate on.
3. power according to claim 1 feels feedback and rotates the three-dimensional revolving gear of attitude measurement, it is characterised in that described
Rotating shaft C handle is connected by shaft coupling.
4. power according to claim 1 feels feedback and rotates the three-dimensional revolving gear of attitude measurement, it is characterised in that described
Connection member two on be located at the side of the rotating shaft A and be provided with one section of extension, described extension and be connected with counterweight.
5. power according to claim 1 feels feedback and rotates the three-dimensional revolving gear of attitude measurement, it is characterised in that described
Handle on be connected with direct current generator and trigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398508.5A CN107239095B (en) | 2017-05-31 | 2017-05-31 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398508.5A CN107239095B (en) | 2017-05-31 | 2017-05-31 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107239095A true CN107239095A (en) | 2017-10-10 |
| CN107239095B CN107239095B (en) | 2018-07-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710398508.5A Active CN107239095B (en) | 2017-05-31 | 2017-05-31 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
Country Status (1)
| Country | Link |
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| CN (1) | CN107239095B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267128A (en) * | 2020-04-03 | 2020-06-12 | 何大安 | Remote fire-fighting robot controller |
| CN114464065A (en) * | 2022-03-10 | 2022-05-10 | 深圳市比邻星精密技术有限公司 | Otoscope virtual and actual combined operation training system and working method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5850759A (en) * | 1995-12-29 | 1998-12-22 | Daewoo Electronics Co., Ltd. | Force feed back manipulator with six degrees of freedom |
| CN1224147A (en) * | 1998-08-07 | 1999-07-28 | 清华大学 | Method for three dimension position measurement using miniature inertia measurement combination |
| EP1265053A1 (en) * | 2001-06-04 | 2002-12-11 | Kelsey-Hayes Company | Diagnostic test for a resonant micro electro mechanical angular rate system |
| CN102207371A (en) * | 2011-03-16 | 2011-10-05 | 西南石油大学 | Three-dimensional point coordinate measuring method and measuring apparatus thereof |
| CN105116961A (en) * | 2015-07-21 | 2015-12-02 | 东南大学 | Intelligent force feedback handle and control method thereof |
-
2017
- 2017-05-31 CN CN201710398508.5A patent/CN107239095B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5850759A (en) * | 1995-12-29 | 1998-12-22 | Daewoo Electronics Co., Ltd. | Force feed back manipulator with six degrees of freedom |
| CN1224147A (en) * | 1998-08-07 | 1999-07-28 | 清华大学 | Method for three dimension position measurement using miniature inertia measurement combination |
| EP1265053A1 (en) * | 2001-06-04 | 2002-12-11 | Kelsey-Hayes Company | Diagnostic test for a resonant micro electro mechanical angular rate system |
| CN102207371A (en) * | 2011-03-16 | 2011-10-05 | 西南石油大学 | Three-dimensional point coordinate measuring method and measuring apparatus thereof |
| CN105116961A (en) * | 2015-07-21 | 2015-12-02 | 东南大学 | Intelligent force feedback handle and control method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267128A (en) * | 2020-04-03 | 2020-06-12 | 何大安 | Remote fire-fighting robot controller |
| CN114464065A (en) * | 2022-03-10 | 2022-05-10 | 深圳市比邻星精密技术有限公司 | Otoscope virtual and actual combined operation training system and working method thereof |
| CN114464065B (en) * | 2022-03-10 | 2024-05-03 | 深圳市比邻星精密技术有限公司 | Otoscope virtual-real combined operation training system and working method thereof |
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| Publication number | Publication date |
|---|---|
| CN107239095B (en) | 2018-07-31 |
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