CN107621848A - Mechanical handle can omni-directional operation mechanism and method - Google Patents
Mechanical handle can omni-directional operation mechanism and method Download PDFInfo
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- CN107621848A CN107621848A CN201711033764.0A CN201711033764A CN107621848A CN 107621848 A CN107621848 A CN 107621848A CN 201711033764 A CN201711033764 A CN 201711033764A CN 107621848 A CN107621848 A CN 107621848A
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- omni
- ball
- monolever
- directional
- wheel
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 239000013598 vector Substances 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000003786 synthesis reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 238000009827 uniform distribution Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
Can omni-directional operation mechanism and method the invention discloses a kind of mechanical handle, including monolever, the monolever is installed on the top of friction ball, the lower hemisphere of the friction ball is placed in the three single omni-directional wheel CONTACT WITH FRICTIONs uniform in ball-collecting rack and with ball-collecting rack inner periphery, three single omni-directional wheels are installed by corresponding wheel carrier and the oblique lower section of centre of gyration line of three single omni-directional wheels and intersected at a point, the joining is in the underface of the friction ball centre of sphere, each wheel carrier is provided with the encoder of the corresponding single omni-directional wheel corner of detection, the ball-collecting rack is provided with the limit assembly for acting on friction ball sphere diameter position.The present invention detects the motion vector of monolever by three with the encoder that single omni-directional wheel is coaxially connected, then obtains the spatial attitude of monolever by three Vector modulations, monolever is had the effect of three-dimensional manipulating.
Description
Technical field
The present invention relates to handle structure, specially a kind of mechanical handle can omni-directional operation mechanism and method.
Background technology
Joystick is a kind of common electric components, be mainly used in e-sports, VR virtual realities, aircraft,
Industrial robot, mobile platform etc. are controlled operation.
At present, existing two orthogonal pivot axes of omnidirectional's handle generally use and in rotating shaft place potentiometer design side
Case.
At work, operation handle rotates the resistance for changing two potentiometers, and then detects the voltage or electricity passed through thereon
Stream, obtains two orthogonal Angular displacementvectors, by the synthesis of the vector, realizes that displacement omnidirectional manipulates.However, this omnidirectional's hand
Handle can only control the operation on two dimensional surface, and the various dimensions manipulation for VR virtual realities or telecontrolled aircraft etc generally requires
Two or more handle joint operations, this makes troubles to user, have impact on the experience of operating personnel.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose a kind of achievable monolever sky
Between the mechanical handle of omni-directional operation can omni-directional operation mechanism and method.
Can solve the problem that above-mentioned technical problem mechanical handle can omni-directional operation mechanism, its technical scheme includes monolever, institute
Unlike the monolever be installed on the top of friction ball, the lower hemisphere of the friction ball be placed in ball-collecting rack and with ball-collecting rack
Three single omni-directional wheel CONTACT WITH FRICTIONs of circumference uniform distribution, three single omni-directional wheels are installed by corresponding wheel carrier and three single complete
To the oblique lower section of centre of gyration line of wheel and intersect at a point, the joining is in the underface of the friction ball centre of sphere, on each wheel carrier
Encoder or potentiometer provided with the corresponding single omni-directional wheel corner of detection, the ball-collecting rack are provided with and act on friction ball sphere diameter position
Limit assembly (constraint friction ball and reduce load on single omni-directional wheel).
The operation principle of said structure is to detect monolever by three and the encoder that single omni-directional wheel is coaxially connected
Motion vector, then the spatial motion vectors of monolever are obtained by three Vector modulations, make monolever that there is the effect of three-dimensional manipulation
Fruit.
Further, each single omni-directional wheel is installed in place in " u "-shaped wheel carrier and by wheel shaft, to make the monolever of manipulation
Smooth return, the torsion spring for making single omni-directional wheel return is provided between a shaft end of the wheel shaft and wheel carrier.
A kind of structure of the limit assembly is included in the upper and lower annular retainer installed on ball-collecting rack, each annular retainer
The corresponding position of the uniform ball of inner periphery and friction ball rolls connection.
Mechanical handle of the present invention can omni-directional operation mechanism operating method, its protocol step is：
1st, monolever is operated, monolever drives friction ball to rotate, and friction ball passes through three single omni-directional wheels of frictional force drives
Rotate.
2nd, encoder potentiometer detects the motion vector of each single omni-directional wheel of correspondence, then the synthesis by three motion vectors
The spatial motion vectors i.e. spatial motion vectors of monolever of friction ball are obtained, so realize the three-dimensional omnidirectional manipulation of monolever.
3rd, when monolever, which releases manipulation, to affranchise, in the effect of back-moving spring, each single omni-directional wheel drives monolever
Return to initial position.
Beneficial effects of the present invention：
1st, mechanical handle of the present invention can be coaxially solid with corresponding single omni-directional wheel by three in the structure of omni-directional operation mechanism
The motion vector of encoder detection monolever even, then by three Vector modulations, obtain the spatial motion vectors of handle, make list
Handle has the effect of three-dimensional manipulating.
2nd, in structure of the present invention, row constraint is entered to friction ball using upper and lower annular retainer, and in annular retainer with rubbing
Ball is set between wiping ball, monolever operation can be made smooth and reduce the load on single omni-directional wheel.
3rd, in structure of the present invention, torsion spring is set on each single omni-directional wheel, can be automatically returned to when monolever affranchises just
Beginning position.
4th, the inventive method can realize the various dimensions monolever manipulation of VR virtual realities or telecontrolled aircraft etc.
Brief description of the drawings
Fig. 1 is the front view of one embodiment of the present invention.
Fig. 2 is the A-A sectional views in Fig. 1.
Figure number identifies：1st, monolever；2nd, friction ball；3rd, ball-collecting rack；4th, single omni-directional wheel；5th, limit assembly；6th, wheel carrier；7th, compile
Code device；8th, annular retainer；9th, ball.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
Mechanical handle of the present invention can omni-directional operation mechanism, its structure includes monolever 1, and the monolever 1 is vertically arranged to
The top of friction ball 2, the lower hemisphere of the friction ball 2 are placed in ball-collecting rack 3 by the ball on the top surface of ball-collecting rack 3, friction ball 2
Upper hemisphere exposes on the top surface of ball-collecting rack 3, be coaxially provided with the top surface ball of ball-collecting rack 3 with the top surface of ball-collecting rack 3 installation connection it is upper,
Lower annular retainer 8 (being collectively forming the limit assembly 5 constrained friction ball 2), upper and lower annular retainer 8 and the sphere diameter of friction ball 2
The upper and lower hemisphere coaxial package at place, the uniform ball 9 of each inner periphery of annular retainer 8 are in rolling contact with corresponding hemisphere,
As shown in Figure 1 and Figure 2.
Outer side-lower circumference uniform distribution in the ball-collecting rack 3 in the lower hemisphere of friction ball 2 is provided with three single omni-directional wheels 4, and three
Individual single omni-directional wheel 4 with the lower hemisphere CONTACT WITH FRICTION of friction ball 2 and the oblique lower section of centre of gyration line of three single omni-directional wheels 4
And intersect at a point, the joining is in the underface of the centre of sphere of friction ball 2, and each single omni-directional wheel 4 is located at the " u "-shaped being correspondingly arranged
Installed in place in wheel carrier 6 and by wheel shaft, being provided between a shaft end of the wheel shaft and wheel carrier 6 makes the single return of omni-directional wheel 4
Torsion spring, each wheel carrier 6 are installed on the correspondence position in ball-collecting rack 3, are provided with each wheel carrier 6 same with the corresponding single wheel shaft of omni-directional wheel 4
The encoder 7 of axle, as shown in Figure 1 and Figure 2.
The present invention operation scheme step be：
1st, monolever 1 is operated, monolever 1 drives friction ball 2 to rotate, and friction ball 2 is single complete by frictional force drives three
Rotated to wheel 4.
2nd, encoder 7 detects the motion vector of the single omni-directional wheel 4 of each correspondence, then is obtained by the synthesis of three motion vectors
The spatial motion vectors of friction ball 2 are the spatial motion vectors of monolever 1, so realize the three-dimensional omnidirectional manipulation of monolever 1.
3rd, when monolever 1, which releases manipulation, to affranchise, each single omni-directional wheel 4 drives monolever 1 in the presence of torsion spring
Return to initial position.
Claims (5)
1. mechanical handle can omni-directional operation mechanism, including monolever (1), it is characterised in that：The monolever (1) is installed on friction
The top of ball (2), the lower hemisphere of the friction ball (2) are placed in three lists uniform in ball-collecting rack (3) and with ball-collecting rack (3) inner periphery
Omni-directional wheel (4) CONTACT WITH FRICTION is arranged, three single omni-directional wheels (4) are installed by corresponding wheel carrier (6) and three single omni-directional wheels (4)
The oblique lower section of centre of gyration line and intersect at a point, the joining is in the underface of friction ball (2) centre of sphere, each wheel carrier (6)
The encoder (7) or potentiometer of corresponding single omni-directional wheel (4) corner of detection are provided with, the ball-collecting rack (3) is provided with to act on and rubbed
Wipe the limit assembly (5) at ball (2) sphere diameter position.
2. mechanical handle according to claim 1 can omni-directional operation mechanism, it is characterised in that：Each single omni-directional wheel (4) sets
Installed in place in " u "-shaped wheel carrier (6) and by wheel shaft, it is single complete provided with making between a shaft end of the wheel shaft and wheel carrier (6)
To the torsion spring of wheel (4) return.
3. mechanical handle according to claim 1 or 2 can omni-directional operation mechanism, it is characterised in that：The limit assembly (5)
Be included in the upper and lower annular retainer (8) installed on ball-collecting rack (3), the uniform ball (9) of each annular retainer (8) inner periphery with
The corresponding position of friction ball (2) rolls connection.
4. using as mechanical handle according to claim 2 can omni-directional operation mechanism mechanical handle can omni-directional operation method,
Its protocol step is：
1., operation monolever (1), monolever (1) drives friction ball (2) to rotate, and friction ball (2) passes through three lists of frictional force drives
Omni-directional wheel (4) is arranged to rotate；
2., encoder (7) or potentiometer detect the motion vector of each single omni-directional wheel of correspondence (4), then pass through three motion vectors
Synthesis obtain friction ball (2) spatial motion vectors i.e. monolever (1) spatial motion vectors, so realize monolever (1)
Three-dimensional omnidirectional manipulation；
3., when monolever (1) releases manipulation and affranchised, each single omni-directional wheel (4) drives monolever in the presence of torsion spring
(1) initial position is returned to.
5. mechanical handle according to claim 4 can omni-directional operation method, it is characterised in that：Described protocol step can be real
The various dimensions monolever manipulation of existing VR virtual realities or telecontrolled aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711033764.0A CN107621848A (en) | 2017-10-30 | 2017-10-30 | Mechanical handle can omni-directional operation mechanism and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711033764.0A CN107621848A (en) | 2017-10-30 | 2017-10-30 | Mechanical handle can omni-directional operation mechanism and method |
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| Publication Number | Publication Date |
|---|---|
| CN107621848A true CN107621848A (en) | 2018-01-23 |
Family
ID=61093544
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711033764.0A Pending CN107621848A (en) | 2017-10-30 | 2017-10-30 | Mechanical handle can omni-directional operation mechanism and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821254A (en) * | 2019-04-12 | 2019-05-31 | 厦门扬恩科技有限公司 | Novel 3D rocking rod remote-controller |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4533827A (en) * | 1982-10-06 | 1985-08-06 | Texas A&M University | Optical joystick |
| JPS62216025A (en) * | 1986-03-17 | 1987-09-22 | Sony Corp | Input device for 3-dimensional information |
| US5298919A (en) * | 1991-08-02 | 1994-03-29 | Multipoint Technology Corporation | Multi-dimensional input device |
| JPH0749743A (en) * | 1992-11-09 | 1995-02-21 | Matsushita Electric Ind Co Ltd | Three-dimensional position instructing device and visual point changing device |
| US5541621A (en) * | 1995-06-12 | 1996-07-30 | Nmngani; Abdulatif M. T. | Mouse or trackball system |
| US5647247A (en) * | 1994-09-16 | 1997-07-15 | New Holland North America, Inc. | Single handle control mechanism |
| US5923139A (en) * | 1996-02-23 | 1999-07-13 | Northwestern University | Passive robotic constraint devices using non-holonomic transmission elements |
| WO2001041053A1 (en) * | 1999-12-06 | 2001-06-07 | Armstrong Brad A | 6 dof graphic controllers with sheet connected sensors |
| US20030169235A1 (en) * | 2002-03-07 | 2003-09-11 | Gron Mikkel Hartmann | Three dimensional track ball systems |
| JP2004302580A (en) * | 2003-03-28 | 2004-10-28 | Matsushita Electric Works Ltd | Digitizer |
| TW201430241A (en) * | 2013-01-31 | 2014-08-01 | Univ Chung Hua | Face-to-face arrangement omnidirectional wheel transmission device |
| CN207281643U (en) * | 2017-10-30 | 2018-04-27 | 桂林电子科技大学 | Mechanical handle can omni-directional operation mechanism |
-
2017
- 2017-10-30 CN CN201711033764.0A patent/CN107621848A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4533827A (en) * | 1982-10-06 | 1985-08-06 | Texas A&M University | Optical joystick |
| JPS62216025A (en) * | 1986-03-17 | 1987-09-22 | Sony Corp | Input device for 3-dimensional information |
| US5298919A (en) * | 1991-08-02 | 1994-03-29 | Multipoint Technology Corporation | Multi-dimensional input device |
| JPH0749743A (en) * | 1992-11-09 | 1995-02-21 | Matsushita Electric Ind Co Ltd | Three-dimensional position instructing device and visual point changing device |
| US5647247A (en) * | 1994-09-16 | 1997-07-15 | New Holland North America, Inc. | Single handle control mechanism |
| US5541621A (en) * | 1995-06-12 | 1996-07-30 | Nmngani; Abdulatif M. T. | Mouse or trackball system |
| US5923139A (en) * | 1996-02-23 | 1999-07-13 | Northwestern University | Passive robotic constraint devices using non-holonomic transmission elements |
| WO2001041053A1 (en) * | 1999-12-06 | 2001-06-07 | Armstrong Brad A | 6 dof graphic controllers with sheet connected sensors |
| US20030169235A1 (en) * | 2002-03-07 | 2003-09-11 | Gron Mikkel Hartmann | Three dimensional track ball systems |
| JP2004302580A (en) * | 2003-03-28 | 2004-10-28 | Matsushita Electric Works Ltd | Digitizer |
| TW201430241A (en) * | 2013-01-31 | 2014-08-01 | Univ Chung Hua | Face-to-face arrangement omnidirectional wheel transmission device |
| CN207281643U (en) * | 2017-10-30 | 2018-04-27 | 桂林电子科技大学 | Mechanical handle can omni-directional operation mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821254A (en) * | 2019-04-12 | 2019-05-31 | 厦门扬恩科技有限公司 | Novel 3D rocking rod remote-controller |
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