CN110142759B - Wheel type stopping force feedback control method and device and wearable equipment - Google Patents
Wheel type stopping force feedback control method and device and wearable equipment Download PDFInfo
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- CN110142759B CN110142759B CN201910321129.5A CN201910321129A CN110142759B CN 110142759 B CN110142759 B CN 110142759B CN 201910321129 A CN201910321129 A CN 201910321129A CN 110142759 B CN110142759 B CN 110142759B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention relates to a feedback control method and device for wheel type stopping and wearable equipment, belonging to the technical field of intelligent operation and realizing refined remote control action; the control end acquires information including posture, speed, acceleration and control pressure generated by control actions through the force feedback device, controls the action execution device of the execution end to execute corresponding control actions, and receives contact pressure sensed by the action execution device when the control actions are executed; and controlling the force feedback device to follow the operation motion or stop following the operation motion by using a wheel type stopping mechanism according to the operation pressure, the contact pressure and the mutual relation. The invention realizes the bidirectional synchronization of control and perception, improves the on-site immersion of teleoperation, greatly improves the action precision and real-time degree of teleoperation, and greatly improves the accuracy, real-time property and fault tolerance of personnel operation.
Description
Technical Field
The invention relates to the technical field of intelligent operation, in particular to a wheel type stopping feedback control method and device and wearable equipment.
Background
The existing follow-up teleoperation equipment generally realizes the control of the joint motion of the remote control end by collecting the angle parameters of the joint of the operation end, but when some fine micro-joint actions are executed, because an operator cannot timely sense the stress condition of the execution end, correct control instructions cannot be timely and accurately sent out, and the situation that the executed object is easily damaged or the execution contact force does not reach the required value when the execution end carries out the fine actions is caused.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a feedback control method and apparatus for wheel type stopping, and a wearable device, which control a fine remote control action based on force feedback and wheel type stopping, and overcome the problem that an operator cannot accurately and timely sense the force condition of an execution end, so that an operation error damages an executed article or the execution contact force does not reach a required value.
The purpose of the invention is mainly realized by the following technical scheme:
in one aspect, a force feedback control method for wheeled immobilization is provided, including:
the force feedback device of the control end moves along with the control action, acquires information including attitude, speed, acceleration and control pressure generated by the control action and sends the information to the controller of the control end;
the controller of the control end sends the generated information including the posture, the speed and the acceleration to the execution end, controls the action execution device of the execution end to execute corresponding control actions, and receives the contact pressure sensed by the action execution device when the control actions are executed;
and the controller outputs an unlocking instruction or a locking instruction to the wheel type stopping mechanism of the force feedback device according to the manipulation pressure, the contact pressure and the mutual relation, unlocks the wheel type stopping mechanism, so that the force feedback device moves along with the manipulation action, or locks the wheel type stopping mechanism, so that the force feedback device stops moving along with the manipulation action.
Further, the force feedback device comprises a supporting seat, a follower rod and a wheel type stopping mechanism;
the supporting seat is hinged with the follower rod;
the servo rod is provided with a posture, speed, acceleration and pressure sensor which senses information including the posture, the speed, the acceleration and the operating pressure generated by the operating action;
the wheel type stopping mechanism comprises a stopping wheel, a stopping push rod and a pusher;
the pusher is fixed on the supporting seat, connected with the stopping push rod and used for extending the stopping push rod under the control of a locking instruction; under the control of an unlocking instruction, the stopping push rod is retracted;
the stop push rod locks the stop wheel when extending out; when retracting, releasing the detent wheel;
the stopping wheel is fixed on the follower rod and rotates along with the rotation of the follower rod when the stopping wheel is in a release state; when in a locking state, the stopping wheel is locked by the stopping push rod, so that a follower rod fixed with the stopping wheel is limited to rotate along with the operation.
Further, when the operating pressure received by the controller is smaller than a first pressure threshold value or is 0, the remote controller outputs a locking command to the pusher, so that the stop push rod extends to lock the stop wheel, and the follower rod is limited to rotate along with the operating action;
when the manipulation pressure received by the controller is not less than a first pressure threshold value, comparing the manipulation pressure with a corresponding contact pressure generated due to manipulation;
if the operating pressure is not greater than the contact pressure, the controller outputs a locking command to the pusher to enable the stopping push rod to extend to lock the stopping wheel and limit the follow-up rod to move along with the operating action; if the operating pressure is increased and continues to increase after the contact pressure is exceeded, the controller outputs an unlocking command to the pusher to retract the stopper push rod to release the stopper wheel, so that the follower rod moves along with the operating motion.
Further, the pressure sensors arranged on the follower rod comprise an A-direction operating pressure sensor and a B-direction operating pressure sensor; and an A-direction contact pressure sensor and a B-direction contact pressure sensor are correspondingly arranged on the action rod of the execution end corresponding to the follower rod, the A direction is the direction consistent with the operation motion, and the B direction is the direction opposite to the operation motion.
Further, when the pressure values of the A-direction operating pressure sensor and the B-direction operating pressure sensor are both smaller than a second pressure threshold value, the controller outputs a locking command to the pusher, so that the stop push rod extends out to lock the stop wheel, and the follow-up rod is limited to move along with the operating action.
Further, when the pressure value of the A-direction manipulation pressure sensor is larger than the pressure value of the corresponding A-direction contact pressure sensor, and the pressure value of the B-direction manipulation pressure sensor is smaller than a third pressure threshold value or is 0, the controller outputs an unlocking instruction to the pusher, so that the stop push rod is retracted to release the stop wheel, and the follower rod moves towards the A direction along with the manipulation action;
when the pressure value of the corresponding A-direction contact pressure sensor is increased until the pressure value is equal to the pressure value of the A-direction operating pressure sensor, the controller outputs a locking command to the pusher, so that the locking push rod extends out to lock the stop wheel, and the follow-up rod is limited to move along with the operating action.
Further, when the pressure value of the A-direction operating pressure sensor is equal to the pressure value of the corresponding A-direction contact pressure sensor and the stopping wheel is locked, if the pressure value of the A-direction operating pressure sensor continuously increases and exceeds the pressure value of the corresponding A-direction contact pressure sensor, the controller outputs an unlocking command to the pusher, so that the stopping push rod retracts to release the stopping wheel, and the follower rod continues to move towards the A direction along with the operation.
Further, when the pressure value of the A-direction operating pressure sensor is equal to the pressure value of the corresponding A-direction contact pressure sensor and the stopping wheel is locked, if the pressure value of the B-direction operating pressure sensor continuously increases and the pressure value of the A-direction operating pressure sensor decreases, the controller outputs an unlocking command to the pusher, so that the stopping push rod retracts to release the stopping wheel, and the follower rod moves towards the B direction along with the operation;
in the process of moving towards the B direction, when the pressure value of the corresponding B direction contact pressure sensor is increased until the pressure value is equal to the pressure value of the B direction operation pressure sensor, the controller outputs a locking command to the pusher, so that the stop push rod extends out to lock the stop wheel, and the follower rod is limited to move along with the operation action.
In another aspect, a wheel-type stop feedback control device is provided, comprising a manipulating end and an executing end;
and the operating end implements the force feedback control method based on the wheel type stopping, and the action executing device of the operating executing end executes corresponding operating actions.
In another aspect, a wearable remote control device is provided, comprising at least one wheel-detent feedback control device as described above.
The invention has the following beneficial effects:
compared with the prior art, the invention feeds the stress condition of the remote control machine back to the operator according to the magnitude and the mutual relation of the control pressure and the contact pressure, so that the operator can accurately control the machine, the bidirectional synchronization of control and perception is realized, the on-site immersion feeling of the remote control is improved, the action precision and the real-time degree of the remote control are greatly improved, and the problems that the operator cannot accurately and timely sense the stress condition of the execution end to damage the executed article or the execution contact force does not reach the required value due to the control error at the operation end are solved;
the wheel type stopping mechanism is small in size, light in weight, sensitive in reaction, good in fit with the linkage mechanism, high in control efficiency, good in practicability and convenience and capable of improving the man-machine effect.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of a force feedback control method for wheel brake in the first embodiment;
FIG. 2 is a schematic diagram illustrating the connection of the components of the force feedback devices in the first and second embodiments;
FIG. 3 is a schematic diagram illustrating the connection of the components of the force feedback devices in the first and second embodiments;
FIG. 4 is a schematic diagram illustrating the connection between the components of the action executing device according to the first embodiment and the second embodiment;
FIG. 5 is a schematic diagram illustrating the connection between the components of the action-executing devices according to the first and second embodiments;
FIG. 6 is a schematic diagram illustrating the connection between components of the driving device in the third embodiment;
fig. 7 is a schematic diagram of the connection of the driven machine limbs in the third embodiment.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The first embodiment,
The embodiment discloses a force feedback control method of wheel type stopping, as shown in fig. 1, comprising the following steps:
s101, a force feedback device of the control end moves along with the control action, acquires information including posture, speed, acceleration and control pressure generated by the control action and sends the information to a controller of the control end;
step S102, the controller of the manipulating end sends the generated information including the posture, the speed and the acceleration to the executing end, controls the action executing device of the executing end to execute corresponding manipulating actions and receives the contact pressure induced when the manipulating actions are executed;
and S103, outputting an unlocking instruction or a locking instruction to a wheel type stopping mechanism of the force feedback device by a controller at the control end according to the control pressure, the contact pressure and the mutual relation, unlocking the wheel type stopping mechanism, and enabling the force feedback device to move along with the control action, or locking the wheel type stopping mechanism, and enabling the force feedback device to stop moving along with the control action.
Preferably, the force feedback device in this embodiment, as shown in fig. 2, and the rotation diagram shown in fig. 3, includes a follower rod 210, a support seat 220, and a wheel type stopping mechanism 230;
the supporting seat 220 is hinged with the follower rod 210; the follower rod 210 can rotate around the supporting seat 220 along with the operation;
the follower rod 210 is provided with attitude, speed and acceleration sensors and a pressure sensor, and senses information including attitude, speed, acceleration and manipulation pressure generated by manipulation actions; the wheel type stopping mechanism 230 includes a stopping wheel 231, a stopping push rod 232, and a pusher 233;
the pusher 233 is fixed on the supporting seat 220 and connected with the stopping push rod 232, and under the control of a locking instruction, the pusher 233 extends the stopping push rod 232; under the control of the unlocking command, the pusher 233 retracts the stopper push rod 232;
a stopper push rod 232, which locks the stopper wheel 231 when extended; upon retraction, the detent wheel 231 is released;
a stopping wheel 231 is fixed on the follower rod 210, and when the stopping wheel 231 is in a release state, the stopping wheel 231 rotates following the rotation of the follower rod 210; when in the locked state, the stopping wheel 231 is locked by the stopping push rod 232 and cannot rotate, so that the follower lever 210 fixed with the stopping wheel is limited to rotate along with the operation.
The action executing device of the executing end in this embodiment is used for executing the manipulating action of the manipulating end and acquiring the external acting force sensed when executing the action, as shown in fig. 4, and the rotation diagram is as shown in fig. 5, and includes an action rod 310, a rotator 320 and a support rod 330;
the action bar 310 is connected with the support bar 330 through the rotator 320;
the rotator 320 drives the action rod 310 to rotate relative to the support rod 330 by receiving information;
specifically, the information received by the rotator is the information including the posture, the speed, and the acceleration, which is sent by the controller at the control end and collected from the follower rod 210;
the rotator 320 controls the actuating rod 310 to generate the same rotational motion as the follower rod 210 based on the above information.
Specifically, a pressure sensor is installed on the action rod 310 to obtain the external force sensed when the action is performed.
In the force feedback control process, when the operating pressure collected by the pressure sensor of the follower 231 received by the controller at the operating end is smaller than a set first pressure threshold value or 0, the controller outputs a locking command to the pusher 233, so that the stop push rod 232 extends out of the latch stop wheel 231, and the rotation of the follower 231 is limited; that is, when the manipulation pressure is less than the set pressure threshold or 0, it is considered that the manipulation end has no manipulation motion, and therefore the follower lever 210 is locked to maintain the state of the last manipulation motion.
When the control pressure collected by the pressure sensor of the follower rod 231 received by the controller is not less than the first pressure threshold value, comparing the collected control pressure with the corresponding contact pressure generated by feedback control;
if the manipulation pressure is not greater than the contact pressure, the controller outputs a locking command to the pusher 233 to extend the stopper push rod 232 out of the latch stopper wheel 231, thereby restricting the rotation of the follower rod 231; if the operating pressure increases and continues to increase after the contact pressure is exceeded, the controller outputs an unlock command to the pusher 233 to retract the stopper push rod 232 to release the stopper wheel 231, so that the follower rod 231 moves with the operating motion.
More preferably, the follower rod 210 is provided with an a-direction operating pressure sensor and a B-direction operating pressure sensor; the direction a is the same direction of rotation as the follower rod 210, and the direction B is the opposite direction of rotation from the direction a.
An A-direction operation pressure sensor for sensing the operation pressure of the follower rod 210 moving to the A-direction along with the operation motion;
and the B-direction operating pressure sensor is used for sensing the operating pressure when the follower rod 210 moves to the B direction along with the operating action.
An a-direction contact pressure sensor and a B-direction contact pressure sensor are mounted on the action rod 310 corresponding to the follower rod 210; the direction of the sensing force of the a-direction contact pressure sensor is the same as that of the a-direction actuating pressure sensor of the follower rod 210, and the direction of the sensing force of the B-direction contact pressure sensor is the same as that of the B-direction actuating pressure sensor of the follower rod 210.
The contact pressure sensor in the direction A is used for sensing the external acting force sensed when the action rod 310 moves to the direction A along with the operation action;
the B-direction contact pressure sensor is used for sensing the external acting force sensed when the action rod 310 moves to the B-direction along with the operation action.
In the force feedback control process, when the pressure values of the a-direction manipulation pressure sensor and the B-direction manipulation pressure sensor on the follower rod 210 are both smaller than the second pressure threshold value, the controller outputs a locking command to the pusher 233 to extend the stopper push rod 232 out of the latch stopper wheel 231, thereby restricting the rotation of the follower rod 231; that is, it is considered that there is no steering operation in both the a direction and the B direction, and the follower lever 210 is locked to maintain the state of the last steering operation.
When an operator operates the follower rod 210 in the direction A, the follower rod 210 senses that the operation action is performed in the direction A, the corresponding action rod 310 is not blocked in the direction A, the pressure value of the operation pressure sensor in the direction A on the follower rod 210 is greater than the pressure value of the contact pressure sensor in the direction A on the action rod 310 corresponding to the operation pressure sensor in the direction A, and the pressure value of the operation pressure sensor in the direction B on the follower rod 210 is less than a third pressure threshold value or is 0; at this time, the controller outputs an unlocking command to the pusher 233, so that the stopping push rod 232 retracts to release the stopping wheel 231, the follower rod 231 moves towards the direction a along with the operation action, and the action rod 310 of the corresponding execution end moves towards the direction a;
when the action rod 310 is blocked by an object in the upward movement process of the A direction according to the operation action, the pressure value of the A direction contact pressure sensor on the action rod 310 is increased until the pressure value is equal to the pressure value of the A direction operation pressure sensor on the follower rod 210, the controller outputs a locking command to the pusher 233, so that the stop push rod 232 extends out of the locking stop wheel 231, the rotation of the follower rod 231 is limited, the action rod 310 at the corresponding execution end also stops moving, and the stress condition of the action rod 310 is fed back to an operator by the locking stop wheel 231, so that the operator can feel the force generated by the blocking of the object.
If the operator wants to overcome the blockage of the object after sensing that the operation is blocked, the pressure value of the a direction on the follower rod 210 towards the operation pressure sensor is continuously increased by continuously increasing the pressure in the a direction to exceed the pressure value of the a direction contact pressure sensor on the corresponding action rod 310, the controller outputs an unlocking command to the pusher 233, the stop push rod 232 is retracted to release the stop wheel 231, the follower rod 231 moves towards the a direction along with the operation, and the action rod 310 at the corresponding execution end also moves towards the a direction.
If the operator stops the upward movement of the actuator A after sensing that the actuator is blocked, the locking command output by the controller continues to extend the stop rod 232 to lock the stop wheel 231, thereby limiting the rotation of the follower rod 231 and stopping the movement of the actuator rod 310 at the corresponding actuator end.
If the operator gives up the original upward movement of the A direction and changes the movement into the B direction opposite to the A direction after feeling that the operation movement is blocked, the pressure value of the B direction operation pressure sensor on the follower rod 210 continuously increases, the pressure value of the A direction operation pressure sensor on the follower rod 210 decreases, the controller outputs an unlocking command to the pusher 233, the stop push rod 232 retracts to release the stop wheel 231, the follower rod 231 moves towards the B direction along with the operation movement, and the corresponding action rod 310 at the execution end also moves towards the B direction.
In the process of moving towards the direction B, if the action rod 310 is blocked by an object, the pressure value of the corresponding contact pressure sensor of the direction B on the action rod 310 is increased until the pressure value is equal to the pressure value of the operation pressure sensor of the direction B on the follower rod 210, the controller outputs a locking command to the pusher 233, so that the stop push rod 232 extends out of the locking stop wheel 231, the rotation of the follower rod 231 is limited, the action rod 310 of the corresponding execution end also stops moving, and the stress condition of the action rod 310 is fed back to an operator by means of the locking stop wheel 231, so that the operator can feel the force generated by the blocking of the object.
In summary, according to the force feedback control method for wheel type locking disclosed in this embodiment, according to the magnitude and the correlation of the manipulation pressure and the contact pressure, the stress condition of the remote-controlled machine is fed back to the operator, so that the operator can precisely manipulate the machine, the bidirectional synchronization of control and sensing is realized, the in-situ immersion of remote control is improved, the action precision and the real-time degree of remote operation are greatly improved, the problem that the operator cannot precisely and timely sense the stress condition of the execution end to damage the executed object due to manipulation errors or the execution contact force does not reach the required value due to the fact that the operation end cannot precisely and timely sense the stress condition of the execution end is solved, and the operation accuracy, the real-time performance and the fault tolerance of the operator;
the wheel type stopping mechanism is small in size, light in weight, sensitive in reaction, good in fit with the linkage mechanism, high in control efficiency, good in practicability and convenience and capable of improving the man-machine effect.
Example II,
The embodiment discloses a joint remote control device based on force feedback, which comprises a manipulating end and an executing end;
the control end comprises a force feedback device and a controller;
the force feedback device is used for following the operation action to move, acquiring information including attitude, speed, acceleration and operation pressure generated by the operation action and sending the information to the controller at the operation end;
preferably, the force feedback device at the control end is connected as shown in fig. 2 or 3;
the controller is used for sending the generated information including the posture, the speed and the acceleration to the execution end, controlling the action execution device of the execution end to execute corresponding operation actions and receiving the contact pressure induced when the operation actions are executed; and according to the manipulation pressure, the contact pressure and the mutual relation, an unlocking instruction or a locking instruction is output to a wheel type stopping mechanism of the force feedback device, the wheel type stopping mechanism is unlocked, the force feedback device moves along with the manipulation action, or the wheel type stopping mechanism is locked, and the force feedback device stops moving along with the manipulation action.
The action executing device of the executing end is connected as shown in fig. 4 or 5.
When the operation end controls the execution end to perform remote operation, the force feedback control method based on wheel type stopping in the first embodiment is adopted, the action execution device of the operation execution end executes the operation action and feeds the force back to the operator, so that the operator can accurately operate the machine, the two-way synchronization of control and perception is realized, the on-site immersion feeling of the remote operation is improved, the action precision and the real-time degree of the remote operation are greatly improved, the problem that the operator cannot accurately and timely perceive the stress condition of the execution end to damage an executed article due to operation errors or the execution contact force does not reach the required value is solved, and the operation accuracy, the real-time performance and the fault tolerance of the operator are greatly improved.
Example III,
The present embodiment discloses a wearable remote control device, which takes remote control of a robot hand as an example, as shown in fig. 7, the present embodiment is a driving device wearable on a palm, each joint of the driving device includes a force feedback device as in the second embodiment; all the force feedback devices send information of all joints, including postures, speeds, accelerations and operation pressures, generated by the palm actions collected by the driving device to a controller of the driving device;
as shown in fig. 7, in order to drive the machine limb, i.e. the machine palm, each joint of the machine palm comprises an action executing device according to the second embodiment; and executing the action sent by the driving device wearable on the palm through the controller, and feeding back the sensed external acting force.
When the driving device wearable on the palm controls the driven machine limb to move, the force feedback device of each joint is sampled by the force feedback control method based on the wheel type stopping in the first embodiment, and each joint on the machine palm is controlled to move; and the force is fed back to an operator, so that the operator can accurately operate the machine, the two-way synchronization of control and perception is realized, the in-situ immersion feeling of remote control is improved, the action precision and the real-time degree of the remote control are greatly improved, the problem that the operator cannot accurately and timely perceive the control error caused by the stress condition of the execution end to damage the executed object or the execution contact force does not reach the required value by the operation end is solved, and the operation accuracy, the real-time performance and the fault tolerance of the operator are greatly improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. A method of force feedback control of a wheel stop, comprising:
the force feedback device of the control end moves along with the control action, acquires information including attitude, speed, acceleration and control pressure generated by the control action and sends the information to the controller of the control end;
the controller of the control end sends the generated information including the posture, the speed and the acceleration to the execution end, controls the action execution device of the execution end to execute corresponding control actions, and receives the contact pressure sensed by the action execution device when the control actions are executed;
the controller outputs an unlocking instruction or a locking instruction to a wheel type stopping mechanism of the force feedback device according to the manipulation pressure, the contact pressure and the mutual relation, the wheel type stopping mechanism is unlocked, the force feedback device moves along with the manipulation action, or the wheel type stopping mechanism is locked, and the force feedback device stops moving along with the manipulation action;
the force feedback device comprises a supporting seat, a follower rod and a wheel type stopping mechanism;
the supporting seat is hinged with the follower rod;
the servo rod is provided with a posture, speed, acceleration and pressure sensor which senses information including the posture, the speed, the acceleration and the operating pressure generated by the operating action;
the pressure sensors arranged on the follower rod comprise an A-direction operating pressure sensor and a B-direction operating pressure sensor; an A-direction contact pressure sensor and a B-direction contact pressure sensor are correspondingly arranged on an action rod of the execution end, which corresponds to the follower rod, wherein the A direction is the direction consistent with the operation motion, and the B direction is the direction opposite to the operation motion;
the wheel type stopping mechanism comprises a stopping wheel, a stopping push rod and a pusher;
the pusher is fixed on the supporting seat, connected with the stopping push rod and used for extending the stopping push rod under the control of a locking instruction; under the control of an unlocking instruction, the stopping push rod is retracted;
the stop push rod locks the stop wheel when extending out; when retracting, releasing the detent wheel;
the stopping wheel is fixed on the follower rod and rotates along with the rotation of the follower rod when the stopping wheel is in a release state; when the locking state is achieved, the stop wheel is locked by the stop push rod, so that a follower rod fixed with the stop wheel is limited to rotate along with the operation;
in the force feedback control process, when the pressure values of an A-direction operation pressure sensor and a B-direction operation pressure sensor on the follower rod are smaller than a second pressure threshold value, the controller outputs a locking instruction to the pusher, so that the stop push rod extends out of the locking stop wheel, and the rotation of the follower rod is limited; namely, considering that no operation action exists in the A direction and the B direction, the follower rod is locked, and the state of the last operation action is kept;
when an operator operates the follower rod towards the direction A, the follower rod senses that the operation action is carried out upwards by the direction A, the corresponding action rod is not blocked upwards by the direction A, the pressure value of the operation pressure sensor towards the direction A on the follower rod is larger than the pressure value of the contact pressure sensor towards the direction A on the action rod corresponding to the operation pressure sensor towards the direction A on the follower rod, and the pressure value of the operation pressure sensor towards the direction B on the follower rod is smaller than a third pressure threshold value or is 0; at the moment, the controller outputs an unlocking instruction to the pusher, so that the stopping push rod is retracted to release the stopping wheel, the follower rod moves towards the A direction along with the operation action, and the action rod of the corresponding execution end also moves towards the A direction;
when the action rod is blocked by an object in the upward movement process of the action rod A according to the operation action, the pressure value of the pressure sensor contacted with the pressure sensor in the direction of the pressure sensor in.
2. The force feedback control method according to claim 1, wherein when the pressure value of the a-direction manipulation pressure sensor is equal to the pressure value of the corresponding a-direction contact pressure sensor and the detent wheel is locked, if the pressure value of the a-direction manipulation pressure sensor continuously increases and exceeds the pressure value of the corresponding a-direction contact pressure sensor, the controller outputs an unlocking command to the pusher to retract the detent push rod to release the detent wheel, so that the follower rod continues to move to the a-direction along with the manipulation.
3. The force feedback control method according to claim 2, wherein when the pressure value of the a-direction manipulation pressure sensor is equal to the pressure value of the corresponding a-direction contact pressure sensor and the detent wheel is locked, if the pressure value of the B-direction manipulation pressure sensor continuously increases and the pressure value of the a-direction manipulation pressure sensor decreases, the controller outputs an unlocking command to the pusher to retract the detent push rod to release the detent wheel and move the follower rod in the B-direction with the manipulation;
in the process of moving towards the B direction, when the pressure value of the corresponding B direction contact pressure sensor is increased until the pressure value is equal to the pressure value of the B direction operation pressure sensor, the controller outputs a locking command to the pusher, so that the stop push rod extends out to lock the stop wheel, and the follower rod is limited to move along with the operation action.
4. A wheel type stop feedback control device is characterized by comprising an operating end and an executing end;
the manipulating end implements the force feedback control method based on the wheel type stop as claimed in any one of claims 1 to 3, and the action executing device of the manipulating executing end executes corresponding manipulating action.
5. A wearable remote control device comprising at least one wheel-detent feedback control apparatus according to claim 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910321129.5A CN110142759B (en) | 2019-04-19 | 2019-04-19 | Wheel type stopping force feedback control method and device and wearable equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910321129.5A CN110142759B (en) | 2019-04-19 | 2019-04-19 | Wheel type stopping force feedback control method and device and wearable equipment |
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| CN110142759A CN110142759A (en) | 2019-08-20 |
| CN110142759B true CN110142759B (en) | 2021-06-25 |
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| CN104635911A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Thumb far-knuckle force feedback device |
| CN108406725A (en) * | 2018-02-09 | 2018-08-17 | 华南理工大学 | Force feedback man-machine interactive system and method based on electromagnetic theory and mobile tracking |
| CN109079757B (en) * | 2018-08-24 | 2020-07-03 | 北京机械设备研究所 | Three-degree-of-freedom parallel mechanism applied to teleoperation master hand |
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| CN104076929A (en) * | 2014-07-21 | 2014-10-01 | 谷逍驰 | Hand action acquisition device provided with force feedback and realizing by utilizing mechanical structure |
| CN106625617A (en) * | 2017-03-03 | 2017-05-10 | 中国科学院合肥物质科学研究院 | Anti-falling self-locking mechanism for exoskeleton robot |
| CN108942879A (en) * | 2017-05-19 | 2018-12-07 | 中国航天时代电子公司 | A kind of wearable total joint bilateral force feedback integration closed loop control device and method |
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