CN2920578Y - Two-freedom force feedback operating device - Google Patents
Two-freedom force feedback operating device Download PDFInfo
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- CN2920578Y CN2920578Y CN 200620028955 CN200620028955U CN2920578Y CN 2920578 Y CN2920578 Y CN 2920578Y CN 200620028955 CN200620028955 CN 200620028955 CN 200620028955 U CN200620028955 U CN 200620028955U CN 2920578 Y CN2920578 Y CN 2920578Y
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- axis
- force feedback
- control crank
- manipulation device
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Abstract
The utility model discloses a two-freedom force feedback operating device used for remote control operation and virtual reality system operation. Present electric operation devices have too small feedback force and no operation force signal output. So we have designed an electro-hydraulic servo two-freedom force feedback operating device, which is characterized in that the three axial lines, namely the straight shaft (1), the bent shaft (2) with a half-ring body in the middle and the operation handle(4), are arranged in the axial hole of the box body(3) after meeting in the half ring body center of the bent shaft (2) in a space intersection way. A two-dimension force sensor(10) is arranged on the operating handle; rotary hydraulic motors(5) and (7) are separately arranged on one end of the straight shaft (1) and the bent shaft (2). Angular displacement sensors(6) and (8) are separately arranged on the other end. This operating device can provide force feedback with large range and high fidelity.
Description
Technical field
The utility model relates to a kind of two degrees of freedom force feedback manipulation device, the distant manipulation operation (the distant people of operating machine) and the man-machine interaction in the virtual reality system of hazardous environment such as especially be applicable to high temperature, high pressure, intense radiation, suffocate and handle the two degrees of freedom force feedback manipulation device of usefulness.
Background technology
By inspection information, mostly be electricity to the force feedback manipulation device that proposes at present and drive, and do not have the output of steering force signal, the force feedback control stick of modal Microsoft (Microsoft sidewinder joystick) promptly is like this.Because be subjected to the restriction of the locked rotor current of torque motor, the maximum feedback power of this force feedback control stick is very little, generally has only about 25N.
No matter be used for the distant operation of robot or to the operation of virtual reality object, theoretically, when operated object is stuck can not be mobile the time, manipulation device with force feedback also should can not move as being stuck, at this moment need manipulation device to provide the steering force that enough big feedback force is resisted the people, generally should be greater than 1000N.
In general, except the displacement of control stick, the people has also been reflected people's will to the steering force of manipulation device, so for the people can indiscriminately ad. as one wishes be handled being handled object, need the output of steering force on the manipulation device.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of two degrees of freedom force feedback manipulation device, enough big feedback force especially can be provided and can export the two degrees of freedom force feedback manipulation device of a kind of hydraulic servo driving of steering force information.
Take following technical scheme to realize for solving the problems of the technologies described above the utility model.The two degrees of freedom force feedback manipulation device that provides comprises handle, motor, casing, its substantive distinguishing features is: d-axis, middle part are processed with the cambered axle of semi-circular ring and three axis of control crank are installed on the axis hole of casing with the form of space intersection in the cambered axle semi-circular ring center of circle; 2 D force sensor is installed on control crank; End at d-axis and cambered axle has been installed rotary actuator respectively, at the other end angular displacement sensor has been installed respectively.
According to the two degrees of freedom force feedback manipulation device that technical scheme provided, its substantive distinguishing features is: at a pin shaft hole of d-axis middle part processing and a groove that becomes semicylinder.
According to the two degrees of freedom force feedback manipulation device that technical scheme provided, its substantive distinguishing features is: annular chute of semi-circular ring upper edge torus processing in the middle of cambered axle.
According to the two degrees of freedom force feedback manipulation device that technical scheme provided, its substantive distinguishing features is: at a pin shaft hole of control crank middle part processing and a groove that becomes semicylinder, can put into the thin axle of cambered axle chute again one of the lower end of control crank processing.
According to the two degrees of freedom force feedback manipulation device that technical scheme provided, its substantive distinguishing features is: control crank intersects control crank and d-axis two axial lines by bearing pin by being connected movingly with d-axis, the thin axle in control crank lower end is gone up a rotary sliding sleeve is installed, the thin axle that this sliding sleeve will be housed is then put into the cambered axle chute, and control crank and d-axis two axial lines intersection point overlap with the center of circle of cambered axle middle part semi-circular ring.
According to the two degrees of freedom force feedback manipulation device that technical scheme provided, its substantive distinguishing features is: describedly also can replace with the pressure sensors that are installed on two rotary actuators turnover oil duct at the 2 D force sensor of installing on the control crank.
Compared with prior art the beneficial effect of this two degrees of freedom force feedback manipulation device comprises three aspects: at first, the active force feedback information between far-end apparatus for work (driven robot) and the manipulating object to control stick, is felt perception for the operator provides power; Secondly, multiply by the difference signal that deducts the stressed gained of far-end apparatus for work behind the certain proportion again with operator's steering force and go to drive this manipulation device generation displacement; The 3rd, the position of manipulation device is detected, and be real-time transmitted to far-end apparatus for work (driven robot), to form position closed loop, make far-end apparatus for work (driven robot) follow the motion of this manipulation device.
The working space of this manipulation device is to be the sphere of radius with control crank length, does not have singularity problem in working space, and mapping relations are unique to be determined.
Because adopt described technical scheme, the motion of two frees degree of this two degrees of freedom force feedback manipulation device is not coupled mutually, thereby does not need decoupling zero, has simplified control algolithm.
Owing to adopted hydraulic-driven, this manipulation device can provide enough big feedback force.When not having control signal, manipulation device can not be pushed, and promptly this device has enough big mechanical stiffness.The kinematic pair of manipulation device has adopted the low friction pair structure simultaneously, and it is less that frictional force is compared with driving force, not only improved this manipulation device position control accuracy, and exerts all one's strength and feel that the fidelity of feedback is improved.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further described.
Fig. 1 is the front view and the left view of two degrees of freedom force feedback manipulation device body construction schematic diagram;
Fig. 2 is a two degrees of freedom force feedback manipulation device transmission mechanism sketch;
Fig. 3 is a two degrees of freedom force feedback operator system schematic diagram;
Fig. 4 is a two degrees of freedom force feedback operator system schematic diagram.
Among the figure: 1. d-axis, 2. cambered axle, 3. casing, 4. control crank, 5. rotary actuator, 6. angular displacement sensor, 7. rotary actuator, 8. angular displacement sensor, 9. sliding sleeve, 10. 2 D force sensor, 11. built-in circuits, 12. dust covers, 13. bearing pin, 14. chutes, 15. pressure sensors, 16. pressure sensor, 17. pressure sensor, 18. pressure sensors, 19. electrohydraulic servo valves, 20. computer control system, 21. by the steering force signal that the power sensor on the handle is measured, 22. displacement signals, 23. are advanced by rotary actuator, the steering force signal that the oil-out oil pressure is measured, 24. fuel tank, 25. hydraulic pump, 26. oil pipelines, 27. manipulating objects act on the power of apparatus for work, 28. signal amplifier, 29. apparatus for work.
The specific embodiment
Consult Fig. 1 and Fig. 2, the major part that constitutes the electro-hydraulic servo manipulation device body of two degrees of freedom force feedback comprises: d-axis 1, cambered axle 2, casing 3, control crank 4, rotary actuator 5 and the angular displacement sensor 6 installed on the axle 1, rotary actuator 7 and the angular displacement sensor 8 installed on the axle 2, the sliding sleeve 9 of handle, at its lower end, the 2 D force sensor 10 and the built-in circuit 11 thereof at handle middle part, dust cover 12, bearing pin 13, chute 14, the pressure sensor 15 of rotary actuator turnover oil duct, 16,17 and 18 etc.
2 D force sensor 10 on the control crank 4, built-in circuit 11, amplifier 28, computer control system 20 and electrohydraulic servo valve 19 are connected by electric wire; Electrohydraulic servo valve 19 and rotary actuator 7 are connected by pipeline; Angular displacement sensor 6 and angle displacement transducer 8 and apparatus for work 29 are connected by electric wire.
Consult Fig. 3, the operation principle of two degrees of freedom force feedback manipulation device is:
The oil pump 25 that startup links to each other with fuel tank 24, and the oil pipeline through connecting each Hydraulic Elements 26 makes the oil pipeline system be in normal duty to system's fuel feeding.The operator is to control crank 4 application of forces, detect and draw force signal 21 by the 2 D force sensor on the control crank 4 10, deduct from the manipulating object of apparatus for work 29 active force 27 of equipment after amplifier 28 input computer control systems 20 with it through built-in circuit 11.Based on the power difference signal, computer control system 20 calculates control signal corresponding according to control algolithm, 19 actions of control electrohydraulic servo valve, thus make rotary actuator 7 drive control cranks 4 swings.Angular displacement sensor 6 detects the angular displacement signal 22 that control crank rotates, and it is passed the apparatus for work formation position closed loop of being handled to far-end, makes the apparatus for work of being handled follow manipulation device and moves.Because this two degrees of freedom force feedback manipulation device is to use the difference of the counter-force of steering force and apparatus for work to drive control crank, so the counter-force of apparatus for work can be brought the effective feedback force feeling to the operator.
Consult Fig. 4, the steering force of manipulation device is not to be detected by the 2 D force sensor on the handle 10 among this figure, but detects with the pressure sensor 15 to 18 that is installed in rotary actuator turnover oil duct.To import and export the difference of the pressure on the pipeline proportional with acting on rotary actuator because of the steering force on the manipulation device, as long as so measure the pressure signal of rotary actuator into and out of oil duct, through after subtracting each other, can draw the signal 23 that can reflect control crank steering force size equally, deduct after it is amplified by a certain percentage from the manipulating object of apparatus for work 29 active force 27, through amplifier 28 input computer control systems 20 apparatus for work.Based on the power difference signal, computer control system 20 calculates control signal corresponding according to control algolithm, 19 actions of control electrohydraulic servo valve, thus make rotary actuator 7 drive control cranks 4 swings.Angular displacement sensor 6 detects the angular displacement signal 22 that control crank rotates, and it is passed the apparatus for work formation position closed loop of handling to quilt, makes the apparatus for work of being handled follow manipulation device and moves.
Claims (6)
1. two degrees of freedom force feedback manipulation device, comprise handle, motor, casing is characterized in that: d-axis (1), middle part are processed with the cambered axle (2) of semi-circular ring and three axis of control crank (4) are installed on the axis hole of casing (3) with the form of space intersection in cambered axle (2) the semi-circular ring center of circle; 2 D force sensor (10) is installed on control crank (4); At an end of d-axis (1) and cambered axle (2) rotary actuator (5) and rotary actuator (7) have been installed respectively, angular displacement sensor (6) and angular displacement sensor (8) have been installed respectively at the other end.
2. according to the described two degrees of freedom force feedback of claim 1 manipulation device, it is characterized in that: at a pin shaft hole of d-axis (1) middle part processing and a groove that becomes semicylinder.
3. according to the described two degrees of freedom force feedback of claim 1 manipulation device, it is characterized in that: annular chute of semi-circular ring upper edge torus processing in the middle of cambered axle (2).
4. according to the described two degrees of freedom force feedback of claim 1 manipulation device, it is characterized in that:, can put into the thin axle of cambered axle (2) chute again one of the lower end of control crank processing at a pin shaft hole of control crank (4) middle part processing and a groove that becomes semicylinder.
5. according to the described two degrees of freedom force feedback of claim 1 manipulation device, it is characterized in that: control crank (4) is connected by bearing pin (13) movingly with d-axis (1) intersects control crank (4) and d-axis (1) two axial lines, the thin axle in control crank (4) lower end is gone up a rotary sliding sleeve (9) is installed, the thin axle that sliding sleeve will be housed is then put into cambered axle (2) chute, and control crank (4) and d-axis (1) two axial lines intersection point overlap with the center of circle of cambered axle (2) middle part semi-circular ring.
6. according to the described two degrees of freedom force feedback of claim 1 manipulation device, it is characterized in that: the described 2 D force sensor of go up installing at control crank (4) (10) also can pass in and out pressure sensor (15) on the oil duct with being installed in rotary actuator (5) and rotary actuator (7), (16), (17) and (18) replace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620028955 CN2920578Y (en) | 2006-06-23 | 2006-06-23 | Two-freedom force feedback operating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620028955 CN2920578Y (en) | 2006-06-23 | 2006-06-23 | Two-freedom force feedback operating device |
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| CN2920578Y true CN2920578Y (en) | 2007-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200620028955 Expired - Fee Related CN2920578Y (en) | 2006-06-23 | 2006-06-23 | Two-freedom force feedback operating device |
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| CN (1) | CN2920578Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976522A (en) * | 2010-09-26 | 2011-02-16 | 北京航空航天大学 | Aircraft steering wheel force feedback system |
| CN101980108A (en) * | 2010-11-01 | 2011-02-23 | 中南大学 | Two-degree of freedom fictitious force feedback device capable of being divided into single-degree of freedom teleoperation devices |
| CN101327591B (en) * | 2008-07-22 | 2011-03-30 | 吉林大学 | Two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system |
| CN102141469A (en) * | 2010-12-20 | 2011-08-03 | 中国商用飞机有限责任公司 | Installation method for two-degree-of-freedom operating lever drive test device |
| CN102141468A (en) * | 2010-12-20 | 2011-08-03 | 中国商用飞机有限责任公司 | Two-freedom-degree joystick-driven experiment device and control method thereof |
| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
| CN104608134A (en) * | 2015-02-07 | 2015-05-13 | 吉林大学 | Completely-decoupled plane two-degree-of-freedom parallel mechanism |
| CN105280080A (en) * | 2015-11-26 | 2016-01-27 | 中国科学院自动化研究所 | Three freedom degrees tactile sensation interaction system and tactile sensation interaction apparatus |
| CN107627322A (en) * | 2017-10-18 | 2018-01-26 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
| CN109491505A (en) * | 2018-11-13 | 2019-03-19 | 天津城建大学 | Percussion instrument based on virtual reality technology plays simulation system and device for force feedback |
| CN110073193A (en) * | 2016-12-09 | 2019-07-30 | 拉皮斯坎系统股份有限公司 | Sampling apparatus including mechanical force feedback mechanism |
-
2006
- 2006-06-23 CN CN 200620028955 patent/CN2920578Y/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101327591B (en) * | 2008-07-22 | 2011-03-30 | 吉林大学 | Two-freedom degree position-feedback type bidirectional servo hand controlled regulator control system |
| CN101976522A (en) * | 2010-09-26 | 2011-02-16 | 北京航空航天大学 | Aircraft steering wheel force feedback system |
| CN101976522B (en) * | 2010-09-26 | 2013-05-01 | 北京航空航天大学 | Aircraft steering wheel force feedback system |
| CN101980108B (en) * | 2010-11-01 | 2011-12-14 | 中南大学 | Two-degree of freedom fictitious force feedback device capable of being divided into single-degree of freedom teleoperation devices |
| CN101980108A (en) * | 2010-11-01 | 2011-02-23 | 中南大学 | Two-degree of freedom fictitious force feedback device capable of being divided into single-degree of freedom teleoperation devices |
| CN102141469B (en) * | 2010-12-20 | 2013-07-03 | 中国商用飞机有限责任公司 | Installation method for two-degree-of-freedom operating lever drive test device |
| CN102141468B (en) * | 2010-12-20 | 2013-05-01 | 中国商用飞机有限责任公司 | Two-freedom-degree joystick-driven experiment device and control method thereof |
| CN102141468A (en) * | 2010-12-20 | 2011-08-03 | 中国商用飞机有限责任公司 | Two-freedom-degree joystick-driven experiment device and control method thereof |
| CN102141469A (en) * | 2010-12-20 | 2011-08-03 | 中国商用飞机有限责任公司 | Installation method for two-degree-of-freedom operating lever drive test device |
| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
| CN104608134A (en) * | 2015-02-07 | 2015-05-13 | 吉林大学 | Completely-decoupled plane two-degree-of-freedom parallel mechanism |
| CN105280080A (en) * | 2015-11-26 | 2016-01-27 | 中国科学院自动化研究所 | Three freedom degrees tactile sensation interaction system and tactile sensation interaction apparatus |
| CN105280080B (en) * | 2015-11-26 | 2018-05-04 | 中国科学院自动化研究所 | A kind of Three Degree Of Freedom touches haptic interaction system and tactile dynamic sensing interexchanging apparatus |
| CN110073193A (en) * | 2016-12-09 | 2019-07-30 | 拉皮斯坎系统股份有限公司 | Sampling apparatus including mechanical force feedback mechanism |
| CN107627322A (en) * | 2017-10-18 | 2018-01-26 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
| CN109491505A (en) * | 2018-11-13 | 2019-03-19 | 天津城建大学 | Percussion instrument based on virtual reality technology plays simulation system and device for force feedback |
| CN109491505B (en) * | 2018-11-13 | 2021-01-12 | 天津城建大学 | Percussion instrument playing simulation system and force feedback device based on virtual reality technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070711 Termination date: 20120623 |