CN111026278B - Force feedback method and force feedback device for operating shaft of remote operating device - Google Patents
Force feedback method and force feedback device for operating shaft of remote operating deviceInfo
- Publication number
- CN111026278B CN111026278B CN202010017875.8A CN202010017875A CN111026278B CN 111026278 B CN111026278 B CN 111026278B CN 202010017875 A CN202010017875 A CN 202010017875A CN 111026278 B CN111026278 B CN 111026278B
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- Prior art keywords
- force feedback
- operating
- shaft
- force
- operating shaft
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Control Devices (AREA)
Abstract
本发明公开了远程操作装置操作轴的力反馈方法，其特征在于，包括如下步骤：操作轴被施加操作力；检测步骤操作轴被施加操作力的大小；若步骤检测的数值大于等于第一设定值则操作轴可以被转动；若步骤检测的数值小于第一设定值，则操作轴不可以被转动；还公开了远程操作装置操作轴的力反馈装置，其特征在于，包括操作轴固定座、力反馈涡轮、力反馈蜗杆、力反馈传动轴、力反馈轴套、力反馈弹簧、力反馈压力传递板、力反馈压力传感器、力反馈限位板、力反馈联轴器和力反馈电机。本发明的有益效果是：本发明解决了远程操作装置操作时，操作人员手部无反馈力的问题，操作人员操作时手部感受到一定的阻力，增加操作体验。
The present invention discloses a force feedback method for an operating axis of a remote operating device, which is characterized by comprising the following steps: An operating force is applied to the operating shaft; Detection steps The magnitude of the operating force applied to the operating shaft; If the steps If the detected value is greater than or equal to the first set value, the operating shaft can be rotated; if step If the detected value is less than the first set value, the operating shaft cannot be rotated; a force feedback device for the operating shaft of a remote operating device is also disclosed, characterized in that it includes an operating shaft fixing seat, a force feedback turbine, a force feedback worm, a force feedback transmission shaft, a force feedback sleeve, a force feedback spring, a force feedback pressure transmission plate, a force feedback pressure sensor, a force feedback limit plate, a force feedback coupling and a force feedback motor. The beneficial effect of the present invention is that the present invention solves the problem that the operator's hand has no feedback force when operating the remote operating device, and the operator feels a certain resistance when operating, thereby increasing the operating experience.
Description
Technical Field
The present invention relates to the field of remote operation devices, and in particular, to a force feedback method and a force feedback device for an operation shaft of a remote operation device.
Background
The remote operation device is used for indirectly controlling the execution device, and the execution device acts according to the action signal sent by the remote operation device. Because the remote operation device is not directly connected with the execution device, when the remote operation device is operated, the hands of an operator have no feedback force, the operation experience is poor, and misoperation is easy to occur.
Disclosure of Invention
In order to solve the problems set forth in the background art, the invention discloses a force feedback method of an operation shaft of a remote operation device, comprising the following steps:
The operation shaft is applied with an operation force;
Detection step The magnitude of the operating force applied to the operating shaft;
If step is The operation shaft can be rotated if the detected value is larger than or equal to the first set value, the operation shaft can be rotatedThe detected value is smaller than the first set value, and the operation shaft cannot be rotated.
If the steps in claim 1 areThe detected value is greater than or equal to the first set value and less than or equal to the second set value, the operation shaft can be rotated, if the step of claim 1The detected value is smaller than the first set value or larger than the second set value, and the operation shaft cannot be rotated.
The invention also discloses a force feedback device of the remote operation device operation shaft, which comprises an operation shaft fixing seat, a force feedback turbine, a force feedback worm, a force feedback transmission shaft, a force feedback shaft sleeve, a force feedback spring, a force feedback pressure transmission plate, a force feedback pressure sensor, a force feedback limiting plate, a force feedback coupling and a force feedback motor, wherein the operation shaft fixing seat is rotatably fixed with the operation shaft, the force feedback turbine is sleeved on the operation shaft, the force feedback worm is meshed with the force feedback turbine, the force feedback worm is slidably sleeved on the force feedback transmission shaft, the force feedback worm cannot rotate relative to the force feedback transmission shaft, one end of the force feedback transmission shaft sequentially penetrates through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transmission plate and the force feedback limiting plate and is connected with an output shaft of the force feedback motor, the other end of the force feedback transmission shaft sequentially penetrates through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transmission plate and the force feedback limiting plate, the force feedback shaft sleeve, the force feedback pressure sensor and the force feedback limiting plate can be arranged at the axial ends of the force feedback transmission shaft, the force transmission shaft and the force feedback limiting plate can be compressed tightly by the force sensor, the force feedback pressure transmission plate is tightly pressed on the force feedback pressure sensor, the force feedback motor and the force feedback limiting plate are both fixed on the operation shaft fixing seat, the force feedback shaft sleeve can rotate and slide in the operation shaft fixing seat, the force feedback motor is controlled by the controller, and the measured value of the force feedback pressure sensor is transmitted to the controller.
The force feedback limiting plate is fixed on the operation shaft fixing seat through the force feedback limiting plate adjusting plate, and the position of the force feedback limiting plate far away from the force feedback motor along the axial direction of the force feedback transmission shaft can be adjusted through adjusting the force feedback limiting plate adjusting plate.
The force-feedback drive shaft cross section may be machined to a polygon and the force-feedback worm shaft is also machined to an adapted polygon inwardly.
The operation shaft is connected with an encoder, and the encoder is used for measuring the rotation angle of the operation shaft.
The remote control device has the advantages that the problem that when the remote control device is operated, the hands of an operator do not have feedback force is solved, the hands of the operator feel certain resistance when the operator operates, the operation experience is improved, the resistance felt by the hands of the operator when the operator operates can be adjusted through adjusting the first set value, when the operation force is too large, the controller gives an alarm, the abnormal operation force is prompted, and misoperation of the operator can be effectively prevented.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a cross-sectional view taken along A-A in fig. 2.
Fig. 5 is a sectional view taken along the direction B-B in fig. 3.
Fig. 6 is an exploded view of the present invention.
Detailed Description
The following embodiments of the present invention are described in detail so that the advantages and features of the present invention may be more readily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of the present invention.
Example 1
The force feedback method of the remote operation device operation shaft is characterized by comprising the following steps:
The operation shaft is applied with an operation force;
Detection step The magnitude of the operating force applied to the operating shaft;
If step is The detected value is greater than or equal to the first set value and less than or equal to the second set value (the second set value is greater than or equal to the first set value), the operation shaft can be rotated, if the stepThe detected value is smaller than the first set value or larger than the second set value, and the operation shaft cannot be rotated.
Referring to figures 1-6, a force feedback device of an operating shaft of a remote operating device comprises an operating shaft fixing seat 3, a force feedback turbine W1, a force feedback worm W2, a force feedback transmission shaft W3, a force feedback shaft sleeve W4, a force feedback spring W5, a force feedback pressure transmission plate W6, a force feedback pressure sensor W7, a force feedback limiting plate W8, a force feedback coupler W9 and a force feedback motor W11, wherein the operating shaft fixing seat 3 is rotatably fixed with the operating shaft 1, the force feedback turbine W1 is sleeved on the operating shaft 1, the force feedback worm W2 is meshed with the force feedback turbine W1, the force feedback worm W2 is slidably sleeved on the force feedback transmission shaft W3, one end of the force feedback transmission shaft W3 sequentially passes through the force feedback shaft sleeve W4, the force feedback spring W5, the force feedback pressure transmission plate W6 and the force feedback limiting plate W8, the force feedback shaft sleeve W4 is connected with the force feedback spring W5 through the force feedback motor W9 and the force feedback spring W11, the force feedback transmission shaft sleeve W2 is sequentially compressed with the force transmission plate W4, the other end of the force feedback transmission shaft W3 passes through the force feedback spring W6 and the force feedback plate W4, the force feedback pressure transmission plate W6 is sequentially compressed by the force feedback transmission plate W4, the force feedback pressure transmission plate W6 is tightly pressed on the force feedback pressure sensor W7, the force feedback motor W11 and the force feedback limiting plate W8 are both fixed on the operation shaft fixing seat 3, the force feedback shaft sleeve W4 can rotate and slide in the operation shaft fixing seat 3, the force feedback motor W11 is controlled by a controller, and the measured value of the force feedback pressure sensor W7 is transmitted to the controller.
The device further comprises a force feedback limiting plate adjusting plate W12, wherein the force feedback limiting plate W8 far away from the force feedback motor W11 is fixed on the operation shaft fixing seat 3 through the force feedback limiting plate adjusting plate W12, and the position of the force feedback limiting plate W8 far away from the force feedback motor W11 along the axial direction of the force feedback transmission shaft W3 can be adjusted through adjusting the force feedback limiting plate adjusting plate W12. This allows the measurement value of the force-feedback pressure sensor W7 at the initial state of the operating shaft 1 to be adjusted.
The section of the force feedback transmission shaft W3 can be processed into a polygon, and the axial inner part of the force feedback worm W2 is also processed into an adaptive polygon, wherein the polygon can be triangle, quadrangle, pentagon or hexagon.
The operation shaft 1 is connected with an encoder 4, the encoder 4 is used for measuring the rotation angle of the operation shaft 1, and the corresponding execution shaft of the execution device performs corresponding actions according to the measured value of the encoder 4.
The working principle of the force feedback device of the remote operation device operation shaft shows that when a worm wheel and a worm are driven, if a turbine actively rotates, the turbine and the worm have a self-locking effect, therefore, when an operator actively operates the operation shaft 1, the operation shaft 1 drives the power feedback turbine W1 to generate corresponding rotation trend, the force feedback worm W2 slides along the axial direction of the force feedback transmission shaft W3, measured values of force feedback pressure sensors W7 on two sides are changed and transmitted to a controller, the controller can convert the operation force born by the operation shaft 1 through the combination of the change value of the measured values of the force feedback pressure sensors W7 with a transmission relation, when the operation force born by the operation shaft 1 is smaller than a first set value, the operation shaft 1 is locked and does not act, when the operation force born by the operation shaft 1 is larger than or equal to the first set value, the controller controls the force feedback motor W11 to drive the power feedback transmission shaft W3 to rotate, so that the power feedback turbine W1 rotates towards the corresponding rotation trend, the operator can feel a certain resistance when the operator operates, the controller can adjust the operation experience, the operation shaft 1 can feel the resistance when the operator operates, the operation shaft can be adjusted through adjusting the first set value, the operation shaft is locked, and when the operation shaft 1 is not locked, the operator can be locked, and the operator can be prevented from misoperation when the error operation is caused by the set value.
The invention solves the problem that the hands of the operator have no feedback force when the remote operation device is operated, and the hands of the operator feel certain resistance when the operator operates, thereby improving the operation experience.
The above examples and drawings are not intended to limit the form or form of the present invention, and any suitable variations or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present invention.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010017875.8A CN111026278B (en) | 2020-01-08 | 2020-01-08 | Force feedback method and force feedback device for operating shaft of remote operating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010017875.8A CN111026278B (en) | 2020-01-08 | 2020-01-08 | Force feedback method and force feedback device for operating shaft of remote operating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111026278A CN111026278A (en) | 2020-04-17 |
| CN111026278B true CN111026278B (en) | 2025-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010017875.8A Active CN111026278B (en) | 2020-01-08 | 2020-01-08 | Force feedback method and force feedback device for operating shaft of remote operating device |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105677028A (en) * | 2015-12-31 | 2016-06-15 | 联想(北京)有限公司 | Control method, electronic equipment and electronic device |
| CN211015405U (en) * | 2020-01-08 | 2020-07-14 | 北京仙进机器人有限公司 | Force feedback device for operating shaft of remote operating device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791233B (en) * | 2010-04-07 | 2011-04-13 | 上海交通大学 | Force feedback based remote control surgical device |
| JP2018194925A (en) * | 2017-05-12 | 2018-12-06 | アルプス電気株式会社 | Input device |
| CN109407849A (en) * | 2018-11-01 | 2019-03-01 | 深圳岱仕科技有限公司 | Hand motion acquisition equipment with force feedback |
-
2020
- 2020-01-08 CN CN202010017875.8A patent/CN111026278B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105677028A (en) * | 2015-12-31 | 2016-06-15 | 联想(北京)有限公司 | Control method, electronic equipment and electronic device |
| CN211015405U (en) * | 2020-01-08 | 2020-07-14 | 北京仙进机器人有限公司 | Force feedback device for operating shaft of remote operating device |
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| Publication number | Publication date |
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| CN111026278A (en) | 2020-04-17 |
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Effective date of registration: 20250622 Address after: 100000 No. 146, Street South, Dayuan Village, Qinghulu Town, Fangshan District, Beijing, Building 1, 3rd Floor, Room 1114 (Cluster Registration) Applicant after: Beijing Zhongyou Zhichuang Technology Co.,Ltd. Country or region after: China Address before: Room a-7362, building 3, 20 Yong'an Road, Shilong Economic Development Zone, Mentougou District, Beijing 102300 Applicant before: Beijing Xianjin robot Co.,Ltd. Country or region before: China |
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