CN110142759A - A kind of the force-feedback control method, apparatus and wearable device of wheeled stop - Google Patents
A kind of the force-feedback control method, apparatus and wearable device of wheeled stop Download PDFInfo
- Publication number
- CN110142759A CN110142759A CN201910321129.5A CN201910321129A CN110142759A CN 110142759 A CN110142759 A CN 110142759A CN 201910321129 A CN201910321129 A CN 201910321129A CN 110142759 A CN110142759 A CN 110142759A
- Authority
- CN
- China
- Prior art keywords
- manipulation
- pressure
- tappet
- control action
- pressure sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Mechanical Control Devices (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to feedback, device and the wearable devices of a kind of wheeled stop, belong to intelligent operation technical field, realize fining remote control actions；Manipulatable end acquires the information including posture, speed, acceleration and manipulation pressure generated by control action by device for force feedback, the movement executive device for controlling actuating station executes corresponding control action, receives the contact pressure of movement executive device induction when executing control action；It controls device for force feedback using wheeled stop mechanism according to manipulation pressure, contact pressure size and correlation and control action campaign or stopping is followed to follow control action campaign.The present invention realizes the bi-directional synchronization of control and perception, improves the feeling of immersion when participating in the cintest of distant manipulation, the operation precision and real-time levels of remote operating greatly improved, significantly increase personnel's operating accuracy, real-time, fault-tolerance.
Description
Technical field
The present invention relates to intelligent operation technical field, especially a kind of feedback of wheeled stop, device and can
Wearable device.
Background technique
Existing servo-actuated remote operating equipment usually passes through acquisition operating side joint angles parameter, realizes to remote control end joint motions
Control since operator can not perceive the stress condition of actuating station in time, lead but when executing some fine micro- joint actions
Cause can not the correct control instruction of sending promptly and accurately, cause actuating station when carrying out fine movement, be easy to happen destruction quilt
It executes article or executes the case where contact force is not up to required value.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of feedback of wheeled stop, device and wearable
Equipment controls fining remote control actions based on force feedback and wheeled stop, and overcoming operating side can not allow operator smart
Really, manipulation fault caused by perception actuating station stress condition in time, which destroys to be performed article or execute contact force, is not up to required value
The problem of.
The purpose of the present invention is mainly achieved through the following technical solutions:
On the one hand, a kind of force-feedback control method of wheeled stop is provided, comprising:
The device for force feedback of manipulatable end follows control action campaign, and what acquisition was generated by control action includes posture, speed
Information including degree, acceleration and manipulation pressure, is sent to the controller of manipulatable end；
The controller of manipulatable end will generate and be sent to actuating station comprising the information including posture, speed and acceleration, control
The movement executive device of actuating station executes corresponding control action, receives movement executive device induction when executing control action
Contact pressure；
The controller exports unlock instruction or lock according to the manipulation pressure, contact pressure size and correlation
Only the wheeled stop mechanism of the device for force feedback is arrived in instruction, unlocks the wheeled stop mechanism, device for force feedback is made to follow behaviour
Wheeled stop mechanism described in vertical action movement or locking makes device for force feedback stopping follow control action campaign.
Further, the device for force feedback includes support base, tappet and wheeled stop mechanism；
The support base and the tappet are hinged；
Posture, speed, acceleration and pressure sensor are provided on the tappet, induction is generated because of control action
Including posture, speed, acceleration and manipulation pressure including information；
The wheeled stop mechanism includes stopping wheel, stop push rod and pusher；
The pusher is fixed on the support base, and is connect with the stop push rod, the control for instructing in locking
Under system, stretch out stop push rod；Under the control of unlock instruction, withdraw stop push rod；
The stop push rod, when stretching out, locking stopping wheel；When withdrawing, stopping wheel is discharged；
The stopping wheel is fixed on the tappet, when the stopping wheel is in release conditions, the stopping wheel with
It is rotated with the rotation of the tappet；When being in lockup state, the stopping wheel is by the stop push rod locking, to limit
The tappet being secured to is rotated with control action.
Further, when the received manipulation pressure of the controller is less than first pressure threshold value or is 0, the remote control system
Device exports locking instruction to the pusher, and the stop push rod is made to stretch out stopping wheel described in clamping lock, limit the tappet with
Control action rotation；
When the received manipulation pressure of the controller be not less than first pressure threshold value when, the manipulation pressure with because grasp
Vertical contact pressure size generate, corresponding；
If manipulating pressure is not more than contact pressure, the controller output locking instruction makes described to the pusher
Stop push rod stretches out stopping wheel described in locking, limits the tappet with control action campaign；If manipulating pressure to increase, super
Still lasting to increase after crossing the contact pressure, the controller output unlock instruction makes the stop push rod to the pusher
It withdraws and discharges the stopping wheel, make the tappet with control action campaign.
Further, the pressure sensor being arranged on the tappet includes that A is pressed to manipulation pressure sensor and B to manipulation
Force snesor；On actuating station actuating strut corresponding with the tappet it is corresponding be equipped with A to contact pressure sensor and B to
Contact pressure sensor, A is to move consistent direction with the control action, and B is to opposite to move with the control action
Direction.
Further, when the A is both less than second to manipulation pressure sensor and B to the pressure value of manipulation pressure sensor
When pressure threshold, the controller output locking instruction makes the stop push rod stretch out stop described in locking to the pusher
Wheel, limits the tappet with control action campaign.
Further, it is sensed when the A is greater than corresponding A to the pressure value of manipulation pressure sensor to contact pressure
The pressure value of device, and the B to manipulation pressure sensor pressure value be less than third pressure threshold or be 0 when, the controller
Unlock instruction is exported to the pusher, the stop push rod is withdrawn and discharges the stopping wheel, make the tappet with manipulation
It acts to A to movement；
When the corresponding A increases to the pressure value of contact pressure sensor, until being equal to the A to manipulation pressure sensing
When the pressure value of device, the controller output locking instruction to the pusher stretches out the stop push rod described in locking only
Driving wheel limits the tappet with control action campaign.
Further, it is sensed when the A is equal to corresponding A to the pressure value of manipulation pressure sensor to contact pressure
The pressure value of device, and when the stopping wheel locking, if the A persistently increases to the pressure value of manipulation pressure sensor, it is more than
Corresponding A to the pressure value of contact pressure sensor, controller output unlock instruction makes described stop to the pusher
Dynamic push rod, which is withdrawn, discharges the stopping wheel, continues the tappet to A to movement with control action.
Further, it is sensed when the A is equal to corresponding A to the pressure value of manipulation pressure sensor to contact pressure
The pressure value of device, and when the stopping wheel locking, if the B persistently increases to the pressure value of manipulation pressure sensor, and institute
It states A to reduce to the pressure value of manipulation pressure sensor, the controller output unlock instruction makes the stop to the pusher
Push rod, which is withdrawn, discharges the stopping wheel, makes the tappet with control action to B to movement；
To B into motion process, when the corresponding B increases to the pressure value of contact pressure sensor, until be equal to
Pressure value from the B to manipulation pressure sensor when, controller output locking instruction makes the stop to the pusher
Push rod stretches out stopping wheel described in locking, limits the tappet with control action campaign.
On the other hand, a kind of feed back control system of wheeled stopping type, including manipulatable end and actuating station are provided；
The manipulatable end is implemented such as the above-mentioned force-feedback control method based on wheeled stop, and the movement for manipulating actuating station is held
Luggage, which is set, executes corresponding control action.
On the other hand, a kind of wearable remote control control equipment is additionally provided, including at least one above-mentioned wheeled stopping type
Feed back control system.
The present invention has the beneficial effect that:
Compared with prior art, the present invention is according to manipulation pressure, the size of contact pressure and correlation, by distant manipulation
The force-bearing situation of machine feeds back to operator, enables operator's accurate manipulation machine, realizes pair of control and perception
To synchronization, the feeling of immersion when participating in the cintest of distant manipulation is improved, the operation precision and real-time levels of remote operating greatly improved, overcome behaviour
Making end can not allow operator is accurate, manipulation fault caused by perception actuating station stress condition destroys and is performed article or execution in time
Contact force is not up to the problem of required value；
The wheeled stop mechanism used, small in size, light-weight, reaction is alert and resourceful, agrees with well with linkage mechanism, control efficiency
Height has good practicability and convenience, improves man-machine efficacy.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the force-feedback control method flow diagram of the wheeled stop in the present embodiment one；
Fig. 2 is that the device for force feedback in the present embodiment one, two forms connection schematic diagram；
Fig. 3 is that the device for force feedback in the present embodiment one, two forms connection schematic diagram；
Fig. 4 is that the movement executive device in the present embodiment one, two forms connection schematic diagram；
Fig. 5 is that the movement executive device in the present embodiment one, two forms connection schematic diagram；
Fig. 6 is that the driving device in the present embodiment three forms connection schematic diagram；
Fig. 7 is that the driven machine limbs in the present embodiment three form connection schematic diagram.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
Embodiment one,
Present embodiment discloses a kind of force-feedback control methods of wheeled stop, as shown in Figure 1, comprising the following steps:
Step S101, the device for force feedback of manipulatable end follows control action campaign, acquires the packet generated by control action
The information including posture, speed, acceleration and manipulation pressure is included, the controller of manipulatable end is sent to；
Step S102, the controller of manipulatable end will be generated to be sent to comprising the information including posture, speed and acceleration and be held
Row end, the movement executive device for controlling actuating station execute corresponding control action, receive the contact for executing and incuding when control action
Pressure；
Step S103, the controller of manipulatable end is according to the manipulation pressure, contact pressure size and correlation, output
Unlock instruction or locking instruction unlock the wheeled stop mechanism, keep power anti-to the wheeled stop mechanism of the device for force feedback
Feedback device follows wheeled stop mechanism described in control action campaign or locking, makes device for force feedback stopping that control action be followed to transport
It is dynamic.
Preferably, the device for force feedback in the present embodiment, as shown in Fig. 2, rotation figure is as shown in figure 3, include tappet
210, support base 220 and wheeled stop mechanism 230；
Support base 220 and tappet 210 are hinged；Tappet 210 is set to follow control action around 220 turns of support base
It is dynamic；
It is provided with posture, speed, acceleration sensor and pressure sensor on tappet 210, incudes because of control action
And the information including posture, speed, acceleration and manipulation pressure generated；Wheeled stop mechanism 230 includes stopping wheel
231, stop push rod 232 and pusher 233；
Pusher 233 is fixed on support base 220, and is connect with the stop push rod 232, in the control of locking instruction
Under, pusher 233 stretches out stop push rod 232；Under the control of unlock instruction, pusher 233 withdraws stop push rod 232；
Stop push rod 232, when stretching out, locking stopping wheel 231；When withdrawing, stopping wheel 231 is discharged；
Stopping wheel 231 is fixed on tappet 210, and when stopping wheel 231 is in release conditions, stopping wheel 231 follows institute
It states the rotation of tappet 210 and rotates；When being in lockup state, the stopping wheel 231 is stopped 232 locking of push rod, cannot
Rotation, so that the tappet 210 that limitation is secured to is rotated with control action.
The movement executive device of actuating station in the present embodiment, for executing the control action of manipulatable end, and it is dynamic to obtain execution
As when the external forces experienced, as shown in figure 4, rotation figure is as shown in figure 5, include actuating strut 310, rotator 320 and branch
Strut 330；
Actuating strut 310 is connect by rotator 320 with support rod 330；
Rotator 320 drives actuating strut 310 to rotate relative to support rod 330 by receiving information；
Specifically, the received information of rotator, for manipulatable end controller send, acquisition include from tappet 210
Information including posture, speed and acceleration；
Rotator 320 generates spinning movement identical with tappet 210 according to information above, control action bar 310.
Special, pressure sensor is installed on actuating strut 310, for obtaining the extraneous work experienced when execution movement
Firmly.
During force-feedback control, as the behaviour of received 231 pressure sensor of the tappet acquisition of the controller of manipulatable end
When longitudinal pressure is less than the first pressure threshold value of setting or is 0, controller exports locking instruction to pusher 233, makes stop push rod
232 stretch out clamping lock stopping wheel 231, to limit the rotation of tappet 231；That is, when manipulation pressure be less than setting pressure threshold or
When being 0, it is believed that manipulatable end keeps the state of the last one control action without control action, therefore by 210 locking of tappet.
When the manipulation pressure of received 231 pressure sensor of the tappet acquisition of the controller is not less than first pressure threshold value
When, then compare the manipulation pressure of acquisition and the contact pressure size generate by manipulation, corresponding of feedback；
If manipulating pressure is not more than contact pressure, controller exports locking instruction to pusher 233, makes stop push rod
232 stretch out clamping lock stopping wheel 231, to limit the rotation of tappet 231；It is being more than that the contact is pressed if manipulating pressure to increase
Still lasting to increase after power, controller exports unlock instruction to pusher 233, and the stop push rod 232 is made to withdraw release stopping wheel
231, make tappet 231 with control action campaign.
It is furthermore preferred that be equipped on tappet 210 A to manipulation pressure sensor and B to manipulation pressure sensor；A to for
It is consistent with a direction of rotation of tappet 210, B to for A to opposite direction of rotation.
A to manipulation pressure sensor, for incude tappet 210 with control action to A to movement when manipulation pressure；
B to manipulation pressure sensor, for incude tappet 210 with control action to B to movement when manipulation pressure.
A is installed to sense to contact pressure sensor and B to contact pressure on actuating strut 310 corresponding with tappet 210
Device；A is identical to the manipulation direction of pressure sensor induction force as the A of tappet 210 to contact pressure sensor, and B is pressed to contact
Force snesor is identical to the manipulation direction of pressure sensor induction force as the B of tappet 210.
A is to contact pressure sensor, for incuding actuating strut 310 with control action to A to the external world experienced when movement
Active force；
B is to contact pressure sensor, for incuding actuating strut 310 with control action to B to the external world experienced when movement
Active force.
During force-feedback control, when the A on tappet 210 to manipulation pressure sensor and B to manipulation pressure sensing
When the pressure value of device is both less than second pressure threshold value, controller exports locking instruction to pusher 233, stretches stop push rod 232
Card release locking driving wheel 231, to limit the rotation of tappet 231；I.e., it is believed that, upwards without control action, will be servo-actuated in A to B
210 locking of bar, keeps the state of the last one control action.
When operator is to A to when manipulating tappet 210, tappet 210 senses that A has control action upwards, and right
The actuating strut 310 answered is not affected by blocking in A upwards, and the A on tappet 210 is greater than therewith to the pressure value of manipulation pressure sensor
A on corresponding actuating strut 310 is to the pressure value of contact pressure sensor, and the B on tappet 210 is to manipulation pressure sensor
Pressure value be less than third pressure threshold or be 0；Controller exports unlock instruction to pusher 233 at this time, pushes away the stop
Bar 232 withdraws release stopping wheel 231, makes tappet 231 with control action to A to movement, the actuating strut 310 of corresponding actuating station
It equally acts to A to movement；
When actuating strut 310 is stopped during A is moved upwards by object according to control action, the A on actuating strut 310
Increase to the pressure value of contact pressure sensor, until pressure value of the A being equal on tappet 210 to manipulation pressure sensor
When, controller exports locking instruction to pusher 233, so that stop push rod 232 is stretched out clamping lock stopping wheel 231, so that limitation is servo-actuated
Bar 231 rotates, and the same stop motion of actuating strut 310 of corresponding actuating station will be acted by way of clamping lock stopping wheel 231
The stress condition of bar 310 feeds back to operator, and operator is made to experience the power generated because object stops.
If operator after feeling that control action is stopped, wants the blocking for overcoming object, then by continuing in A
Increase pressure upwards, increases the A on tappet 210 persistently to the pressure value of manipulation pressure sensor, be more than corresponding movement
To the pressure value of contact pressure sensor, controller exports unlock instruction to pusher 233, pushes away the stop by A on bar 310
Bar 232 withdraws release stopping wheel 231, makes tappet 231 with control action to A to movement, the actuating strut 310 of corresponding actuating station
It equally acts to A to movement.
If operator after feeling that control action is stopped, stops the upward movement of original A, then controller is defeated
Locking order persistence out stretches out stop push rod 232, clamping lock stopping wheel 231, to limit the rotation of tappet 231, accordingly
The same stopping of actuating strut 310 of actuating station acts.
If operator after feeling that control action is stopped, abandons the upward movement of original A, be changed to A to
Opposite B is to movement, then the B on tappet 210 persistently increases to the pressure value of manipulation pressure sensor, and on tappet 210
A to manipulation pressure sensor pressure value reduce, controller export unlock instruction to pusher 233, make the stop push rod
232 withdraw release stopping wheel 231, make tappet 231 with control action to B to movement, the actuating strut 310 of corresponding actuating station is same
Sample is acted to B to movement.
To B into motion process, if blocking of the actuating strut 310 by object, B on corresponding actuating strut 310 to
The pressure value of contact pressure sensor increases, until pressure value from the B being equal on tappet 210 to manipulation pressure sensor when,
Controller exports locking instruction to pusher 233, so that stop push rod 232 is stretched out clamping lock stopping wheel 231, to limit tappet
231 rotations, the same stop motion of actuating strut 310 of corresponding actuating station, by way of clamping lock stopping wheel 231, by actuating strut
310 stress condition feeds back to operator, and operator is made to experience the power generated because object stops.
In conclusion the force-feedback control method of wheeled stop disclosed in the present embodiment, according to manipulation pressure, contact pressure
Size and correlation, the distant force-bearing situation operated machine is fed back into operator, operator is enable accurately to grasp
Vertical machine, realizes the bi-directional synchronization of control and perception, improves the feeling of immersion when participating in the cintest of distant manipulation, remote operating greatly improved
Operation precision and real-time levels, overcoming operating side can not allow operator to perceive caused by actuating station stress condition accurately, in time
Manipulation fault, which destroys, to be performed article or executes contact force the problem of being not up to required value, make personnel's operating accuracy, real-time,
Fault-tolerance significantly increases；
The wheeled stop mechanism used, small in size, light-weight, reaction is alert and resourceful, agrees with well with linkage mechanism, control efficiency
Height has good practicability and convenience, improves man-machine efficacy.
Embodiment two,
Present embodiment discloses a kind of distant control devices in the joint based on force feedback, including manipulatable end and actuating station；
Manipulation end includes device for force feedback and controller；
Device for force feedback, for following control action campaign, acquire generated by control action include posture, speed,
Information including acceleration and manipulation pressure, is sent to the controller of manipulatable end；
Preferably, manipulation end device for force feedback composition connects as shown in figures 2 and 3；
Controller is sent to actuating station comprising the information including posture, speed and acceleration for will generate, and control executes
The movement executive device at end executes corresponding control action, receives the contact pressure for executing and incuding when control action；And according to institute
Manipulation pressure, contact pressure size and correlation are stated, exports unlock instruction or locking instruction to the device for force feedback
Wheeled stop mechanism unlocks the wheeled stop mechanism, follows device for force feedback wheeled described in control action campaign or locking
Stop mechanism makes device for force feedback stopping follow control action campaign.
The movement executive device composition connection of actuating station is as shown in fig. 4 or 5.
When manipulation end control actuating station carries out distant manipulation, using the force feedback control based on wheeled stop in embodiment one
Method processed, the movement executive device for manipulating actuating station executes control action, and force feedback is enable operator to operator
Enough accurate manipulation machines, realize the bi-directional synchronization of control and perception, improve the feeling of immersion when participating in the cintest of distant manipulation, greatly improved
The operation precision and real-time levels of remote operating, overcoming operating side can not allow operator is accurate, perception actuating station stress feelings in time
Manipulation fault caused by condition, which destroys, to be performed article or executes the problem of contact force is not up to required value, keeps personnel's operation accurate
Property, real-time, fault-tolerance significantly increase.
Embodiment three,
Present embodiment discloses a kind of wearable remote control control equipment, the present embodiment is made as example, such as Fig. 7 with the remote control of mechanical hand
It is shown, it include in a such as embodiment two in each joint of driving device for the driving device that may be worn on palm
Device for force feedback；Each joint that all device for force feedback generate the palm action that driving device acquires include posture, speed,
Information including acceleration and manipulation pressure, is sent to the controller of driving device；
As shown in fig. 7, being driven machine limbs, i.e. machine palm, include in each joint of machine palm
One such as the movement executive device in embodiment two；The driving device that execution may be worn on palm is sent dynamic by controller
Make, feeds back the external forces experienced.
When the driving device that may be worn on palm controls driven machine limbs and acted, to each joint
The force-feedback control method based on wheeled stop in device for force feedback sampling embodiment one, manipulate machine palm each
Joint action；And force feedback is enable into operator's accurate manipulation machine to operator, realize pair of control and perception
To synchronization, the feeling of immersion when participating in the cintest of distant manipulation is improved, the operation precision and real-time levels of remote operating greatly improved, overcome behaviour
Making end can not allow operator is accurate, manipulation fault caused by perception actuating station stress condition destroys and is performed article or execution in time
Contact force is not up to the problem of required value, significantly increases personnel's operating accuracy, real-time, fault-tolerance.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of force-feedback control method of wheeled stop characterized by comprising
The device for force feedback of manipulatable end follows control action campaign, and what acquisition was generated by control action includes posture, speed, adds
Information including speed and manipulation pressure, is sent to the controller of manipulatable end；
The controller of manipulatable end, which will be generated, is sent to actuating station comprising the information including posture, speed and acceleration, and control executes
The movement executive device at end executes corresponding control action, and the movement executive device induction connects when receiving execution control action
Touch pressure；
The controller exports unlock instruction or locking refers to according to the manipulation pressure, contact pressure size and correlation
The wheeled stop mechanism of the device for force feedback is enabled, the wheeled stop mechanism is unlocked, device for force feedback is made to follow manipulation dynamic
Move or locking described in wheeled stop mechanism, make device for force feedback stopping follow control action campaign.
2. force-feedback control method according to claim 1, which is characterized in that the device for force feedback include support base,
Tappet and wheeled stop mechanism；
The support base and the tappet are hinged；
It is provided with posture, speed, acceleration and pressure sensor on the tappet, incudes the packet generated by control action
Include the information including posture, speed, acceleration and manipulation pressure；
The wheeled stop mechanism includes stopping wheel, stop push rod and pusher；
The pusher is fixed on the support base, and is connect with the stop push rod, under the control that locking instructs,
Stretch out stop push rod；Under the control of unlock instruction, withdraw stop push rod；
The stop push rod, when stretching out, locking stopping wheel；When withdrawing, stopping wheel is discharged；
The stopping wheel is fixed on the tappet, and when the stopping wheel is in release conditions, the stopping wheel follows institute
State the rotation rotation of tappet；When being in lockup state, the stopping wheel by the stop push rod locking, thus limitation and its
Fixed tappet is rotated with control action.
3. force-feedback control method according to claim 2, which is characterized in that when the received manipulation pressure of the controller
When less than first pressure threshold value or being 0, the distant controller output locking instruction stretches the stop push rod to the pusher
Stopping wheel described in clamping lock out limits the tappet and rotates with control action；
When the received manipulation pressure of the controller is not less than first pressure threshold value, the manipulation pressure is produced with because manipulating
Raw, corresponding contact pressure size；
If manipulating pressure is not more than contact pressure, the controller output locking instruction makes the stop to the pusher
Push rod stretches out stopping wheel described in locking, limits the tappet with control action campaign；It is being more than institute if manipulating pressure to increase
Still lasting to increase after stating contact pressure, the controller exports unlock instruction to the pusher, withdraws the stop push rod
The stopping wheel is discharged, makes the tappet with control action campaign.
4. force-feedback control method according to claim 3, which is characterized in that the pressure sensing being arranged on the tappet
Device includes A to manipulation pressure sensor and B to manipulation pressure sensor；Actuating station actuating strut corresponding with the tappet
Upper correspondence is equipped with A to contact pressure sensor and B to contact pressure sensor, and A with the control action to move unanimously
Direction, B is to move opposite direction with the control action.
5. force-feedback control method according to claim 4, which is characterized in that when the A is to manipulation pressure sensor and B
When being both less than second pressure threshold value to the pressure value of manipulation pressure sensor, the controller output locking instruction to the promotion
Device makes the stop push rod stretch out stopping wheel described in locking, limits the tappet with control action campaign.
6. force-feedback control method according to claim 4, which is characterized in that when the A is to manipulation pressure sensor
Pressure value be greater than pressure value of the corresponding A to contact pressure sensor, and the B to manipulation pressure sensor pressure value
When less than third pressure threshold or being 0, the controller exports unlock instruction to the pusher, withdraws the stop push rod
The stopping wheel is discharged, makes the tappet with control action to A to movement；
When the corresponding A increases to the pressure value of contact pressure sensor, until being equal to the A to manipulation pressure sensor
When pressure value, the controller output locking instruction makes the stop push rod stretch out stopping wheel described in locking to the pusher,
The tappet is limited with control action campaign.
7. force-feedback control method according to claim 6, which is characterized in that when the A is to manipulation pressure sensor
Pressure value is equal to pressure value of the corresponding A to contact pressure sensor, and when the stopping wheel locking, if the A to
The pressure value of manipulation pressure sensor persistently increases, more than pressure value of the corresponding A to contact pressure sensor, the control
Device exports unlock instruction to the pusher, withdraws the stop push rod and discharges the stopping wheel, makes the tappet with behaviour
Vertical movement continues to A to movement.
8. force-feedback control method according to claim 6, which is characterized in that when the A is to manipulation pressure sensor
Pressure value is equal to pressure value of the corresponding A to contact pressure sensor, and when the stopping wheel locking, if the B to
The pressure value of manipulation pressure sensor persistently increases, and the A reduces to the pressure value of manipulation pressure sensor, the controller
Unlock instruction is exported to the pusher, the stop push rod is withdrawn and discharges the stopping wheel, make the tappet with manipulation
It acts to B to movement；
To B into motion process, when the corresponding B to the pressure value of contact pressure sensor increase, until be equal to the B
To manipulation pressure sensor pressure value when, controller output locking instruction makes the stop push rod to the pusher
Stopping wheel described in locking is stretched out, limits the tappet with control action campaign.
9. a kind of feed back control system of wheeled stopping type, which is characterized in that including manipulatable end and actuating station；
The manipulatable end implements the force-feedback control method based on wheeled stop as described in one of claim 1 to 8, manipulation
The movement executive device of actuating station executes corresponding control action.
10. a kind of wearable remote control control equipment, which is characterized in that including at least one wheeled stop as claimed in claim 9
The feed back control system of formula.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110142759A true CN110142759A (en) | 2019-08-20 |
| CN110142759B CN110142759B (en) | 2021-06-25 |
Family
ID=67589725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910321129.5A Active CN110142759B (en) | 2019-04-19 | 2019-04-19 | Wheel type stopping force feedback control method and device and wearable equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110142759B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158162A (en) * | 2011-12-19 | 2013-06-19 | 苏茂 | External-framework type bidirectional force feedback data glove |
| 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 |
| CN104635911A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Thumb far-knuckle force feedback device |
| US20160298807A1 (en) * | 2012-11-12 | 2016-10-13 | Indian Motorcycle International, LLC | Two-wheeled vehicle |
| 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 |
| 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 |
| 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 |
| CN109079757A (en) * | 2018-08-24 | 2018-12-25 | 北京机械设备研究所 | A kind of 3-freedom parallel mechanism applied to the main hand of remote operating |
-
2019
- 2019-04-19 CN CN201910321129.5A patent/CN110142759B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158162A (en) * | 2011-12-19 | 2013-06-19 | 苏茂 | External-framework type bidirectional force feedback data glove |
| US20160298807A1 (en) * | 2012-11-12 | 2016-10-13 | Indian Motorcycle International, LLC | Two-wheeled vehicle |
| CN104635911A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Thumb far-knuckle force feedback device |
| 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 |
| 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 |
| CN109079757A (en) * | 2018-08-24 | 2018-12-25 | 北京机械设备研究所 | A kind of 3-freedom parallel mechanism applied to the main hand of remote operating |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110142759B (en) | 2021-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102015005908B4 (en) | System for transporting a workpiece with a function for monitoring an external force | |
| CN105388879B (en) | Method of programming an industrial robot and industrial robots | |
| CN103765335B (en) | For method and system and the forming machine of the programming of the control of multiaxial type forming machine | |
| CN107914305B (en) | Cutting method and cutting system | |
| SG11201803873SA (en) | A drinks preparation machine, a system with a drinks preparation machine, method for its activation | |
| US20170001307A1 (en) | Method for controlling an automated work cell | |
| EP3444080B1 (en) | Actuator control system, actuator control method, information-processing program, and recording medium | |
| CN105862280B (en) | Pearl embroidery control system | |
| CN110142759A (en) | A kind of the force-feedback control method, apparatus and wearable device of wheeled stop | |
| CN108687758A (en) | The movement speed control device and method of robot | |
| CN206581050U (en) | A kind of automatic turning at neck angle scalds shaping equipment | |
| CN204000206U (en) | A kind of template replacement mechanism | |
| CN104047126A (en) | Sewing machine with templates easy to replace | |
| CN102331745A (en) | Bag making machine control system using bus-type motion controller and control method thereof | |
| CN107363098B (en) | Roll changing sequence control method of working roll shifting rolling mill | |
| CN1320738A (en) | Thread cutting device | |
| EP1267231A3 (en) | Method of controlling an automatic machine | |
| KR101263487B1 (en) | Teaching device for robot | |
| CN205943055U (en) | Remote controller and wireless remote control system | |
| CN202194956U (en) | Double-head needle mounting machine for large-size thrust bearing | |
| CN204058934U (en) | Manual bayonet carpet full-digital intelligent robot | |
| CN103935773A (en) | Device and method used for separating and conveying harness wires | |
| CN110142758A (en) | A kind of method for locking of wearable wheeled stop force feedback control device | |
| CN207874766U (en) | Injection molding machine automatic part picking control device | |
| CN201914746U (en) | Fabric feeding control device for roll-to-roll embroidery/quilting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |