Cartesian coordinate fluidic tactile display

Abstract

The invention provides a rectangular-coordinate-type jet flow tactual display. The rectangular-coordinate-type jet flow tactual display comprises a machine body, a display screen, a support network, a water insulation film, a water pump, a water intake pipe, a water exhaust pipe, a water temperature controller, a three-way valve, a vibration coupled film, a vibration coupler, an X-axis guide rail, an X-axis motor, an X-axis slide block, a Y-axis motor, a Y-axis slide block, a Y-axis guide rail, a coupler, a guide rail fixing seat, a motor support, a support plate, a jet flow spray pipe, a jet flow water column, a universal ball joint and a water tank. According to the scheme provided by the invention, the space position of the jet flow water column is controlled by completing the linear motion on a rectangular coordinate axis, thus realizing image-text display; the coordinates of the jet flow water column on the X axis and the Y axis are controlled respectively through the axis; moreover, the loads of the X-axis motor and the Y-axis motor are low, and drives of the X-axis motor and the Y-axis motor do not interfere mutually, so that the response capability and the stability of a system of the jet flow tactual display are improved well.

Description

technical field [0001] The invention relates to the technical field of tactile graphic display, in particular to a Cartesian coordinate fluidic tactile display. Background technique [0002] In the application of master-slave robots, the tactile reproduction can timely feed back the tactile information of the remote slave manipulator to the local operator, thereby effectively enhancing the operator's ability to control the remote slave manipulator in the remote operation system, and greatly improving the operation efficiency. speed and quality. The reproduction of tactile information can be achieved through visual means or physical stimulation. There are many ways of tactile reproduction based on physical stimulation. At present, the researches at home and abroad mainly include air jet stimulation, vibration stimulation, electrical stimulation and water jet stimulation. The biggest disadvantage of jet stimulation is that its bandwidth is small, about 10Hz; the disadvantage...

AI Technical Summary

Problems solved by technology

The biggest disadvantage of jet stimulation is that its bandwidth is small, about 10Hz; the disadvantage of vibration stimulation is that the structure is complicated, it is inconvenient to install or hinder the normal movement of fingers, and vibration tactile feedback can easily cause excessive heat and pain. The noise is also high; electrical stimulation is small in size, easy to install and connect with a computer, and is favored by researchers. Its main disadvantages are that it is easy to cause uncomfortable sensations (such as tingling), small dynamic range, and poor consistency.

However, since the load of the angle motor is a swing angle adjustment mechanism, the moment of inertia is large. When the speed is high, the moment of inertia of the moving parts will cause the system to respond slowly and reduce the stability.

Although it can be improved by dynamic balance, the modified structure is complex and expensive

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