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Wearable wheel type stop force feedback joint and force feedback control device

A technology of stopping force and force feedback, which is applied in the direction of program-controlled manipulators, manipulators, joints, etc., can solve the problems that the operator cannot perceive the force on the execution end in time, and cannot issue control commands in a timely and accurate manner, so as to improve the sense of immersion on the spot , Good practicability and convenience, realize the effect of two-way synchronization

Active Publication Date: 2019-08-06
CHINA AEROSPACE TIMES ELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the above analysis, the present invention aims to provide a wearable wheel-type stop force feedback joint and a force feedback control device to solve the problem that the operator cannot perceive and perform fine joint movements in the prior art when the intelligent operation equipment performs fine micro-joint movements. The force situation of the end, and the problem of being unable to issue precise control commands in a timely and accurate manner

Method used

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  • Wearable wheel type stop force feedback joint and force feedback control device
  • Wearable wheel type stop force feedback joint and force feedback control device
  • Wearable wheel type stop force feedback joint and force feedback control device

Examples

Experimental program
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Effect test

Embodiment 1

[0044] A specific embodiment of the present invention discloses a wearable wheel-type stop force feedback joint, comprising: a support base 1 , a follower rod 3 , a wheel-type stop mechanism 2 , a clasp 4 and fasteners. The wheel stop mechanism includes: a stop wheel 21 , a stop push rod 22 and a pusher 23 . The snap ring 4 is equipped with a follower rod A direction pressure sensor 41 and a follower rod B direction pressure sensor 42 .

[0045] Specifically, the follower lever 3 is hinged with the support base 1, and the stop wheel 21 of the wheel brake mechanism 2 is installed on the follower lever 3. When the follower lever 3 rotates relative to the support base 1 as the operator moves, The stop wheel 21 also rotates synchronously.

[0046] Preferably, the central axis of the stop wheel 21 coincides with the rotation center of the joint, that is, the central axis of the stop wheel is coaxial with the rotation center of the follower rod 3 and the support base 1, which can e...

Embodiment 2

[0077] A wearable wheel-type stop force feedback control device, including at least one wheel-type stop force feedback joint, a motion capture system and a control device 13;

[0078] When there are multiple wheel-type stop force feedback joints, the plurality of wheel-type stop force feedback joints are combined into a wearable force feedback device through series or parallel connection;

[0079] The motion capture system is installed on the force feedback joint, including: the angle sensor installed at the joint rotation position and the pressure sensor installed on the joint, used to collect the motion information generated by the manipulation action, including: attitude, speed, acceleration and operating pressure;

[0080] The control device 13 is used to send the motion information collected by the motion capture system to the motion execution device for execution; the control device is also used to control the unlocking or locking of the stop wheel 21 of the wheel-type s...

Embodiment 3

[0092] This embodiment provides a wearable wheel-type stop force feedback control glove, and the wearable wheel-type stop force feedback control glove is used as a control end of the force feedback control system.

[0093] Specifically, such as image 3 As shown, the wearable wheeled stop force feedback control glove includes: mounting base 12, control device 13 and five force feedback finger joints.

[0094]Specifically, each force feedback finger joint is hinged in series with two wheel-type stop force feedback joints, that is, it includes three joints connected in series, has two rotation centers, and a wheel-type stopper is set at each rotation position. mechanism.

[0095] Each wheel-type brake force feedback joint includes two joint parts. After the two wheel-type brake force feedback joints are connected in series, the follower rod 3 of the previous wheel-type brake force feedback joint serves as the support for the latter wheel brake force feedback joint. Seat 1. Th...

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Abstract

The invention relates to a wearable wheel type stop force feedback joint and a force feedback control device, belongs to the technical field of intelligent operation, and solves the problems that in the prior art, when an intelligent operation device executes a fine joint action, an operator cannot timely perceive the stress condition of an executing end and cannot timely and accurately send out an accurate control command. According to the force feedback joint provided by the invention, a support seat and a follower lever are hinged, a stop wheel is fixed onto the follower lever and synchronously rotates with the follower lever, and a stop push rod of a wheel type stop mechanism is clamped into the stop wheel under the push of a pusher, so that the stop wheel and the follower lever can belocked. The force feedback control device can acquire action information such as gesture, speed, accelerated speed and control pressure and controls an action execution device to execute, and the wheel type stop mechanism is controlled to stop when the executing end makes contact with an object. The accuracy of the control command of an operating end is realized, and the problem that an object tobe executed is damaged due to a control fault or an execution contact force cannot reach a required value is avoided.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to a wearable wheel-type stop force feedback joint and a force feedback control device. Background technique [0002] The existing follow-up teleoperation equipment usually realizes the control of the joint motion of the remote control end by collecting the joint angle parameters of the operation end. However, when performing some fine micro-joint movements, the operator cannot sense the force of the execution end in time, resulting in the inability to timely Accurately sending out the correct control instructions will cause the execution end to easily damage the object to be executed or the execution contact force to fail to reach the required value when performing fine movements. Contents of the invention [0003] In view of the above analysis, the present invention aims to provide a wearable wheeled stop force feedback joint and a force feedback control device to so...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08B25J17/02
CPCB25J9/1602B25J9/1694B25J13/085B25J17/02
Inventor 杨斌禹继芳周砚王昱天杨子健姚望
Owner CHINA AEROSPACE TIMES ELECTRONICS
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