Force Feedback Method and Force Feedback Device for Operating Axis of Remote Operating Device

Abstract

The present invention discloses a force feedback method for an operating shaft of a remote operation device, which is characterized by the following steps: an operating force is applied to the operating shaft; detecting the magnitude of the operating force applied to the operating shaft in the detecting step; if the value detected in the step is greater than or equal to a first set value, the operating shaft can be rotated; if the value detected in the step is less than the first set value, the operating shaft cannot be rotated; a force feedback device for an operating shaft of a remote operation device is also disclosed, which is characterized by including an operating 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. The beneficial effects of the present invention are: the present invention solves the problem that there is no feedback force on the hand of the operator during the operation of the remote operation device, and the operator can feel a certain resistance on the hand during the operation, thereby increasing the operation experience.

Description

Technical Field

[0001] The present invention relates to the field of remote operation devices, and particularly to a force feedback method and a force feedback device for an operation shaft of a remote operation device. Background Art

[0002] The remote operation device is used to indirectly control the execution device, and the execution device performs actions according to the action signals sent by the remote operation device. Since the remote operation device and the execution device are not directly connected, when operating the remote operation device, there is no feedback force on the operator's hand, resulting in a poor operation experience and prone to misoperations. Summary of the Invention

[0003] In order to solve the problems raised in the above background art, the present invention discloses a force feedback method for an operation shaft of a remote operation device, including the following steps:

[0004] An operation force is applied to the operation shaft;

[0005] Detection Step The magnitude of the operation force applied to the operation shaft is detected;

[0006] If in the step the detected value is greater than or equal to the first set value, the operation shaft can be rotated; if in the step the detected value is less than the first set value, the operation shaft cannot be rotated.

[0007] If in the step of Claim 1 the 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 in the step of Claim 1 the detected value is less than the first set value or greater than the second set value, the operation shaft cannot be rotated.

[0008] The present invention also discloses a force feedback device for an operating shaft of a remote operation device, including an operating 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 transfer plate, a force feedback pressure sensor, a force feedback limit plate, a force feedback coupling and a force feedback motor; the operating shaft fixing seat rotatably fixes an operating shaft; the force feedback turbine is sleeved on the operating shaft; the force feedback worm meshes with the force feedback turbine; the force feedback worm is slidably sleeved on the force feedback transmission shaft and the force feedback worm cannot rotate relative to the force feedback transmission shaft; one end of the force feedback transmission shaft sequentially passes through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transfer plate, the force feedback limit plate and is connected to the output shaft of the force feedback motor through the force feedback coupling; the other end of the force feedback transmission shaft sequentially passes through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transfer plate, the force feedback limit plate; the force feedback shaft sleeve and the force feedback pressure transfer plate can both slide axially along the force feedback transmission shaft; the force feedback pressure sensor is arranged between the force feedback limit plate and the force feedback pressure transfer plate; the force feedback spring presses the force feedback shaft sleeve against the shaft end of the force feedback worm and presses the force feedback pressure transfer plate against the force feedback pressure sensor; the force feedback motor and the force feedback limit plate are both fixed on the operating shaft fixing seat; the force feedback shaft sleeve can rotate and slide in the operating shaft fixing seat; the force feedback motor is controlled by a controller; the measured value of the force feedback pressure sensor is transmitted to the controller.

[0009] It further includes a force feedback limit plate adjusting plate; the force feedback limit plate far from the force feedback motor is fixed on the operating shaft fixing seat through the force feedback limit plate adjusting plate; by adjusting the force feedback limit plate adjusting plate, the position of the force feedback limit plate far from the force feedback motor along the axial direction of the force feedback transmission shaft can be adjusted.

[0010] The cross-section of the force feedback transmission shaft can be processed into a polygon and the inner part of the force feedback worm in the axial direction is also processed into a matching polygon.

[0011] The operating shaft is connected with an encoder; the encoder is used to measure the rotation angle of the operating shaft.

[0012] The beneficial effects of the present invention are as follows: The present invention solves the problem that there is no feedback force on the operator's hand during the operation of the remote operation device. When the operator operates, the hand feels a certain resistance, which increases the operation experience; by adjusting the first set value, the magnitude of the resistance felt by the operator's hand during operation can be adjusted; when the operating force is too large, the controller gives an alarm to prompt that the operating force is abnormal, which can effectively prevent the operator from misoperation. Description of the Drawings

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0014] Figure 2 is Figure 1 the front view of.

[0015] Figure 3 is Figure 1 the right view of.

[0016] Figure 4 is Figure 2 the sectional view along the A-A direction in.

[0017] Figure 5 is Figure 3 the sectional view along the B-B direction in.

[0018] Figure 6 This is the exploded view of the present invention. Detailed implementation manner

[0019] The following elaborates on the embodiments of the present invention in detail, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0020] Embodiment 1

[0021] A force feedback method for the operating shaft of a remote operation device, characterized by comprising the following steps:

[0022] An operating force is applied to the operating shaft;

[0023] Detection step The magnitude of the operating force applied to the operating shaft is detected;

[0024] If in step 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), then the operating shaft can be rotated; if in step the detected value is less than the first set value or greater than the second set value, then the operating shaft cannot be rotated.

[0025] Refer to the appendix Figure 1-6, a force feedback device for remotely operating the operating shaft, comprising 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 transfer plate W6, a force feedback pressure sensor W7, a force feedback limit plate W8, a force feedback coupling W9 and a force feedback motor W11; the operating shaft fixing seat 3 rotatably fixes an operating shaft 1; the force feedback turbine W1 is sleeved on the operating shaft 1; the force feedback worm W2 meshes with the force feedback turbine W1; the force feedback worm W2 is slidably sleeved on the force feedback transmission shaft W3 and the force feedback worm W2 cannot rotate relative to 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 transfer plate W6, the force feedback limit plate W8 and is connected to the output shaft of the force feedback motor W11 through the force feedback coupling W9; the other 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 transfer plate W6, the force feedback limit plate W8; the force feedback shaft sleeve W4 and the force feedback pressure transfer plate W6 can both slide axially along the force feedback transmission shaft W3; the force feedback pressure sensor W7 is arranged between the force feedback limit plate W8 and the force feedback pressure transfer plate W6; the force feedback spring W5 presses the force feedback shaft sleeve W4 against the shaft end of the force feedback worm W2 and presses the force feedback pressure transfer plate W6 against the force feedback pressure sensor W7; the force feedback motor W11 and the force feedback limit plate W8 are both fixed on the operating shaft fixing seat 3; the force feedback shaft sleeve W4 can rotate and slide within the operating shaft fixing seat 3; the force feedback motor W11 is controlled by a controller; the measured value of the force feedback pressure sensor W7 is transmitted to the controller.

[0026] It further includes a force feedback limit plate adjustment plate W12; the force feedback limit plate W8 far from the force feedback motor W11 is fixed on the operating shaft fixing seat 3 through the force feedback limit plate adjustment plate W12; by adjusting the force feedback limit plate adjustment plate W12, the position of the force feedback limit plate W8 far from the force feedback motor W11 along the axial direction of the force feedback transmission shaft W3 can be adjusted. In this way, the measured value of the force feedback pressure sensor W7 in the initial state of the operating shaft 1 can be adjusted.

[0027] The cross-section of the force feedback transmission shaft W3 can be machined into a polygon and the inner part of the force feedback worm W2 in the axial direction is also machined into a matching polygon; the polygon can be a triangle, a quadrilateral, a pentagon or a hexagon.

[0028] The operating shaft 1 is connected with an encoder 4; the encoder 4 is used to measure the rotation angle of the operating shaft 1; the corresponding execution shaft of the execution device performs corresponding actions according to the measured value of the encoder 4.

[0029] The working principle of the force feedback device of the operating shaft of the remote operating device is explained as follows: due to the worm gear transmission, if the turbine actively rotates, the turbine worm has a self-locking effect. Therefore, when the operator actively operates the operating shaft 1, the operating shaft 1 drives the force feedback turbine W1 to produce a corresponding rotation trend; the force feedback worm W2 slides along the axial direction of the force feedback transmission shaft W3, and the measurement values of the force feedback pressure sensors W7 on both sides change and are transmitted to the controller. The controller can convert the operating force exerted on the operating shaft 1 through the change in the measurement value of the force feedback pressure sensor W7 combined with the transmission relationship; when the operating force exerted on the operating shaft 1 is less than the first set value, the operating shaft 1 It is locked and does not move; when the operating force applied to the operating shaft 1 is greater than or equal to the first set value, the controller controls the force feedback motor W11 to drive the force feedback transmission shaft W3 to rotate, thereby driving the force feedback turbine W1 to rotate in the direction of generating a corresponding rotation trend, so that the operator's hands can feel a certain resistance during operation, thereby increasing the operating experience; by adjusting the first set value, the size of the resistance felt by the operator's hands during operation can be adjusted; when the operating force applied to the operating shaft 1 is greater than the second set value, the operating shaft 1 is locked and does not move, and the controller issues an alarm to prompt that the operating force is abnormal, which can effectively prevent the operator from operating incorrectly.

[0030] The present invention solves the problem that the operator's hands have no feedback force when operating the remote operating device. The operator feels a certain resistance in the hands during operation, thereby improving the operating experience.

[0031] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. Force feedback method for the operating shaft of a remote operating device, characterized in that the force feedback method for the operating shaft of the remote operating device is realized based on a force feedback device for the operating shaft of the remote operating device, the force feedback device for the operating shaft of the remote operating device includes an operating 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 transfer plate, a force feedback pressure sensor, a force feedback limit plate, a force feedback coupling and a force feedback motor; the operating shaft fixing seat rotatably fixes an operating shaft; the force feedback turbine is sleeved on the operating shaft; the force feedback worm meshes with the force feedback turbine; the force feedback worm is slidably sleeved on the force feedback transmission shaft and the force feedback worm cannot rotate relative to the force feedback transmission shaft; one end of the force feedback transmission shaft sequentially passes through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transfer plate, the force feedback limit plate and is connected to the output shaft of the force feedback motor through the force feedback coupling; the other end of the force feedback transmission shaft sequentially passes through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transfer plate, the force feedback limit plate; the force feedback shaft sleeve and the force feedback pressure transfer plate can both slide along the axial direction of the force feedback transmission shaft; the force feedback pressure sensor is arranged between the force feedback limit plate and the force feedback pressure transfer plate; the force feedback spring presses the force feedback shaft sleeve against the shaft end of the force feedback worm and presses the force feedback pressure transfer plate against the force feedback pressure sensor; the force feedback motor and the force feedback limit plate are both fixed to the operating shaft fixing seat; the force feedback shaft sleeve can rotate and slide within the operating shaft fixing seat; the force feedback motor is controlled by a controller; the measured value of the force feedback pressure sensor is transmitted to the controller, further comprising a force feedback limit plate adjustment plate; the force feedback limit plate away from the force feedback motor is fixed to the operating shaft fixing seat through the force feedback limit plate adjustment plate; by adjusting the force feedback limit plate adjustment plate, the position of the force feedback limit plate away from the force feedback motor along the axial direction of the force feedback transmission shaft can be adjusted, the cross-section of the force feedback transmission shaft can be processed into a polygon and the inside of the force feedback worm in the axial direction is also processed into a matching polygon, the operating shaft is connected with an encoder; the encoder is used to measure the rotation angle of the operating shaft, the force feedback method for the operating shaft of the remote operating device includes the following steps: an operating force is applied to the operating shaft; detection step: measuring the magnitude of the operating force applied to the operating shaft; if the value detected in step is greater than or equal to the first set value, the operating shaft can be rotated; if the value detected in step is less than the first set value, the operating shaft cannot be rotated.

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