CN105116961A - Intelligent force feedback handle and control method thereof - Google Patents
Intelligent force feedback handle and control method thereof Download PDFInfo
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- CN105116961A CN105116961A CN201510431214.9A CN201510431214A CN105116961A CN 105116961 A CN105116961 A CN 105116961A CN 201510431214 A CN201510431214 A CN 201510431214A CN 105116961 A CN105116961 A CN 105116961A
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Abstract
The invention discloses an intelligent force feedback handle and a control method thereof. The handle comprises an X-axis rotation part, a Y-axis rotation part, and a Z-axis rotation part. The X-axis rotation part comprises an inner frame and an X-axis driving device for driving the inner frame to rotate about the X axis. The Y-axis rotation part comprises a center cylinder and a Y-axis driving device for driving the center cylinder to rotate about the Y axis. The Z-axis rotation part comprises a handle operation lever and a Z-axis driving device for driving the handle operation lever to rotate about the Z axis. The center cylinder is rotationally arranged in a hollow frame body of the inner frame, and the rotation direction of the center cylinder and the rotation direction of the inner frame are perpendicular to each other. The handle operation lever is rotationally arranged inside the center cylinder around the axis, and the handle operation lever and the center cylinder are coaxial. The size of the handle is optimized, and the method achieves an intelligent damping control effect and an automatic reset effect.
Description
Technical field
The present invention is a kind of force feedback equipment of intelligentized Three Degree Of Freedom, is mainly used in robot controlling and field of virtual reality in space flight, deep-sea or the environment that is pernicious to people, can measures rotational angle and provide force teleprence.
Background technology
Along with the widespread use of interactive teleoperation robot and virtual reality technology, more emerging practical technique was as remote teaching, tele-medicine, and the very strong dependence to telepresenc Robotics such as virtual reality technology, make high performance human-computer interface device seem particularly important.Force feedback operating device is as common a kind of man-machine interface, the posture information of its energy acquisition operations person arm is as steering order, generate the motion that control command controls far-end operation object or virtual objects, and realize the direct nucleus formation of power visual information that object passes back in the feedback force of staff or moment, be that operator produces the on-the-spot or on-the-spot force teleprence effect on the spot in person of virtual robot of floor-washing robot far away.In recent years, force feedback hand controlled device has become the study hotspot of various countries scientific research personnel, American-European countries, has had the force feedback equipment launch of the maturation as Omega and Delta, and being in world lead level, the domestic research to force feedback equipment also achieves significant progress.General force feedback assembly can be divided into tandem device for force feedback, parallel device for force feedback, series parallel type device for force feedback.The feature of tandem force feedback equipment is open-chain structure, and rigidity is poor yielding, not easily produces larger feedback force; Parallel force feedback equipment inertia is low, and rigidity, precision, back drive-ability have very large advantage, but to be volume larger for shortcoming; Series parallel type force feedback equipment then combines tandem and parallel advantage, and volume is also larger simultaneously.A lot of force feedback operating devices of current proposition do not arrange intelligentized control method effect, such as, can not realize automatically reseting.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of intelligent force feedback handle and control method thereof, the rotational angle in three directions can be measured, feedback force is provided, and export multidimensional steering force information, handle self realizes gravity self-balancing, by Based Intelligent Control, can realize automatically reseting and the intelligent functions such as damping control.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A kind of intelligent force feedback handle, comprises X-axis rotating part, Y-axis rotating part and Z axis rotating part; The X-axis drive unit that described X-axis rotating part comprises inside casing and drives inside casing to rotate around X-axis, the Y-axis drive unit that described Y-axis rotating part comprises central tube and drives central tube to rotate around Y-axis, described Z axis rotating part comprises the Z axis drive unit that lever handle and driving handle operating rod rotate around Z axis, described central tube rotates in the hollow framework be arranged in inside casing, and central tube is mutually vertical with inside casing rotation direction, described lever handle is arranged on central tube inside around its axis rotation, and lever handle and central tube coaxial.
Further, described X-axis drive unit comprises two X coupling shafts, X conical gear group, X speed reduction unit and X motor, the two side ends of described inside casing is located on support respectively by the X coupling shaft turret of correspondence, two X coupling shaft axis to be on a straight line and to overlap with X-axis, wherein X coupling shaft in side is installed with X conical gear group through support and is connected, and described X conical gear group is connected with X motor output end by X speed reduction unit; X motor drives inside casing to rotate around X-axis; Described Y-axis drive unit comprises two Y coupling shafts, Y conical gear group, Y speed reduction unit and Y motor, the two side walls of described central tube is located at the internal face of inside casing respectively by the Y coupling shaft turret of correspondence, two Y coupling shaft axis to be on a straight line and to overlap with Y-axis, wherein Y coupling shaft in side is installed with Y conical gear group through inside casing and is connected, and described Y conical gear group is connected with Y motor output end by Y speed reduction unit; Y motor drives central tube to rotate around Y-axis in inside casing; Described Z axis drive unit comprises Z motor, Z speed reduction unit and lever handle, and the inside of described central tube is provided with Z motor that is coaxial with it, axle center, and the output terminal of Z motor is connected with lever handle bottom position by Z speed reduction unit; Z motor driving handle operating rod rotates around Z axis.
Further, described X motor tail end is provided with X-ray photoelectric coder, and Y motor tail end is provided with Y photoelectric encoder, and the afterbody of Z motor is provided with Z photoelectric encoder.
Further, described lever handle centre position is provided with four axial force sensors, the power swung can be measured respectively, the power of swing, the moment rotated along Z axis and the pressure of above-below direction, the apical position of described lever handle is connected with pallet and handle from the bottom to top in turn, and described handle is provided with touch sensor; Z motor driving handle operating rod drives four axial force sensors, pallet and handle to rotate around Z axis.
Further, the XOY plane that described X-axis rotating part and Y-axis rotating part are formed, at described Z axis rotating part, the gravity above XOY plane is equal with the gravity below XOY plane.
Further, described X conical gear group comprises X conical gear one and X conical gear two, and described X conical gear one and X conical gear two mutually vertical-transmission are connected; Described Y conical gear group comprises Y conical gear one and Y conical gear two, and described Y conical gear one and Y conical gear two mutually vertical-transmission are connected.
Further, on Y-axis drive unit, opposite side Y coupling shaft is connected with counterweight through inside casing, and described counterweight and Y motor are about central tube symmetry, and the gravity that the gravitational equilibrium Y-axis drive unit of described counterweight brings disturbs.
A kind of control method of intelligent force feedback handle, hand is placed in operating grip on pallet by operator, described four axial force sensors measure the actual force around X-axis, Y-axis and Z axis or moment that operator applies respectively to lever handle, power required for actual force or moment and theory or moment are done difference, and difference is inputed to PID controller, by PID controller control X motor, Y motor and Z motor output drive strength or moment.
Further, the angle of trigger rod on X-axis, Y-axis and Z axis three directions is recorded by X-ray photoelectric coder, Y photoelectric encoder and Z photoelectric encoder, thus calculate velocity of rotation, draw damping force or the moment of needs proportional with it, the damping force of needs or moment and the actual acting force that records or moment are asked poor, and difference is inputed to PID controller, by PID controller control X motor, Y motor and Z motor output drive strength or moment, be the damping force that handle is subject to.
Further, operator's hand release handle, the power that the touch sensor on handle detects is zero, starting handle reset mode; When four axial force sensors detect that the power of above-below direction is non-vanishing, namely hand is still placed on pallet, enters reset mode at a slow speed, is still placed on pallet, enters Rapid reset pattern when four axial force sensors do not detect hand; Actual outgoing position and the origin position of described X-ray photoelectric coder, Y photoelectric encoder and the collection of Z photoelectric encoder do difference, and difference is inputed to PID controller, are resetted by PID controller control X motor, Y motor and Z motor driving handle control lever.
Beneficial effect: advantage of the present invention is as follows:
1, adopt the power that four axial force sensors directly measure all around and the moment of rotating around Z axis, by method power output or the moment of PID closed-loop control, reduce error, improve the degree of accuracy of power output or moment.
2, Based Intelligent Control damping mode is adopted, the speed of the damping that operator experiences and operating grip is directly proportional, when preventing operator's operating grip, damping makes too greatly operator produce sense of fatigue, or the too little operator's operating speed that makes of damping is too fast, is conducive to operator and accurately controls.
3, judge whether operator holds handle according to touch sensor, when operator holds handle, handle is in mode of operation, when operator decontrols handle, handle is in reset mode, the position signalling that can record according to photoelectric encoder carries out outgoing position and carries out PID control, realizes the zero of handle on locus and reset.The power can measuring above-below direction of four axial force sensors, namely operator's hand is to the pressure of pallet, judge operator whether by hand placement on pallet, when operator's hand is placed on pallet, and when not holding handle, realize the reset compared with jogging speed, when operator's hand is not placed on pallet, and every page is held handle, realize the reset of comparatively fast reading.
4, mechanism is simple, and reasonable in design, easy to operate, space has been saved in the arrangement of motor position greatly, achieves smart handle and realizes miniaturization.
5, the motion of handle in each direction can not have influence on the motion in other direction, and the motion on three degree of freedom does not need decoupling zero, simplifies control algolithm.The space of handle hand position take decreased food as the sphere of radius, and the angle map that the degree of freedom in locus and three directions is rotated uniquely determines there is not the problem of singular point.
Accompanying drawing explanation
Fig. 1 is Intelligent Force feedback handle gear train stereographic map;
Fig. 2 is the front view of Intelligent Force feedback handle schematic diagram;
Fig. 3 is the right view of Intelligent Force feedback handle schematic diagram;
Fig. 4 is the control principle drawing of Intelligent Force feedback handle under force feedback pattern;
Fig. 5 is the control principle drawing of Intelligent Force feedback handle under mutative damp pattern;
Fig. 6 is the control principle drawing of Intelligent Force feedback handle under reset mode.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Be a kind of intelligent force feedback handle as shown in Figure 1,2 and 3, comprise X-axis rotating part, Y-axis rotating part and Z axis rotating part; The X-axis drive unit that described X-axis rotating part comprises inside casing 5 and drives inside casing 5 to rotate around X-axis, the Y-axis drive unit that described Y-axis rotating part comprises central tube 6 and drives central tube 6 to rotate around Y-axis, described Z axis rotating part comprises the Z axis drive unit that lever handle 24 and driving handle operating rod 24 rotate around Z axis, described central tube 6 rotates in the hollow framework be arranged in inside casing 5, and central tube 6 is mutually vertical with inside casing 5 rotation direction, it is inner that described lever handle 24 is arranged on central tube 6 around its axis rotation, and lever handle 24 is coaxial with central tube 6.
Concrete, described X-axis drive unit comprises two X coupling shafts 28, X conical gear group, X speed reduction unit 10 and X motor 8, the two side ends of described inside casing 5 is located on support 4 upper shaft hole respectively by the X coupling shaft 28 of correspondence and ring flange turret, realize dynamic fit by bearings, inside casing 5 can be rotated around X-axis; Wherein side X coupling shaft 28 is installed with X conical gear group through support 4 and is connected, and described X conical gear group comprises X conical gear 1 and X conical gear 2 12, and described X conical gear 1 and X conical gear 2 12 mutually vertical-transmission are connected; Described X conical gear group is connected with X motor 8 output terminal by X speed reduction unit 10, and described X motor tail end is provided with X-ray photoelectric coder 9, X motor 8 and drives inside casing 5 to rotate around X-axis.
Described Y-axis drive unit comprises two Y coupling shafts 34, Y conical gear group, Y speed reduction unit 16 and Y motor 14, the two side walls of described central tube 6 is located on the axis hole of the internal face of inside casing 5 respectively by the Y coupling shaft 34 of correspondence and ring flange turret, dynamic fit is realized by bearings, wherein two Y coupling shaft 34 axis to be on a straight line and to overlap with Y-axis, central tube 6 can be rotated around Y-axis, wherein side Y coupling shaft 34 is installed with Y conical gear group through inside casing 5 and is connected, described Y conical gear group comprises Y conical gear 1 and Y conical gear 2 18, described Y conical gear 1 and Y conical gear 2 18 mutually vertical-transmission are connected, described Y conical gear group is connected with Y motor 14 output terminal by Y speed reduction unit 16, Y motor tail end is provided with Y photoelectric encoder 15, Y motor 14 drives central tube 6 to rotate around Y-axis in inside casing 5.
Described Z axis drive unit comprises Z motor 20, Z speed reduction unit 22 and lever handle 24, the inside of described central tube 6 is provided with Z motor 20 that is coaxial with it, axle center, the output terminal of Z motor 20 is connected with lever handle 24 bottom position by Z speed reduction unit 22, the afterbody of Z motor is provided with Z photoelectric encoder 21, Z motor 20 driving handle operating rod 24 and rotates around Z axis.
Described lever handle 24 centre position is provided with four axial force sensors 25, the power swung can be measured respectively, the power of swing, the moment rotated along Z axis and the pressure of above-below direction, the apical position of described lever handle 24 is connected with pallet 42 and handle 26 from the bottom to top in turn, and described handle 26 is provided with touch sensor 27, be used for having judged whether that operator brings into use handle, when the light handle 26 of operator, certain force signal will be produced, otherwise force signal is zero.The power of above-below direction that wherein four axial force sensors 25 are measured be used for judging operator whether by hand pendulum on pallet 42.Z motor 20 driving handle operating rod 24 drives four axial force sensors 25, pallet 42 and handle 26 to rotate around Z axis.
The XOY plane that described X-axis rotating part and Y-axis rotating part are formed, at described Z axis rotating part, the gravity above XOY plane is equal with the gravity below XOY plane.On Y-axis drive unit, opposite side Y coupling shaft 34 is connected with counterweight 23 through inside casing 5, and described counterweight 23 is symmetrical about central tube 6 with Y motor 14, and the gravity that the gravitational equilibrium Y-axis drive unit of described counterweight 23 brings disturbs.
A kind of control method of intelligent force feedback handle, hand is placed in operating grip 26 on pallet 42 by operator, described four axial force sensors 25 measure the actual force around X-axis, Y-axis and Z axis or moment that operator applies respectively to lever handle 24, power required for actual force or moment and theory or moment are done difference, and difference is inputed to PID controller, by PID controller control X motor 8, Y motor 14 and Z motor 20 output drive strength or moment.
Further, the angle of trigger rod 24 on X-axis, Y-axis and Z axis three directions is recorded by X-ray photoelectric coder 9, Y photoelectric encoder 15 and Z photoelectric encoder 21, thus calculate velocity of rotation, draw the damping force or moment that are directly proportional to speed, damping force or moment and actual force or moment are asked poor, and difference is inputed to PID controller, by PID controller control X motor 8, Y motor 14 and Z motor 20 output drive strength or moment.
Operator's release handle 26, the power that the touch sensor 27 on handle 26 detects is zero, starting handle reset mode; Still be placed on pallet 42 when four axial force sensors 25 detect hand, enter reset mode at a slow speed, be still placed on pallet 42 when four axial force sensors 25 do not detect hand, enter Rapid reset pattern;
The actual outgoing position that described X-ray photoelectric coder 9, Y photoelectric encoder 15 and Z photoelectric encoder 21 gather and origin position do difference, and difference is inputed to PID controller, resetted by PID controller control X motor 8, Y motor 14 and Z motor 20 driving handle control lever 24.
Concrete introduction, the control program in the present invention under force feedback mode of operation adopts closed-loop control, and control principle as shown in Figure 4.Four axial force sensors 25 on trigger rod 24 measure power or the moment of the reality in all directions in real time, obtain the power suffered by operator or moment, itself and the value of the required power fed back in theory are made difference, and difference is input in PID controller, the output current of each motor is controlled by PID controller, electric current drive motor, makes power or the moment of its stable output, namely required in theory power or moment.Wherein, according to the output torque of X motor 8, Y motor 14 and Z motor 20, the size of reduction gear ratio and the length of trigger rod 24 can calculate output torque in all directions or power.
When operator hold handle 26 move time, in order to when preventing operator's operating grip, damping makes too greatly operator produce sense of fatigue, or the too little operator's operating speed that makes of damping is too fast, the effect accurately controlled cannot be reached, the present invention adopts Based Intelligent Control damping mode, and the control principle of mutative damp pattern as shown in Figure 5.The damping experienced during operator's operating grip and the speed of operating grip are directly proportional, and the relation formula between them can be expressed as
for damping force,
for the speed of operator's control crank.Equally pid control algorithm is adopted to the output of damping force.Measure by photoelectric encoder the angle that handle rotates on three degree of freedom, thus calculate the speed of rotation, according to the relation of damping force and velocity of rotation above, required damping force can be drawn.Do difference with power required for theory again after required damping force and actual force summation, and difference is inputed to PID controller, by PID controller control X motor 8, Y motor 14 and Z motor 20 output drive strength.
When operator holds handle, being positioned at touch sensor 27 on handle can power output signal, and now smart handle is positioned at mode of operation, is in the stage of operator's control crank motion.As Fig. 6, this smart handle can also realize automatically reset function, and the mode of operation that automatically resets is divided into very fast reset and resets more slowly.When operator decontrols handle, the power that the touch sensor 27 on handle records is zero; When four axial force sensors 25 detect that hand is placed on pallet 42 by operator, handle is in slower reset mode, and when four axial force sensors 25 do not detect that hand is placed on pallet 42 by operator, handle is in very fast reset mode.On this basis, record according to four axial force sensors 25 hand can to realize joystick reset speed to the pressure of pallet 42.During concrete reset, smart handle, according to the information of each photoelectric encoder read in real time, drives each electric machine rotation, makes trigger rod 24 move to initial position and stop, realize the reset of smart handle.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. an intelligent force feedback handle, is characterized in that: comprise X-axis rotating part, Y-axis rotating part and Z axis rotating part, the X-axis drive unit that described X-axis rotating part comprises inside casing (5) and drives inside casing (5) to rotate around X-axis, the Y-axis drive unit that described Y-axis rotating part comprises central tube (6) and drives central tube (6) to rotate around Y-axis, described Z axis rotating part comprises the Z axis drive unit that lever handle (24) and driving handle operating rod (24) rotate around Z axis, described central tube (6) rotates in the hollow framework be arranged in inside casing (5), and central tube (6) is mutually vertical with inside casing (5) rotation direction, it is inner that described lever handle (24) is arranged on central tube (6) around its axis rotation, and lever handle (24) is coaxial with central tube (6).
2. a kind of intelligent force feedback handle according to claim 1, it is characterized in that: described X-axis drive unit comprises two X coupling shafts (28), X conical gear group, X speed reduction unit (10) and X motor (8), the two side ends of described inside casing (5) is located on support (4) respectively by X coupling shaft (28) turret of correspondence, two X coupling shaft (28) axis to be on a straight line and to overlap with X-axis, wherein side X coupling shaft (28) to be installed with X conical gear group through support (4) and is connected, described X conical gear group is connected with X motor (8) output terminal by X speed reduction unit (10), X motor (8) drives inside casing (5) to rotate around X-axis,
Described Y-axis drive unit comprises two Y coupling shafts (34), Y conical gear group, Y speed reduction unit (16) and Y motor (14), the two side walls of described central tube (6) is located at the internal face of inside casing (5) respectively by Y coupling shaft (34) turret of correspondence, two Y coupling shaft (34) axis to be on a straight line and to overlap with Y-axis, wherein side Y coupling shaft (34) to be installed with Y conical gear group through inside casing (5) and is connected, and described Y conical gear group is connected with Y motor (14) output terminal by Y speed reduction unit (16); Y motor (14) drives central tube (6) to rotate around Y-axis in inside casing (5);
Described Z axis drive unit comprises Z motor (20), Z speed reduction unit (22) and lever handle (24), the inside of described central tube (6) is provided with Z motor (20) that is coaxial with it, axle center, and the output terminal of Z motor (20) is connected with lever handle (24) bottom position by Z speed reduction unit (22); Z motor (20) driving handle operating rod (24) rotates around Z axis.
3. a kind of intelligent force feedback handle according to claim 2, it is characterized in that: described X motor tail end is provided with X-ray photoelectric coder (9), Y motor tail end is provided with Y photoelectric encoder (15), and the afterbody of Z motor is provided with Z photoelectric encoder (21).
4. a kind of intelligent force feedback handle according to claim 2, it is characterized in that: described lever handle (24) centre position is provided with four axial force sensors (25), the power swung can be measured respectively, the power of swing, the moment rotated along Z axis and the pressure of above-below direction, the apical position of described lever handle (24) is connected with pallet (42) and handle (26) from the bottom to top in turn, described handle (26) is provided with touch sensor (27); Z motor (20) driving handle operating rod (24) drives four axial force sensors (25), pallet (42) and handle (26) to rotate around Z axis.
5. a kind of intelligent force feedback handle according to claim 4, is characterized in that: the XOY plane that described X-axis rotating part and Y-axis rotating part are formed, and at described Z axis rotating part, the gravity above XOY plane is equal with the gravity below XOY plane.
6. a kind of intelligent force feedback handle according to claim 2, it is characterized in that: described X conical gear group comprises X conical gear one (11) and X conical gear two (12), described X conical gear one (11) is connected with the mutual vertical-transmission of X conical gear two (12); Described Y conical gear group comprises Y conical gear one (17) and Y conical gear two (18), and described Y conical gear one (17) is connected with the mutual vertical-transmission of Y conical gear two (18).
7. a kind of intelligent force feedback handle according to claim 2, it is characterized in that: on Y-axis drive unit, opposite side Y coupling shaft (34) is connected with counterweight (23) through inside casing (5), described counterweight (23) is symmetrical about central tube (6) with Y motor (14), and the gravity that the gravitational equilibrium Y-axis drive unit of described counterweight (23) brings disturbs.
8. the control method of an intelligent force feedback handle, it is characterized in that: hand is placed in the upper operating grip (26) of pallet (42) by operator, described four axial force sensors (25) measure the actual force around X-axis, Y-axis and Z axis or moment that operator applies respectively to lever handle (24), power required for actual force or moment and theory or moment are done difference, and difference is inputed to PID controller, by PID controller control X motor (8), Y motor (14) and Z motor (20) output drive strength or moment.
9. the control method of a kind of intelligent force feedback handle according to claim 8, it is characterized in that: by X-ray photoelectric coder (9), Y photoelectric encoder (15) and Z photoelectric encoder (21) record trigger rod (24) in X-axis, angle on Y-axis and Z axis three directions, thus calculate velocity of rotation, draw damping force or the moment of needs proportional with it, the damping force of needs or moment and the actual acting force that records or moment are asked poor, and difference is inputed to PID controller, by PID controller control X motor (8), Y motor (14) and Z motor (20) output drive strength or moment, be the damping force that handle is subject to.
10. the control method of a kind of intelligent force feedback handle according to claim 8, it is characterized in that: operator's hand release handle (26), the power that touch sensor (27) on handle (26) detects is zero, starting handle reset mode; Still be placed on pallet (42) when four axial force sensors (25) detect hand, enter reset mode at a slow speed, be still placed on pallet (42) when four axial force sensors (25) do not detect hand, enter Rapid reset pattern;
The actual outgoing position that described X-ray photoelectric coder (9), Y photoelectric encoder (15) and Z photoelectric encoder (21) gather and origin position do difference, and difference is inputed to PID controller, resetted by PID controller control X motor (8), Y motor (14) and Z motor (20) driving handle control lever (24).
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