2-DOF (Degree of Freedom) robot remote operation device with force immediacy

Abstract

The invention discloses a 2-DOF (Degree of Freedom) robot remote operation device with force immediacy. The remote operation device is characterized by mainly comprising a box body, a handle, motors, an integrated circuit board, and a liquid crystal display module and a control panel arranged on an upper plate of the box body, wherein an operation handle structure has sphere pair characteristics; semi-circular ring bodies are processed on the middle parts of two rotating bent shafts; three axes of the handle and the two bent shafts are arranged in a bracket shaft hole in the box body in a way of spatially intersecting in the circle centers of the semi-circular ring bodies of the bent shafts; a switch button is arranged on the operation handle; the motor is arranged at one end of each bent shaft; an angular displacement sensor is arranged at the other end of each bent shaft respectively; an incomplete hollow spherical shell which has a largest sphere diameter and is transparent longitudinally is processed at the middle position of the upper plate of the box body. A movable connection way which is similar to a sphere pair is integrated into the handle, so that the operating smoothness is enhanced, the position control accuracy is increased, and the fidelity of force feedback is increased.

Description

technical field [0001] The invention relates to a master-slave robot teleoperation technology, specifically a 2-DOF robot teleoperation device with a sense of force presence, especially suitable for remote operation of robots in extreme operating environments such as high temperature, high pressure, and strong radiation. Human-computer interaction and manipulation in virtual reality systems. Background technique [0002] Robot teleoperation technology has very extensive and important uses in space exploration, ocean development, atomic energy application, military, emergency rescue, telemedicine, macro and micro operation, etc., and there are already many application examples. In order to narrow the quality gap between teleoperation and on-site direct operation, and further improve the efficiency and quality of teleoperation, it is necessary not only to provide the operator with clear visual information, but also to provide information such as the size of the operation react...

AI Technical Summary

Problems solved by technology

The equipment produced by these foreign manufacturers is either expensive, or there are many factors that do not meet the actual engineering application, and cannot meet the specific needs of domestic engineering practice.

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