技术领域technical field
本发明涉及计算机虚拟现实模拟技术领域，具体为一种空间六维计算机输入设备。The invention relates to the technical field of computer virtual reality simulation, in particular to a spatial six-dimensional computer input device.
背景技术Background technique
目前实际应用的计算机输入设备多数是两维的，只具有平面两个运动量的输入，但随着三维造型技术的出现和虚拟现实技术的发展，输入设备的运动已不仅仅局限于X-Y平面上的运动，且要能够实现被操作对象在三维空间中任意方向的移动及绕空间某一轴的转动，以满足对屏幕上三维造型实体甚至整个虚拟场景的全方位浏览和其它相关操作。如在恶劣和危险环境下工作的机器人，在飞行模拟系统的飞行模拟器，以及在太空中的飞行器，都需要人们借助六维计算机输入设备发出命令来控制他们的空间三维移动及三维转动。At present, most of the computer input devices in practical use are two-dimensional, and only have the input of two motion quantities on the plane. However, with the emergence of three-dimensional modeling technology and the development of virtual reality technology, the motion of input devices is not limited to the X-Y plane. Motion, and it must be able to realize the movement of the operated object in any direction in the three-dimensional space and the rotation around a certain axis in the space, so as to satisfy the all-round browsing and other related operations of the three-dimensional modeling entity on the screen or even the entire virtual scene. For example, robots working in harsh and dangerous environments, flight simulators in flight simulation systems, and aircraft in space all require people to issue commands with the help of six-dimensional computer input devices to control their three-dimensional movement and three-dimensional rotation in space.
目前很多学者对此进行广泛的研究，如国外学者Kerr和Nguyen等人采用Stewart结构的六维力与力矩传感器。国内也有一些相关的专利技术，如：一种具有弹性铰链的六维力与力矩传感器（中国专利：CN1229915）、并联解耦结构六维力与力矩传感器（中国专利：CN1267822）、直接输入型机器人四维力与力矩传感器（中国专利：CN1425903）、六自由度力与力矩传感器（中国专利：CN2165435）。上述技术多数采用检测力与力矩，因此在结构上采用了微动机器人的核心技术，并不具备检测较大直线位移和角度位移的功能。国内针对六维计算机输入设备的相关研究则相对较少，且现有的六维计算机输入设备都存在一些不足之处，如微动六维鼠标是通过力敏感元件，用力/力矩来控制六维运动的速度，存在缺乏操作真实感，很难实现高精度控制等缺点。秦开怀教授设计并实现了五自由度三维USB鼠标，该鼠标在传统二维鼠标基础上增加2个自由度，并以滚轮的形式分布在鼠标两侧，分别实现了绕X轴和Y轴的旋转。但缺点是无法实现六维运动，且滚球在滚动时易受接触面影响，需经常对滚球进行清洗。At present, many scholars are conducting extensive research on this, such as foreign scholars Kerr and Nguyen, who use a six-dimensional force and torque sensor with a Stewart structure. There are also some related patent technologies in China, such as: a six-dimensional force and torque sensor with elastic hinges (Chinese patent: CN1229915), a parallel decoupling structure six-dimensional force and torque sensor (Chinese patent: CN1267822), direct input robot Four-dimensional force and torque sensor (Chinese patent: CN1425903), six-degree-of-freedom force and torque sensor (Chinese patent: CN2165435). Most of the above technologies use force and moment detection, so the core technology of micro-robots is adopted in structure, and it does not have the function of detecting large linear displacement and angular displacement. There are relatively few domestic researches on six-dimensional computer input devices, and the existing six-dimensional computer input devices have some shortcomings. For example, the micro-moving six-dimensional mouse controls the six-dimensional The speed of movement has shortcomings such as lack of realism in operation, and it is difficult to achieve high-precision control. Professor Qin Kaihuai designed and implemented a five-degree-of-freedom three-dimensional USB mouse. This mouse adds two degrees of freedom to the traditional two-dimensional mouse, and distributes it on both sides of the mouse in the form of a scroll wheel, respectively realizing rotation around the X-axis and Y-axis. rotate. But the disadvantage is that the six-dimensional motion cannot be realized, and the rolling ball is easily affected by the contact surface when rolling, so the rolling ball needs to be cleaned frequently.
发明内容Contents of the invention
要解决的技术问题technical problem to be solved
为解决现有技术存在的问题，本发明提出了一种空间六维计算机输入设备，具有操作真实感，能够实现高精度控制，使操作者能在宏动范围内具有较真实的移动/转动感觉。In order to solve the problems existing in the prior art, the present invention proposes a spatial six-dimensional computer input device, which has a realistic sense of operation and can realize high-precision control, so that the operator can have a more realistic movement/rotation feeling within the macro-movement range .
技术方案Technical solutions
本发明的技术方案为：Technical scheme of the present invention is:
所述一种空间六维计算机输入设备，其特征在于：包括框体支座机构、平台导轨机构和手柄；The six-dimensional spatial computer input device is characterized in that it includes a frame support mechanism, a platform rail mechanism and a handle;
平台导轨机构包括一个动平台和六根运动导轨；The platform rail mechanism includes a moving platform and six moving rails;
动平台为立方体结构；所述空间六维计算机输入设备的空间直角坐标系原点在动平台的几何中心，Z轴垂直于动平台顶面，X轴和Y轴分别垂直于动平台两个相邻的侧面；在动平台的顶面中心开有手柄安装孔，手柄安装孔中心轴线与Z轴共线；在动平台的底面上开有两个Z向导轨安装孔，两个Z向导轨安装孔的中心轴线构成的平面与空间直角坐标系XZ平面重合，且两个Z向导轨安装孔的中心轴线相对于YZ平面对称；在动平台上与X轴垂直的侧面上开有两个X向导轨安装孔，两个X向导轨安装孔的中心轴线构成的平面与XY平面重合，且两个X向导轨安装孔的中心轴线相对于XZ平面对称；在动平台上与Y轴垂直的侧面上开有两个Y向导轨安装孔，两个Y向导轨安装孔的中心轴线构成的平面与YZ平面重合，且两个Y向导轨安装孔的中心轴线相对于XY平面对称；The moving platform is a cube structure; the origin of the spatial Cartesian coordinate system of the six-dimensional computer input device in the space is at the geometric center of the moving platform, the Z axis is perpendicular to the top surface of the moving platform, and the X axis and Y axis are respectively perpendicular to the two adjacent moving platforms. There is a handle mounting hole in the center of the top surface of the moving platform, and the central axis of the handle mounting hole is in line with the Z axis; there are two Z-guiding rail mounting holes on the bottom surface of the moving platform, and two Z-guiding rail mounting holes The plane formed by the central axis of the center axis coincides with the XZ plane of the space Cartesian coordinate system, and the central axes of the two Z guide rail mounting holes are symmetrical to the YZ plane; there are two X guide rails on the side perpendicular to the X axis on the moving platform Mounting holes, the plane formed by the central axes of the two X-guided rail mounting holes coincides with the XY plane, and the central axes of the two X-guided rail mounting holes are symmetrical to the XZ plane; open on the side perpendicular to the Y-axis on the moving platform There are two Y guide rail mounting holes, the plane formed by the central axes of the two Y guide rail mounting holes coincides with the YZ plane, and the central axes of the two Y guide rail mounting holes are symmetrical to the XY plane;
六根运动导轨分为两根X向运动导轨、两根Y向运动导轨、两根Z向运动导轨；每根运动导轨包括前连杆、后连杆、前球头铰、后球头铰和挡圈；挡圈套在前连杆上，并与前连杆固定；球头铰包括球头铰座和球头铰杆，球头铰座一端为空心杆，另一端为空心球壳，球头铰杆一端为圆柱杆，另一端为球头，球头铰杆的球头与球头铰座的空心球壳配合；后连杆两端分别插入前球头铰座和后球头铰座的空心杆内，且为过盈配合；前连杆后端有沉孔，前球头铰杆的圆柱杆插入前连杆后端沉孔内，且为过盈配合；后球头铰杆的圆柱杆插入动平台上的导轨安装孔内，且为过盈配合；The six motion rails are divided into two X-direction motion rails, two Y-direction motion rails, and two Z-direction motion rails; each motion rail includes a front link, a rear link, a front ball hinge, a rear ball hinge and a stopper. ring; the retaining ring is set on the front connecting rod and fixed with the front connecting rod; the ball hinge includes a ball hinge seat and a ball hinge rod, one end of the ball hinge seat is a hollow rod, the other end is a hollow spherical shell, and the ball hinge One end of the rod is a cylindrical rod, and the other end is a ball head. The ball head of the ball joint rod is matched with the hollow spherical shell of the ball joint seat; inside the rod, and it is an interference fit; there is a counterbore at the rear end of the front connecting rod, and the cylindrical rod of the front ball joint rod is inserted into the counterbore at the rear end of the front connecting rod, and it is an interference fit; the cylindrical rod of the rear ball joint rod Insert it into the guide rail mounting hole on the moving platform, and it is an interference fit;
框体支座机构包括X方向支架、Y方向支架、Z方向支架和动平台支撑弹簧，每个方向支架上均固定有导轨安装板，动平台支撑弹簧固定安装在Z方向支架和Y方向支架上；每个导轨安装板包括底板、至少两个支座和四个限位开关；底板上开有通槽，支座通过螺栓与通槽配合安装在底板上，并且支座可沿通槽滑动；支座上开有导轨通孔，导轨通孔的轴线相互平行，且都平行于支座的滑动方向；在支座上还固定有位移传感器，用于测量支座沿通槽的滑动位移；在支座滑动方向两侧的底板边缘上对称各固定有两个限位开关；The frame support mechanism includes X-direction support, Y-direction support, Z-direction support and moving platform support spring, each direction support is fixed with a guide rail mounting plate, and the moving platform support spring is fixedly installed on the Z-direction support and Y-direction support ;Each guide rail mounting plate includes a bottom plate, at least two supports and four limit switches; a through groove is opened on the bottom plate, and the support is installed on the bottom plate through bolts and through grooves, and the support can slide along the through groove; There are guide rail through holes on the support, and the axes of the guide rail through holes are parallel to each other and parallel to the sliding direction of the support; a displacement sensor is also fixed on the support to measure the sliding displacement of the support along the through groove; Two limit switches are symmetrically fixed on the edge of the bottom plate on both sides of the sliding direction of the support;
X方向支架上导轨安装板的底板平行于XY面，支座上导轨通孔轴线平行于X轴；Y方向支架上导轨安装板的底板平行于YZ面，支座上导轨通孔轴线平行于Y轴；Z方向支架上导轨安装板的底板平行于XZ面，支座上导轨通孔轴线平行于Z轴；The bottom plate of the guide rail mounting plate on the support in the X direction is parallel to the XY plane, and the axis of the through hole of the guide rail on the support is parallel to the X axis; the bottom plate of the guide rail mounting plate on the support in the Y direction is parallel to the YZ plane, and the axis of the through hole of the guide rail on the support is parallel to the Y axis Axis; the bottom plate of the guide rail mounting plate on the Z direction support is parallel to the XZ plane, and the axis of the guide rail through hole on the support is parallel to the Z axis;
动平台底面支承固定在动平台支撑弹簧上；各方向运动导轨的前连杆均穿过各自方向支架上导轨安装板的支座的导轨通孔，且为过盈配合；当动平台处于中立位置时，各方向运动导轨的挡圈处于各自方向支架上导轨安装板同侧两个限位开关之间；手柄螺纹固定连接在动平台顶面中心的手柄安装孔内。The bottom surface of the moving platform is supported and fixed on the supporting spring of the moving platform; the front connecting rods of the moving guide rails in each direction pass through the guide rail through holes of the bearings of the guide rail mounting plate on the support in each direction, and are interference fit; when the moving platform is in the neutral position , the retaining rings of the moving guide rails in each direction are between the two limit switches on the same side of the guide rail mounting plate on the respective direction brackets; the handle is screwed and fixedly connected to the handle mounting hole in the center of the top surface of the moving platform.
有益效果Beneficial effect
本发明提出的空间六维计算机输入设备属于计算机人机接口设备和多自由度运动控制输入设备，采用位移传感实现被操作对象在三维空间中三个方向移动和三个方向转动，以满足对三维造型实体甚至整个虚拟场景的全方位浏览和其他操作，具有操作真实感，能够实现高精度控制，使操作者能在宏动范围内具有较真实的移动/转动感觉。The space six-dimensional computer input device proposed by the present invention belongs to the computer man-machine interface device and the multi-degree-of-freedom motion control input device, and uses displacement sensing to realize the three-dimensional movement and three-direction rotation of the operated object in three-dimensional space, so as to meet the requirements of the The all-round browsing and other operations of 3D modeling entities and even the entire virtual scene have a sense of realism in operation, and can achieve high-precision control, so that the operator can have a more realistic movement/rotation feeling within the macro range.
附图说明Description of drawings
图1：本发明的结构示意图；Fig. 1: structural representation of the present invention;
图2：框体支座机构的结构示意图；Figure 2: Schematic diagram of the structure of the frame support mechanism;
图3：平台导轨机构的结构示意图；Figure 3: Schematic diagram of the structure of the platform rail mechanism;
图4：球头铰杆示意图；Figure 4: Schematic diagram of the ball hinge;
其中：1、框体支座机构；2、平台导轨机构；3、手柄；4、X方向支架；5、压片；6、开关架；7、限位开关；8、光电位移传感器；9、底板；10、支座；11、弹簧安装板；12、弹簧下支座；13、弹簧上支座；14、动平台支撑弹簧；15、Y方向支架；16、Z方向支架；17、第一X向运动导轨；18、第二X向运动导轨；19、挡圈；20、前球头铰杆；21、前球头铰座；22、后连杆；23、后球头铰座；24、后球头铰杆；25、动平台；26、第一Y向运动导轨；27、第二Y向运动导轨；28、第一Z向运动导轨；29、第二Z向运动导轨。Among them: 1. Frame body support mechanism; 2. Platform guide rail mechanism; 3. Handle; 4. X-direction support; 5. Press piece; 6. Switch frame; 7. Limit switch; Bottom plate; 10, support; 11, spring mounting plate; 12, spring lower support; 13, spring upper support; 14, moving platform support spring; 15, Y direction support; 16, Z direction support; 17, first X-direction motion guide rail; 18, second X-direction motion guide rail; 19, retaining ring; 20, front ball joint hinge rod; 21, front ball joint joint seat; 22, rear connecting rod; 23, rear ball joint joint seat; 24 25. Moving platform; 26. The first Y-direction motion guide rail; 27. The second Y-direction motion guide rail; 28. The first Z-direction motion guide rail; 29. The second Z-direction motion guide rail.
具体实施方式Detailed ways
下面结合具体实施例描述本发明：Describe the present invention below in conjunction with specific embodiment:
本实施例目的是要开发具有操作真实感，能实现高精度控制的六维计算机输入设备，使得操作者能在宏动范围内具有较真实的移动/转动感觉。The purpose of this embodiment is to develop a six-dimensional computer input device that has a realistic sense of operation and can realize high-precision control, so that the operator can have a more realistic feeling of movement/rotation within the macro-movement range.
参照附图1，本实施例包括框体支座机构1、平台导轨机构2和手柄3。Referring to accompanying drawing 1, present embodiment comprises frame body support mechanism 1, platform rail mechanism 2 and handle 3.
参照附图3，平台导轨机构包括一个动平台25和六根运动导轨。With reference to accompanying drawing 3, platform guide rail mechanism comprises a moving platform 25 and six motion guide rails.
动平台25为立方体结构，本实施例中空间六维计算机输入设备的空间直角坐标系原点在动平台的几何中心，Z轴垂直于动平台顶面，X轴和Y轴分别垂直于动平台两个相邻的侧面。在动平台的顶面中心开有手柄安装孔，手柄安装孔中心轴线与Z轴共线。在动平台的底面上开有两个Z向导轨安装孔，两个Z向导轨安装孔的中心轴线构成的平面与空间直角坐标系XZ平面重合，且两个Z向导轨安装孔的中心轴线相对于YZ平面对称；在动平台上与X轴垂直的侧面上开有两个X向导轨安装孔，两个X向导轨安装孔的中心轴线构成的平面与XY平面重合，且两个X向导轨安装孔的中心轴线相对于XZ平面对称；在动平台上与Y轴垂直的侧面上开有两个Y向导轨安装孔，两个Y向导轨安装孔的中心轴线构成的平面与YZ平面重合，且两个Y向导轨安装孔的中心轴线相对于XY平面对称。The moving platform 25 is a cube structure. In the present embodiment, the origin of the spatial Cartesian coordinate system of the six-dimensional computer input device is at the geometric center of the moving platform, the Z axis is perpendicular to the top surface of the moving platform, and the X axis and Y axis are respectively perpendicular to the two sides of the moving platform. adjacent sides. A handle mounting hole is formed in the center of the top surface of the moving platform, and the central axis of the handle mounting hole is collinear with the Z axis. There are two Z guide rail mounting holes on the bottom surface of the moving platform. The plane formed by the central axes of the two Z guide rail mounting holes coincides with the XZ plane of the space Cartesian coordinate system, and the central axes of the two Z guide rail mounting holes are opposite to each other. Symmetrical to the YZ plane; there are two X-guided rail mounting holes on the side perpendicular to the X-axis on the moving platform, and the plane formed by the central axis of the two X-guided rail mounting holes coincides with the XY plane, and the two X-guided rails The central axis of the mounting hole is symmetrical to the XZ plane; there are two Y-guided rail mounting holes on the side perpendicular to the Y-axis on the moving platform, and the plane formed by the central axes of the two Y-guided rail mounting holes coincides with the YZ plane. And the central axes of the two Y guide rail mounting holes are symmetrical with respect to the XY plane.
六根运动导轨分为两根X向运动导轨、两根Y向运动导轨、两根Z向运动导轨。每根运动导轨包括前连杆、后连杆22、前球头铰、后球头铰和挡圈19；挡圈套在前连杆上，并采用定位螺栓与前连杆固定连接；球头铰包括球头铰座和球头铰杆，球头铰座一端为空心杆，另一端为空心球壳，球头铰杆一端为圆柱杆，另一端为球头，球头铰杆的球头与球头铰座的空心球壳配合；后连杆两端分别插入前球头铰座21和后球头铰座23的空心杆内，且为过盈配合；前连杆后端有沉孔，前球头铰杆20的圆柱杆插入前连杆后端沉孔内，且为过盈配合；后球头铰杆24的圆柱杆插入动平台上的导轨安装孔内，且为过盈配合。从而六根运动导轨对应插入动平台上六个导轨安装孔内。The six motion guide rails are divided into two X-direction motion guide rails, two Y-direction motion guide rails, and two Z-direction motion guide rails. Each motion guide rail comprises a front link, a rear link 22, a front ball hinge, a rear ball hinge and a back-up ring 19; It includes a ball joint seat and a ball joint rod. One end of the ball joint seat is a hollow rod and the other end is a hollow spherical shell. One end of the ball joint rod is a cylindrical rod and the other end is a ball head. The hollow spherical shell of the ball hinge seat fits; the two ends of the rear connecting rod are respectively inserted into the hollow rods of the front ball joint hinge seat 21 and the rear ball joint hinge seat 23, and are interference fit; the rear end of the front connecting rod has a counterbore, The cylindrical rod of the front ball hinge rod 20 is inserted into the counterbore at the rear end of the front connecting rod, and is an interference fit; the cylindrical rod of the rear ball hinge rod 24 is inserted into the guide rail mounting hole on the moving platform, and is an interference fit. Thereby the six moving guide rails are correspondingly inserted into the six guide rail mounting holes on the moving platform.
参照附图2，框体支座机构包括X方向支架4、Y方向支架15、Z方向支架16和动平台支撑弹簧14。动平台支撑弹簧通过弹簧下支座固定在弹簧安装板11，弹簧安装板固定安装在Z方向支架和Y方向支架上，动平台支撑弹簧上端通过弹簧上支座13与动平台连接。本实施例中采用六根动平台支撑弹簧。Referring to accompanying drawing 2, frame support mechanism comprises X direction support 4, Y direction support 15, Z direction support 16 and moving platform support spring 14. The moving platform support spring is fixed on the spring mounting plate 11 by the spring lower bearing, and the spring mounting plate is fixedly installed on the Z direction support and the Y direction support, and the moving platform support spring upper end is connected with the moving platform by the spring upper support 13. Adopt six moving platform support springs in the present embodiment.
每个方向支架上均固定有导轨安装板，每个导轨安装板通过压板与各自方向支架固定连接。每个导轨安装板包括底板9、四个支座10和四个限位开关7。底板上开有通槽，支座通过螺栓与通槽配合安装在底板上，并且支座可沿通槽滑动。支座上开有导轨通孔，导轨通孔的轴线相互平行，且都平行于支座的滑动方向。四个支座分为两组，每组两个支座的导轨通孔轴线共线，且在每组支座上固定有一个光电位移传感器8，用于测量支座沿通槽的滑动位移。在支座滑动方向两侧的底板边缘上对称各固定有两个限位开关，限位开关与底板通过开关架6固定连接。本实施例中限位开关为接触式开关。A guide rail installation plate is fixed on each direction bracket, and each guide rail installation plate is fixedly connected with the respective direction bracket through a pressing plate. Each guide rail mounting plate includes a bottom plate 9 , four supports 10 and four limit switches 7 . A through groove is opened on the bottom plate, and the support is mounted on the bottom plate through the cooperation of bolts and the through groove, and the support can slide along the through groove. The support is provided with guide rail through holes, and the axes of the guide rail through holes are parallel to each other and are all parallel to the sliding direction of the support. The four supports are divided into two groups, and the axes of the guide rail through holes of the two supports in each group are collinear, and a photoelectric displacement sensor 8 is fixed on each set of supports to measure the sliding displacement of the supports along the through groove. Two limit switches are respectively fixed symmetrically on the edge of the bottom plate on both sides of the sliding direction of the support, and the limit switch and the bottom plate are fixedly connected through the switch frame 6 . In this embodiment, the limit switch is a contact switch.
X方向支架上导轨安装板的底板平行于XY面，支座上导轨通孔轴线平行于X轴；Y方向支架上导轨安装板的底板平行于YZ面，支座上导轨通孔轴线平行于Y轴；Z方向支架上导轨安装板的底板平行于XZ面，支座上导轨通孔轴线平行于Z轴。The bottom plate of the guide rail mounting plate on the support in the X direction is parallel to the XY plane, and the axis of the through hole of the guide rail on the support is parallel to the X axis; the bottom plate of the guide rail mounting plate on the support in the Y direction is parallel to the YZ plane, and the axis of the through hole of the guide rail on the support is parallel to the Y axis Axis; the bottom plate of the guide rail mounting plate on the support in the Z direction is parallel to the XZ plane, and the axis of the through hole of the guide rail on the support is parallel to the Z axis.
各方向运动导轨的前连杆均穿过各自方向支架上导轨安装板的支座的导轨通孔，且为过盈配合；当动平台处于中立位置时，各方向运动导轨的挡圈处于各自方向支架上导轨安装板同侧两个限位开关之间；手柄螺纹固定连接在动平台顶面中心的手柄安装孔内。The front connecting rods of the moving guide rails in each direction pass through the guide rail through holes of the bearings of the guide rail mounting plate on the brackets in each direction, and are interference fit; when the moving platform is in the neutral position, the retaining rings of the moving guide rails in each direction are in their respective directions Between the two limit switches on the same side of the guide rail mounting plate on the bracket; the handle is screwed and fixedly connected to the handle mounting hole in the center of the top surface of the moving platform.
本装置工作时，通过手柄控制动平台做空间六自由度运动时，各运动导轨上的光电位移传感器会采集相应的信号，经单片机处理后，将信号通过USB通信电路输入计算机。When the device is working, when the brake platform is controlled by the handle to move in six degrees of freedom in space, the photoelectric displacement sensors on each moving guide rail will collect corresponding signals, and after being processed by the single-chip microcomputer, the signals will be input into the computer through the USB communication circuit.
当操纵手柄在空间中沿X、Y、Z轴移动和绕X、Y、Z轴转动时，动平台会随着操纵手柄的移动而变化自身的空间的位置和姿态。动平台的位置变化带动球头铰杆、球头铰座、前连杆和后连杆的位置变化，导轨带动挡圈和支座在底板的通槽中滑动。这时安装在支座上的光电位移传感器可以检测到6个运动导轨的位移量，并通过数据线传输给计算机。如果导轨的位移量过大，超过了限定范围，挡圈就会接触到限位开关，产生信号，传输给计算机，经计算机的处理来停止动作。When the joystick moves along the X, Y, and Z axes and rotates around the X, Y, and Z axes in space, the moving platform will change its own space position and posture along with the movement of the joystick. The position change of the moving platform drives the position changes of the ball hinge rod, the ball hinge seat, the front connecting rod and the rear connecting rod, and the guide rail drives the retaining ring and the bearing to slide in the through groove of the base plate. At this time, the photoelectric displacement sensor installed on the support can detect the displacement of the six moving guide rails, and transmit it to the computer through the data line. If the displacement of the guide rail is too large and exceeds the limited range, the retaining ring will touch the limit switch, generate a signal, transmit it to the computer, and stop the action after being processed by the computer.
本实施例中，规定动平台两相邻侧面和顶面的外法线方向分别为X、Y、Z轴的坐标轴正向，从坐标轴正向看去逆时针转时为正，顺时针为负。光电位移传感器检测到的第一X向运动导轨、第二X向运动导轨、第一Y向运动导轨、第二Y向运动导轨、第一Z向运动导轨、第二Z向运动导轨的位移量分别为L1、L2、L3、L4、L5、L6。测出的这些位移量有正负：若与坐标轴方向相同的为正，与坐标轴方向相反的为负。若动平台只沿X轴移动，则动平台在X轴的位移量为Lx=L1=L2，若动平台只沿Y轴移动，则动平台在Y轴的位移量为Ly=L3=L4，若动平台只沿Z轴移动，则动平台在Z轴的位移量为Lz=L5=L6。In this embodiment, it is stipulated that the outer normal directions of the two adjacent side surfaces and the top surface of the movable platform are respectively the positive directions of the coordinate axes of the X, Y, and Z axes, and when viewed from the positive direction of the coordinate axes, it is positive when turned counterclockwise, and clockwise is negative. The displacement of the first X-direction motion rail, the second X-direction motion rail, the first Y-direction motion rail, the second Y-direction motion rail, the first Z-direction motion rail, and the second Z-direction motion rail detected by the photoelectric displacement sensor They are L1, L2, L3, L4, L5, L6 respectively. These measured displacements are positive or negative: if the direction is the same as the coordinate axis, it is positive, and if it is opposite to the direction of the coordinate axis, it is negative. If the moving platform only moves along the X axis, the displacement of the moving platform on the X axis is Lx=L1=L2; if the moving platform only moves along the Y axis, the displacement of the moving platform on the Y axis is Ly=L3=L4, If the moving platform only moves along the Z axis, the displacement of the moving platform on the Z axis is Lz=L5=L6.
动平台转过的角度有正负：从坐标轴正向看去逆时针转时为正，顺时针为负。假设动平台只绕Z轴转动，且转动的角度为γ。根据连杆的运动学分析和几何关系，第一X向运动导轨、第二X向运动导轨、第一Y向运动导轨、第二Y向运动导轨的位移量具有不确定性，而第一Z向运动导轨、第二Z向运动导轨的位移量可有以下的表达式计算出来：其中m表示同平面球头铰的中心距，n表示连杆连接的两球头铰的中心距，即连杆的长度，γ表示动平台绕Ｚ轴转过的角度，L表示第一Z向运动导轨、第二Z向运动导轨在动平台只绕Ｚ轴转动时位移量的绝对值。由以下公式L=|L5|=|L6|，通过光电位移传感器检测出L5和L6的值，将L的值代入L计算公式，可以算出转动的角度γ。绕其他轴的转动与此相同，若动平台只绕Ｘ轴转动，转动的角度为α，L表示第一X向运动导轨、第二X向运动导轨在动平台只绕Ｘ轴转动时位移量的绝对值，即L=|L1=|L2|。代入计算公式中，可求出转动的角度α。若动平台只绕Ｙ轴转动，转动的角度为β，L表示第一Y向运动导轨、第二Y向运动导轨在动平台只绕Ｙ轴转动时位移量的绝对值，即L=|L3|=|L4|。代入计算公式中，可求出转动的角度β。The rotation angle of the moving platform is positive or negative: when viewed from the positive direction of the coordinate axis, it is positive when it is turned counterclockwise, and it is negative when it is turned clockwise. Assume that the moving platform only rotates around the Z axis, and the angle of rotation is γ. According to the kinematic analysis and geometric relationship of the connecting rod, the displacements of the first X-direction motion guide rail, the second X-direction motion guide rail, the first Y-direction motion guide rail, and the second Y-direction motion guide rail are uncertain, while the first Z The displacement of the direction moving guide rail and the second Z direction moving guide rail can be calculated by the following expression: Among them, m represents the center distance of ball joints in the same plane, n represents the center distance of two ball joints connected by connecting rods, that is, the length of connecting rods, γ represents the angle that the moving platform turns around the Z axis, and L represents the first Z direction The absolute value of the displacement of the moving guide rail and the second Z-direction moving guide rail when the moving platform only rotates around the Z axis. According to the following formula L=|L5|=|L6|, the values of L5 and L6 are detected by the photoelectric displacement sensor, and the value of L is substituted into the calculation formula of L to calculate the rotation angle γ. The rotation around other axes is the same. If the moving platform only rotates around the X axis, the angle of rotation is α, and L represents the displacement of the first X-direction moving guide rail and the second X-direction moving guide rail when the moving platform only rotates around the X-axis The absolute value of , namely L=|L1=|L2|. Substitute into the calculation formula , the angle α of rotation can be obtained. If the moving platform only rotates around the Y-axis, the angle of rotation is β, and L represents the absolute value of the displacement of the first Y-direction motion guide rail and the second Y-direction motion guide rail when the movable platform only rotates around the Y-axis, that is, L=|L3 |=|L4|. Substitute into the calculation formula , the angle β of rotation can be obtained.
通过上述计算，可以通过六个光电位移传感器测得的位移量得到动平台的三个轴向位移量和绕三个轴向转动的角度，可以唯一确定动平台在空间的位置和姿态。以动平台的初始位置为三维坐标系的原点，则运动后的三维坐标位置为（Lx，Ly，Lz），绕x、Y、Z坐标轴转动的角度分别为α、β、γ。每当动平台运动时，都可以通过测量来实时获得其六自由度的信息。通过通信电路传到计算机中，可以巧妙地实时的实现空间六自由度输入。当动平台实现一个操作动作时，需要将依次完成沿X、Y、Z轴的移动和沿X、Y、Z轴的转动等六个动作，每完成一个动作，位移传感器会采集到对应的位移信息，通过通信电路传到计算机中，经计算机数据处理，转化为需要的位移量或转动角度。经过六次信号输入，可以采集到六自由度的信息。若动平台的操作动作不需要六个动作中的某些动作，则不需要完成这些动作的实现，传感器也不会有信号产生，没有输入信号，计算机就会默认为初始值。Through the above calculation, the three axial displacements of the moving platform and the rotation angles around the three axes can be obtained from the displacements measured by the six photoelectric displacement sensors, and the position and attitude of the moving platform in space can be uniquely determined. Taking the initial position of the moving platform as the origin of the three-dimensional coordinate system, the three-dimensional coordinate position after movement is (Lx, Ly, Lz), and the rotation angles around the x, Y, and Z coordinate axes are α, β, and γ, respectively. Whenever the moving platform moves, the information of its six degrees of freedom can be obtained in real time through measurement. It is transmitted to the computer through the communication circuit, and the six-degree-of-freedom input in space can be cleverly realized in real time. When the moving platform realizes an operation action, it needs to complete six actions such as moving along the X, Y, and Z axes and rotating along the X, Y, and Z axes in sequence. Every time an action is completed, the displacement sensor will collect the corresponding displacement. The information is transmitted to the computer through the communication circuit, and after computer data processing, it is converted into the required displacement or rotation angle. After six signal inputs, six degrees of freedom information can be collected. If the operation action of the moving platform does not require some of the six actions, it is not necessary to complete the realization of these actions, and the sensor will not generate a signal. If there is no input signal, the computer will default to the initial value.
计算机可以通过OpenGL与Visual C++软件的结合以及OpenGL和SolidWorks软件的结合来实现虚拟环境，并通过VC++编程来实时处理传入的信息，进而控制虚拟对象做空间六自由度运动。The computer can realize the virtual environment through the combination of OpenGL and Visual C++ software and the combination of OpenGL and SolidWorks software, and process the incoming information in real time through VC++ programming, and then control the virtual object to move in six degrees of freedom in space.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210194295.1ACN102759995B (en) | 2012-06-13 | 2012-06-13 | Spatial six-dimensional computer input device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210194295.1ACN102759995B (en) | 2012-06-13 | 2012-06-13 | Spatial six-dimensional computer input device |
| Publication Number | Publication Date |
|---|---|
| CN102759995A CN102759995A (en) | 2012-10-31 |
| CN102759995Btrue CN102759995B (en) | 2015-06-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210194295.1AExpired - Fee RelatedCN102759995B (en) | 2012-06-13 | 2012-06-13 | Spatial six-dimensional computer input device |
| Country | Link |
|---|---|
| CN (1) | CN102759995B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765842A (en)* | 2019-01-17 | 2019-05-17 | 湖北工程学院 | A micro-positioning workbench |
| CN110043560A (en)* | 2019-03-25 | 2019-07-23 | 南京捷诺环境技术有限公司 | 3 d-line rolling guide |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5271290A (en)* | 1991-10-29 | 1993-12-21 | United Kingdom Atomic Energy Authority | Actuator assembly |
| US5335557A (en)* | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| CN101003133A (en)* | 2007-01-22 | 2007-07-25 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN101034022A (en)* | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN101387907A (en)* | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six-degree-of-freedom dual-parallel force-sensing interface device based on flexible transmission |
| CN101439514A (en)* | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| CN101488371A (en)* | 2009-03-04 | 2009-07-22 | 上海微电子装备有限公司 | Precise positioning platform with six freedom of motion |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060255795A1 (en)* | 2005-05-13 | 2006-11-16 | Higgins Robert F | Six-degree-of-freedom, integrated-coil AC magnetic tracker |
| CN202615340U (en)* | 2012-06-13 | 2012-12-19 | 西北工业大学 | Spatial six-dimensional computer inputting device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5271290A (en)* | 1991-10-29 | 1993-12-21 | United Kingdom Atomic Energy Authority | Actuator assembly |
| US5335557A (en)* | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| CN101003133A (en)* | 2007-01-22 | 2007-07-25 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN101034022A (en)* | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN101387907A (en)* | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six-degree-of-freedom dual-parallel force-sensing interface device based on flexible transmission |
| CN101439514A (en)* | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| CN101488371A (en)* | 2009-03-04 | 2009-07-22 | 上海微电子装备有限公司 | Precise positioning platform with six freedom of motion |
| Publication number | Publication date |
|---|---|
| CN102759995A (en) | 2012-10-31 |
| Publication | Publication Date | Title |
|---|---|---|
| CN101943946A (en) | Two-dimensional image force touch reproducing control method and system based on three-dimensional force sensor | |
| CN104076929A (en) | Hand action acquisition device provided with force feedback and realizing by utilizing mechanical structure | |
| CN102426477A (en) | A gesture detection method and detection device | |
| CN101791159B (en) | Six-degree-of-freedom parallel mechanism helmet servo system | |
| CN203673431U (en) | Motion trail virtual device | |
| CN101034309A (en) | System and method for virtual implementing helmet anti-dazzle based on multiple acceleration transducers | |
| CN105108762B (en) | Remote control hand controller based on force/touch guiding | |
| CN103433921A (en) | Three-degree-of-freedom translation force feedback hand controller | |
| CN104008052A (en) | Universal computer product testing system and method | |
| CN102759995B (en) | Spatial six-dimensional computer input device | |
| CN105892687A (en) | Novel single-freedom-degree force feedback handle device and working method thereof | |
| CN202615340U (en) | Spatial six-dimensional computer inputting device | |
| CN107336233B (en) | Human-Robot Virtual Reality Interactive Control System Based on Inertial Motion Capture | |
| CN105215992B (en) | Multi-DOF Force Feedback Device for Human-Computer Interaction | |
| CN104227733A (en) | Human-body-induced mechanical arm | |
| CN203259969U (en) | Data glove wrist joint detecting device | |
| CN101034095A (en) | Six dimensional crossing decoupling RSS acceleration transducer | |
| CN203117889U (en) | Data glove shoulder joint detection device | |
| CN104502061B (en) | One kind is shoved on-line detecting system | |
| CN104742128A (en) | Middle finger palm knuckle force feedback unit | |
| CN101673140B (en) | Four-branched-chain parallel six freedom degrees force feedback device | |
| CN201532609U (en) | A four-branched parallel six-degree-of-freedom force feedback device | |
| CN104571477A (en) | Straight rod type ring finger movement detection device | |
| CN216098969U (en) | Human upper limb skill action sensing device | |
| CN109997099B (en) | Finger motion capture interface device based on 3D magnetic sensor |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20180928 Address after:523808 Zhongsheng silver building, No. three road, Songshan Lake headquarters, Dongguan, Guangdong, 20 Patentee after:Dongguan Sanhang civil Military Integration Innovation Institute Address before:710072 No. 127 Youyi West Road, Shaanxi, Xi'an Patentee before:Northwestern Polytechnical University | |
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20150624 Termination date:20180613 |