Slip simulation apparatus, controlled robot, and game handle
Embodiments of the present disclosure provide a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. The slip simulation apparatus includes a base; at least one motor arranged on the base; a slip simulation controller, configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor, the synchronous wheel being sleeved on the synchronous belt and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate.
1. A slip simulation apparatus, comprising:
a base;
at least one motor arranged on the base;
a slip simulation controller, configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor; and
at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor,
the synchronous belt being sleeved on the synchronous wheel and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate,
wherein an end of a rotating shaft of a synchronous wheel of the at least one synchronous wheel is sleeved with a tension slider, the tension slider is embedded in a tension sliding groove inside the base, and a position of the tension slider in the tension sliding groove is limited by using a mechanism embedded on the tension sliding groove.
2. The slip simulation apparatus according to claim 1 , wherein
the at least one motor comprises a first motor and a second motor, wherein
the synchronous wheel associated with the first motor is a first synchronous wheel, and the synchronous belt associated with the first motor is a first synchronous belt; and
the synchronous wheel associated with the second motor is a second synchronous wheel, and the synchronous belt associated with the second motor is a second synchronous belt, wherein
an extending direction of the first synchronous belt is a first direction, an extending direction of the second synchronous belt is a second direction, and the first direction and the second direction intersect; and
an axial direction of a rotating shaft of the first synchronous wheel is perpendicular to the first direction, an axial direction of a rotating shaft of the second synchronous wheel is perpendicular to the second direction, and the axial direction of the rotating shaft of the first synchronous wheel is different from the axial direction of the rotating shaft of the second synchronous wheel.
3. The slip simulation apparatus according to claim 2 , wherein
there are at least two first synchronous belts, the at least two first synchronous belts are parallel to each other, and the at least two first synchronous belts are separated by a limit strip on the first synchronous wheel; and
there are at least two second synchronous belts, the at least two second synchronous belts are parallel to each other, and the at least two second synchronous belts are separated by a limit strip on the second synchronous wheel.
4. The slip simulation apparatus according to claim 2 , wherein the first direction is perpendicular to the second direction, and the first synchronous belt and the second synchronous belt have an overlapping portion in a target direction, wherein
the target direction is a direction perpendicular to a plane formed by the first direction and the second direction.
5. The slip simulation apparatus according to claim 2 , wherein the base comprises a base plate, two transverse detachable side plates, and two longitudinal detachable side plates, wherein
the two transverse detachable side plate are arranged in parallel and opposite each other, and are both fixedly connected to the base plate, the first synchronous wheel is rotatably arranged on the base plate and between the transverse detachable side plates, and the first motor is fixedly connected to the base plate; and
the two longitudinal detachable side plate are arranged in parallel and opposite each other, and are both fixedly connected to the base plate, the second synchronous wheel is rotatably arranged on the base plate and between the longitudinal detachable side plates, and the second motor is fixedly connected to the base plate.
6. The slip simulation apparatus according to claim 2 , wherein
an outer surface of the first synchronous belt is provided with a concave-convex texture different from that of the second synchronous belt; and
inner surfaces of the first synchronous belt and the second synchronous belt are both made of smooth rubber.
7. The slip simulation apparatus according to claim 1 , wherein the apparatus further comprises:
a control end communicator, communicably connected to the slip simulation controller, and configured to receive slip data from a controlled end communicator,
the slip simulation controller being further configured to:
receive the slip data from the control end communicator, and generate, based on the slip data, the rotating speed control signal used for controlling the at least one motor, to control a rotating speed of the at least one motor.
8. The slip simulation apparatus according to claim 7 , further comprising:
a control end pressure sensor, communicably connected to the slip simulation controller, and configured to: sense a pressure applied to the at least one synchronous belt, and generate a pressure detection signal, wherein
the slip simulation controller is further configured to: receive the pressure detection signal from the control end pressure sensor, and convert the pressure detection signal into pressure control data; and
the control end communicator is further configured to: receive the pressure control data from the slip simulation controller, and transmit the pressure control data to the controlled end communicator.
9. The slip simulation apparatus according to claim 1 , wherein
the slip simulation controller comprises a proportional-integral-derivative (PID) controller; and
for each motor, the PID controller generates a voltage control signal according to rotating speed data of the motor and the rotating speed control signal, and adjusts, according to the voltage control signal, a voltage applied to the motor, to adjust a rotating speed of the motor.
10. A controlled robot, comprising:
a slip simulation apparatus, comprising: a base; at least one motor arranged on the base; a slip simulation controller, configured to receive slip data and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor,
the synchronous belt being sleeved on the synchronous wheel and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate,
wherein an end of a rotating shaft of a synchronous wheel of the at least one synchronous wheel is sleeved with a tension slider, the tension slider is embedded in a tension sliding groove inside the base, and a position of the tension slider in the tension sliding groove is limited by using a mechanism embedded on the tension sliding groove;
a controlled end communicator, configured to: receive pressure control data from the slip simulation apparatus, and transmit the slip data to the slip simulation apparatus;
a controlled end pressure sensor, configured to: detect a pressure applied by the controlled robot, and generate pressure data of the controlled robot based on the detected pressure; and
a controlled end controller, communicably connected to the controlled end communicator and the controlled end pressure sensor;
the controlled end controller being configured to:
adjust, according to the pressure data of the controlled robot from the controlled end pressure sensor and the pressure control data from the controlled end communicator, the pressure applied by the controlled robot; and
convert the pressure data of the controlled robot into the slip data, and transmit the slip data to the controlled end communicator.
11. The controlled robot according to claim 10 , further comprising a robot finger, wherein the robot finger comprises a finger motor, a mechanical transmission portion, and a finger clamping portion, wherein
the finger motor is configured to drive the robot finger; the controlled end controller is configured to control a clamping force of the robot finger;
the controlled end controller is further configured to generate, according to the pressure data of the controlled robot and the pressure control data, a rotating speed control signal used for controlling the finger motor, and
the finger motor is further configured to drive the mechanical transmission portion, and the mechanical transmission portion drives the finger clamping portion, and adjusts a clamping force of the finger clamping portion.
12. The controlled robot according to claim 10 , wherein
the at least one motor comprises a first motor and a second motor, wherein
the synchronous wheel associated with the first motor is a first synchronous wheel, and the synchronous belt associated with the first motor is a first synchronous belt; and
the synchronous wheel associated with the second motor is a second synchronous wheel, and the synchronous belt associated with the second motor is a second synchronous belt, wherein
an extending direction of the first synchronous belt is a first direction, an extending direction of the second synchronous belt is a second direction, and the first direction and the second direction intersect; and
an axial direction of a rotating shaft of the first synchronous wheel is perpendicular to the first direction, an axial direction of a rotating shaft of the second synchronous wheel is perpendicular to the second direction, and the axial direction of the rotating shaft of the first synchronous wheel is different from the axial direction of the rotating shaft of the second synchronous wheel.
13. The controlled robot according to claim 12 , wherein
there are at least two first synchronous belts, the at least two first synchronous belts are parallel to each other, and the at least two first synchronous belts are separated by a limit strip on the first synchronous wheel; and
there are at least two second synchronous belts, the at least two second synchronous belts are parallel to each other, and the at least two second synchronous belts are separated by a limit strip on the second synchronous wheel.
14. The controlled robot according to claim 12 , wherein
the first direction is perpendicular to the second direction, and the first synchronous belt and the second synchronous belt have an overlapping portion in a target direction, wherein
the target direction is a direction perpendicular to a plane formed by the first direction and the second direction.
15. The controlled robot according to claim 14 , wherein the slip simulation apparatus further comprising:
a control end pressure sensor, communicably connected to the slip simulation controller, and configured to: sense a pressure applied to the at least one synchronous belt, and generate a pressure detection signal, wherein
the slip simulation controller is further configured to: receive the pressure detection signal from the control end pressure sensor, and convert the pressure detection signal into pressure control data; and
the control end communicator is further configured to: receive the pressure control data from the slip simulation controller, and transmit the pressure control data to the controlled end communicator.
16. The controlled robot according to claim 10 , wherein the slip simulation apparatus further comprises:
a control end communicator, communicably connected to the slip simulation controller, and configured to receive slip data from a controlled end communicator,
the slip simulation controller being further configured to:
receive the slip data from the control end communicator, and generate, based on the slip data, the rotating speed control signal used for controlling the at least one motor, to control a rotating speed of the at least one motor.
17. The controlled robot according to claim 10 , wherein
the slip simulation controller comprises a proportional-integral-derivative (PID) controller; and
for each motor, the PID controller generates a voltage control signal according to rotating speed data of the motor and the rotating speed control signal, and adjusts, according to the voltage control signal, a voltage applied to the motor, to adjust a rotating speed of the motor.
18. The controlled robot according to claim 10 , wherein
two ends of a rotating shaft of the synchronous wheel are sleeved with at least one tension slider, and the tension slider is embedded in a tension sliding groove inside the base, wherein
a position of the tension slider in the tension sliding groove is limited by using a limit jackscrew embedded on the tension sliding groove.
19. A game handle, comprising:
a housing;
a power supply; and
a slip simulation apparatus arranged inside the housing, the slip simulation apparatus comprising: a base; at least one motor arranged on the base; a slip simulation controller, configured to receive slip data and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor,
the synchronous belt being sleeved on the synchronous wheel and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate,
wherein an end of a rotating shaft of a synchronous wheel of the at least one synchronous wheel is sleeved with a tension slider, the tension slider is embedded in a tension sliding groove inside the base, and a position of the tension slider in the tension sliding groove is limited by using a mechanism embedded on the tension sliding groove;
the slip simulation apparatus being configured to: receive the slip data from a virtual game console, and output pressure control data to the virtual game console, to control a virtual object in a virtual game application, the virtual game application being run in the virtual game console.