Application of virtual reality improves the work efficiency of conventional master-slave construction tele-robot. For un-experienced operator,the toppling down for the construction tele-robot often occurs because the operator can not feel the information coming from barriers or contacting ground. Therefore,the imaginary springs were installed at the end of the grove from different direc-tions. When the construction tele-robot contacted barriers or ground,haptic feedback force would be fed back to the operator because the imaginary springs were compressed for danger hint. Finally,experiment were carried out on tele-operation construction robot test-bed. The experiment results indicate that the method can decrease toppling down of the construction tele-robot by avoiding the hard contacting between the construction tele-robot and ground.%虚拟现实技术的应用，改善了传统的主从遥操作工程机器人系统的作业效率。但操作过程中如不能正确处理虚拟环境下工程机器人与障碍物或地面碰撞等危险情况，易造成真实工程机器人倾覆。因此，在虚拟的工程机器人抓手端部不同运动方向上安装假想弹簧，当虚拟环境下的工程机器人抓手与障碍物或地面接近时，假想弹簧变形获得触觉反馈力给操作者以危险提示，并在主从遥操作工程机器人实验台上进行了实验。实验结果表明：通过在虚拟工程机器人上安装假想弹簧产生触觉反馈力，可有效地避免真实工程机器人与障碍物或地面硬接触，减少倾覆事件的发生。
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