CN106970654A - A kind of control system for remote control medicine equipment - Google Patents
A kind of control system for remote control medicine equipment Download PDFInfo
- Publication number
- CN106970654A CN106970654A CN201710262511.4A CN201710262511A CN106970654A CN 106970654 A CN106970654 A CN 106970654A CN 201710262511 A CN201710262511 A CN 201710262511A CN 106970654 A CN106970654 A CN 106970654A
- Authority
- CN
- China
- Prior art keywords
- control
- knob
- encoder
- installing plate
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003814 drug Substances 0.000 title claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000013016 damping Methods 0.000 claims description 49
- 239000000463 material Substances 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Control Devices (AREA)
Abstract
The purpose of the present invention is to propose to a kind of control system for remote control medicine equipment for being suitable to manipulation flexible instrument, precision height and the flexible multifreedom motion of energy.The control system for remote control medicine equipment of the present invention includes operational motion being converted into the control end of control signal, the control signal for collecting and handling control end, and control signal is transferred to the central controller of actuating station, the actuating station for realizing multifreedom motion control；Key is control encoder of the control end provided with knob and detection knob angle, the actuating station is provided with motor and the execution encoder for detecting motor rotational angle, the control encoder, execution encoder, motor are connected with central controller communication respectively, central controller is according to the control signal of control encoder transmission and the feedback signal of execution encoder, to control the action of motor so that the rotational angle of motor is directly proportional to the rotational angle of knob.
Description
Technical field
The present invention relates to medicine equipment control technology, a kind of specifically control system for remote control medicine equipment
System.
Background technology
The patent of invention of Patent No. 201310342710.8 discloses a kind of control for remote control medicine equipment
System, including for realize various input modes input and be converted into electric signal, display relevant information and by communication module will
Control signal be transferred to perform controller module central controller, for provide various signal transmission passages and signal conversion
Communication module, the execution controller module for realizing multifreedom motion control；Wherein, central controller, communication module and
Performing controller module, signal is connected successively.
Specifically, the patent controls the action of all parts with action bars, and its action bars input module includes first
Action bars, the first lever position sensor, the second action bars, the second lever position sensor；Wherein, the first action bars position
Sensor is put in the first action bars, the second lever position sensor is in the second action bars；First action bars has 5
Direction, is front, rear, left and right and rotation respectively, and it is upward, downward that former and later two directions correspond to tie up up and down respectively；It is left and right
Both direction correspond to respectively left and right dimension to the left, to the right；Rotation correspond to the rotation of rotating shaft dimension, when turning clockwise, doctor
Apparatus is treated also to turn clockwise, during rotate counterclockwise, medicine equipment also rotate counterclockwise；Second action bars has 3 directions, respectively
Be it is forward and backward and rotation, former and later two directions correspond to front and rear dimension forward, backward, rotation then correspond to driver plate dimension, control
The flexibility of medicine equipment.The signal of action bars is detected by installation site sensor in action bars, in action bars
All directions installation site sensor, when manipulation operations bar, the position sensor of correspondence direction obtains signal, sensor collection
To these signals and master controller is sent the signal to, master controller will be transferred to signal by CAN after the processing of signal
Side controller is performed, execution side controller receives signal and drives servo-control system motor to act immediately.
Action bars in foregoing invention patent can only send direction signal to master controller, and master controller is according to the side received
Actuating station is controlled to act to signal, it is as follows the drawbacks of this mode of operation：1st, the control accuracy of actuating station is difficult to ensure that, because
When there is regular hour delay, particularly remote control between the action of action bars and the action of actuating station, work as operation
Personnel learn that actuating station has been performed in place and when stopping operation the action of bar by long-range observation or other signals, perform
End still will continue to act certain time, so as to cause the deviation for performing end position, this is for the technical fields such as medical treatment
It is unacceptable；2nd, position, the state of actuating station can not be directly observed from the position of action bars, state, that is to say, that
Action bars is only available to the signal of the direction of motion of actuating station, the position of action bars itself, state（For example say rotation or tilt
Angle）Completely irrelevant Deng the position with actuating station, state, operating personnel can only know the position of actuating station by other approach
Put, state, not only with delay, and error chance it is also many.3rd, when simultaneously needs control the multiple degrees of freedom of multiple actuating stations
During motion, what is sent due to action bars is direction signal, therefore human hand is difficult to while accurately control multiple actuating stations, stop it
In predetermined position and state.
The content of the invention
The purpose of the present invention is to propose to a kind of use for being suitable to manipulation flexible instrument, precision height and the flexible multifreedom motion of energy
In the control system of remote control medicine equipment.
The control system for remote control medicine equipment of the present invention includes operational motion being converted into control signal
Control end, the control signal for collecting and handling control end, and by control signal be transferred to actuating station central controller, use
In the actuating station for realizing multifreedom motion control；Key is the control end provided with knob and detects knob angle
Encoder is controlled, the actuating station is provided with motor and the execution encoder for detecting motor rotational angle, described
Control encoder, execution encoder, motor are connected with central controller communication respectively, and central controller is encoded according to control
The control signal of device transmission and the feedback signal for performing encoder, to control the action of motor so that motor
Rotational angle is directly proportional to the rotational angle of knob.
The difference of above-mentioned control system and prior art is：Control end of the prior art can only provide advance or
Rotation or the directional operation control signal of bending, can not provide the state control signal on control end position, form, because
The action of this its actuating station persistently can only accordingly be acted according to action control signal, cause the delay of control and not smart
It is accurate.And in the control system of the present invention, what control end was provided is no longer the directional operation control of advance or rotation or bending
Signal, but on the state control signal of control end rotational angle, central controller is received after state control signal, is passed through
Encoder is performed to detect the difference between angle residing for the knob in motor and control end in actuating station, and according to this
Difference controls the motor of actuating station so that motor is rotated to the direction for reducing the angle difference, until driving electricity
The rotational angle of machine is corresponding with the rotational angle of knob（That is the rotational angle of motor and the rotational angle of knob is into just
Than）, so, as long as operating personnel are by the knob angular turn of control end to predetermined angular, you can the driving electricity of control actuating station
The angle of machine also turns to corresponding predetermined angular, it is ensured that the accuracy of the motor angle control of actuating station, and avoids
The problem of control delay and the motor of actuating station that is likely to result in rotate excessive.
Further, above-mentioned control encoder can use absolute value type encoder, the control of the control encoder transmission
Signal is the signal of reflection knob current angular information, and the feedback signal of the execution encoder is reflection actuating station current angular
The signal of information.Above-mentioned absolute value type encoder is exactly that the angle of each benchmark of correspondence sends one uniquely corresponding with the angle two
The numerical value of system, record and the measurement of multiple positions can be carried out by enclosing device by outside note, so as to correctly detect knob and hold
The angle being presently at row end.
Further, it is necessary to which operating personnel control the rotation of two actuating station on the other hand, for convenience in some medicine equipments
Operation, the present invention proposes following proposal：The control end includes the first knob and the second knob, first knob and the first control
Encoder processed is fixedly connected, and second knob is fixedly connected with the second control encoder；The first knob inner hollow and
Cavity is formed, the side wall of cavity is provided with hollow-out parts, and second knob and the second control encoder are mounted in cavity, second
The part of knob is exposed to outside the first knob by hollow-out parts；First knob is additionally provided with the wire for the second control encoder
The lead channels of extraction.Operating personnel can be while with palm the first knob of control, using single finger come same time control
The rotation of the second knob is made, the convenience of operation is improved.
Further, the control end includes the first installing plate and the second installing plate, first knob and the first control
Encoder is located at the both sides of the first installing plate respectively, and the rotating shaft of the first knob passes through the first installing plate, and passes through shaft coupling and the
The rotating shaft of one control encoder is fixedly connected；First installing plate is being fixed with the first control positioned at the side of the first control encoder
Encoder support processed, the first control encoder is fixed on the first control encoder support；Second knob and second
Encoder is controlled to be located at the both sides of the second installing plate respectively, the rotating shaft of the second knob passes through the second installing plate, and passes through shaft coupling
Rotating shaft with the second control encoder is fixedly connected；Second installing plate is being fixed with the positioned at the side of the second control encoder
Two control encoder supports, the second control encoder is fixed on the second control encoder support；Second installing plate or
Two control encoder supports are fixedly connected with the side wall of the cavity of the first knob.Above-mentioned first installing plate, the second installing plate are provided
Respective knob and the installation foundation for controlling encoder so that the first knob, the second knob and corresponding control encoder be each
Independent, stable construction module is formed, assembling is highly convenient for.
Further, the first tune damping sheet is also provided with by bolt on first installing plate, first knob
Rotating shaft is adjusted between damping sheet and the annular slab of the first knob provided with prominent annular slab, described first, and the first knob ring
Elastic damping material is folded between shape plate and the first installing plate；Also second is provided with second installing plate by bolt
Damping sheet is adjusted, the rotating shaft of second knob adjusts the annular of damping sheet and the second knob provided with prominent annular slab, described second
Elastic damping material is folded between plate, and between the annular slab and the second installing plate of the second knob.Above-mentioned knob regulation
The principle of its rotary damping is as follows：Adjust damping sheet, elastic damping material, the annular slab of knob, elastic damping material, installing plate according to
It is secondary to stack so that both sides are contacted with elastic damping material above and below the annular slab of knob, when tune damping sheet is in the presence of bolt
When being moved towards installing plate, the pressure between annular slab and elastic damping material will be increased, so as to increase annular slab and elasticity
Frictional force between damping material, improves the rotary damping of knob.
Accordingly, it is desirable to when reducing knob damping, it is only necessary to which increase adjusts the spacing between damping sheet and installing plate to be
Can, here is omitted.
Further, the first stable disk is also provided with by bolt on first installing plate, first stable disk is set
There is the through hole that the rotating shaft for the first knob is passed through, with the stability for the rotating shaft for improving the first knob, the first control encoder
Support is fixed in the first stable disk；The second stable disk is also provided with by bolt on second installing plate, described second is steady
Price fixing is provided with the through hole passed through for the rotating shaft of the second knob, with the stability for the rotating shaft for improving the second knob, second control
Encoder support is fixed in the second stable disk.The thickness of aforementioned stable disk is thicker, can increase the contact with knob rotating shaft long
Degree, so that the rotating shaft of stable knob, prevents the rotating shaft run-off the straight of knob.
Further, the rotary shaft hollow of first knob and connected with the cavity, the lead channels are located at first
On the rotating shaft side wall of knob, and the side of the control encoder of direction first positioned at the first installing plate.Encoder is controlled by second
Wire drawn from the rotating shaft side-walls of the first knob, wire direction phase of its lead direction substantially with the first control encoder
Together, the convenience of wiring can not only be improved, it is to avoid wire is exposed to the first installing plate to be influenceed towards the side of the first knob
Outward appearance, and the wire will not hinder the rotation of the first knob.
Further, the control system also includes the touch-screen for information such as position, the states at real-time display control end,
The touch-screen is connected with central controller communication.Central controller reads control encoder and performs the data of encoder, and
The presentation of information such as position, state that the data after processing are changed into actuating station are on touch-screen, and such operating personnel can be with
It is intuitive to see the dynamical state figure of the free degree of each operation knob and corresponding robot（Certainly, it is necessary to will using software
The rotational angle of knob and actuating station motor is converted into the action of corresponding robot）, the reliability of operation is improved, is subtracted
The possibility of error is lacked.
The control system for remote control medicine equipment of the present invention changes the signal type in traditional control system
And control principle, while optimizing specific structure so that the precision of remote control is greatly improved, it is not prolonged because of control
Cause actuating station action excessive late, also improve the dependable with function of control.The present invention solves the prior art
The drawbacks of, it is very suitable for the remote control of the medicine equipments such as soft lens manipulator.
Brief description of the drawings
Fig. 1 is the schematic diagram of the control system for remote control medicine equipment of embodiment 1.
Fig. 2 is the dimensional structure diagram of the control end of embodiment 1（Do not include the 3rd knob of separation）.
Fig. 3 is the sectional view of the control end of embodiment 1（Do not include the 3rd knob of separation）.
Fig. 4 is the layout drawing of the knob of embodiment 1.
Accompanying drawing is indicated：1st, control end；2nd, actuating station；3rd, central controller；4th, the first knob；5th, the second knob；6th, first
Control encoder；7th, the second control encoder；8th, the 3rd knob；9th, the 3rd control encoder；10th, the first motor；11st,
Two motors；12nd, first encoder is performed；13rd, second encoder is performed；14th, the 3rd encoder is performed；15th, first install
Plate；16th, the second installing plate；17th, the first stable disk；18th, the first control encoder support；19th, first damping sheet is adjusted；20th, second
Stable disk；21st, the second control encoder support；22nd, second damping sheet is adjusted；23rd, lead channels；24th, the 3rd motor；25、
Elastic damping material；26th, shaft coupling；27th, wire；28th, operation bench；29th, touch-screen；30th, the annular slab of the first knob；31st,
The annular slab of two knobs.
Embodiment
It is for example involved each to the embodiment of the present invention by the description to embodiment below against accompanying drawing
Mutual alignment and annexation, the effect of each several part and operation principle between the shape of component, construction, each several part etc. are made into one
The detailed description of step.
Embodiment 1：
As illustrated, the control system for remote control medicine equipment of the present embodiment includes operational motion being converted into control
The control end 1 of signal, the control signal for collecting and handling control end 1, and control signal is transferred to the center of actuating station 2
Controller 3, the actuating station 2 for realizing multifreedom motion control；Wherein：The control end 1 is provided with knob and detection knob
The control encoder of rotational angle, the actuating station 2 is provided with motor and the execution for detecting motor rotational angle
Encoder, the control encoder, execution encoder, motor are connected with the communication of central controller 3 respectively, central controller
3, according to the control signal and the feedback signal of execution encoder for controlling encoder transmission, to control the action of motor, make
The rotational angle for obtaining motor is directly proportional to the rotational angle of knob.In the present embodiment, the rotational angle of motor with
The rotational angle of knob is identical, it is of course also possible to which as needed, the rotational angle of the rotational angle of motor and knob is set
Predetermined ratio is calculated as, for example, says 4:1 etc., to improve the accuracy of control.
In the present embodiment, the control end 1 includes the first knob 4 of horizontal rotation and the second knob 5 of vertical rotary,
First knob 4 is fixedly connected with the first control encoder 6, and the control of the second knob 5 and second encoder 7, which is fixed, to be connected
Connect；The inner hollow of first knob 4 and form cavity, the side wall of cavity is provided with hollow-out parts, and second knob 5 and second is controlled
Encoder 7 processed is mounted in cavity, and the part of the second knob 5 is exposed to outside the first knob 4 by hollow-out parts；First rotation
Button 4 is additionally provided with the lead channels drawn for the wire of the second control encoder 7.Operating personnel can be with the knob of palm control first
While 4 rotation, the rotation of the second knob 5 is controlled simultaneously using single finger, the convenience of operation is improved.Certainly, hold
Row end 2 is also respectively equipped with and the first knob 4, corresponding first motor 10 of the second knob 5, the second motor 11 and first
Perform encoder 12, second and perform encoder 13.In the present embodiment, motor uses servomotor, respectively performs encoder
The encoder itself being provided with by above-mentioned each motor.
Above-mentioned control end 1 also includes the 3rd knob 8 separated with the first knob 4, the second knob 5, the 3rd knob 8
Also the 3rd control encoder 9 of corresponding its rotational angle of detection is connected with, accordingly, actuating station 2 also is provided with and the 3rd knob 8
Corresponding 3rd motor 24 and the 3rd performs encoder 14, and in the present embodiment, the action of each above-mentioned actuating station is all
Rotate.
In the present embodiment, the rotation of the first motor 10 of the above-mentioned respective operations of first knob 4, the correspondence of the second knob 5
The rotation of second motor 11 of operation, and the rotation of the 3rd motor 24 of the respective operations of the 3rd knob 8.
Above-mentioned each control encoder uses absolute value type encoder, and it is reflection correspondence to control the control signal of encoder transmission
The signal of knob current angular information, the feedback signal of the execution encoder is the letter of the reflection current angular information of actuating station 2
Number.Above-mentioned absolute value type encoder is exactly that the angle of each benchmark of correspondence sends a uniquely binary number corresponding with the angle
Value, record and the measurement of multiple positions can be carried out by enclosing device by outside note, so that correctly detection knob and correspondence actuating station 2
The angle being presently in.Certainly, corresponding control can also be realized using incremental encoder, it is only necessary to which software is subjected to phase
The design answered so that software can calculate the angle being presently in of knob and actuating station according to the angle value of change.
The difference of above-mentioned control system and prior art is：Control end of the prior art can only provide advance or
The action control signal of direction of rotation, can not provide the state control signal on control end position, state, therefore it is performed
The action at end persistently can only accordingly be acted according to action control signal, cause the delay of control and not accurate.And
In the control system of the present embodiment, what control end 1 was provided is no longer the directional operation control signal of advance or rotation etc., but
On the state control signal of each knob current operation angle in control end 1, central controller 3 receives state control signal
Afterwards, the difference between angle and angle residing for corresponding knob residing for the motor of actuating station 2 is detected by performing encoder,
And the motor of actuating station 2 is controlled according to the difference so that the motor of actuating station 2 to reduce the angle difference side
To rotation, until the rotational angle of the motor of actuating station 2 is identical with the rotational angle of correspondence knob, so, operating personnel
As long as by the angular turn of the knob of control end 1 to predetermined angular, you can the angle of the motor of control actuating station 2 is also turned to
Predetermined angular, it is ensured that the accuracy of the motor angle control of actuating station 2, and avoid control delay and be likely to result in
The problem of motor of actuating station 2 rotates excessive.
In the present embodiment, to improve the overall structure of console, facilitate the operation of operating personnel, to the structure of control end 1
It is made that following improvement：The control end 1 is in addition to the 3rd knob 8 of separation, in addition to the first installing plate 15 and second is installed
Plate 16, the control of the first knob 4 and first encoder 6 is located at the both sides of the first installing plate 15, the rotating shaft of the first knob 4 respectively
It is fixedly connected through the through hole set by the first installing plate 15, and by shaft coupling 26 with the rotating shaft of the first control encoder 6；First
The first stable disk 17 is also provided with by bolt on installing plate 15, first stable disk 17 is provided with the rotating shaft for the first knob 4
The through hole passed through, coordinates between the rotating shaft of the through hole and the first knob 4 for gap, with the stabilization for the rotating shaft for improving the first knob 4
Property；First stable disk 17 is screwed the first control encoder branch of U-shaped in the side positioned at the first control encoder 6
Frame 18, the first control encoder 6 is fixed on the first control encoder support 18.For convenience of operation, turn of the first knob 4
Eccentric shaft is in the center of the first knob 4.
The first tune damping sheet 19, the rotating shaft of first knob 4 are also provided with by bolt on first installing plate 15
Provided with prominent annular slab 30, described first adjusts between the annular slab 30 of the knob of damping sheet 19 and first, and the first knob
Elastic damping material 25 is folded between the installing plate 15 of annular slab 30 and first；Also pass through bolt on second installing plate 16
Second tune damping sheet 22 is installed, the rotating shaft of second knob adjusts damping sheet 22 provided with prominent annular slab 31, described second
Equal sandwiched is flexible between the annular slab 31 of the second knob, and between the installing plate 16 of annular slab 31 and second of the second knob
Damping material.In the present embodiment, the first tune damping sheet 19, second adjusts the section of damping sheet 22 to be equipped with kink, with spacing
Corresponding elastic damping material and annular slab.
The control of second knob 5 and second encoder 7 is located at the both sides of the second installing plate 16 respectively, the second knob 5
Rotating shaft passes through the second installing plate 16, and is fixedly connected by shaft coupling 26 with the rotating shaft of the second control encoder 7；Second installing plate
The second stable disk 20 is also provided with by bolt on 16, second stable disk 20 is provided with what is passed through for the rotating shaft of the second knob 5
Through hole, coordinates between the rotating shaft of the through hole and the second knob 5 for gap, with the stability for the rotating shaft for improving the second knob 5, second
Stable disk 20 is fixed with the second control encoder support 21, second control in the side positioned at the second control encoder 7
Encoder 7 is fixed on the second control encoder support 21；The side wall of the cavity of second installing plate 16 and the first knob 4, which is fixed, to be connected
Connect；The second tune damping sheet 22 is also provided with by bolt on second installing plate 16, described second adjusts damping sheet 22 and second to install
Elastic damping material 25 is folded between plate 16.
Above-mentioned first installing plate 15, the second installing plate 16 provide respective knob and control the installation foundation of encoder, make
The first knob 4, the second knob 5 and independent, the stable construction module of each self-forming of corresponding control encoder are obtained, dress is highly convenient for
Match somebody with somebody.
The principle that above-mentioned knob adjusts its rotary damping is as follows：Adjust damping sheet, elastic damping material, the annular slab of knob,
Elastic damping material, installing plate are stacked successively so that both sides are contacted with elastic damping material above and below the annular slab of knob, work as tune
Damping sheet will increase the pressure between annular slab and elastic damping material when being moved in the presence of bolt towards installing plate,
So as to increase the frictional force between annular slab and elastic damping material, the rotary damping of knob is improved.Accordingly, it is desirable to reduce rotation
During button rotary damping, it is only necessary to which the spacing between damping sheet and installing plate is adjusted in increase, and here is omitted.
The thickness of aforementioned stable disk is thicker, can increase the contact length with knob rotating shaft, so that the rotating shaft of stable knob,
Prevent the rotating shaft run-off the straight of knob.
The rotary shaft hollow of first knob 4 is simultaneously connected with the cavity, and the lead channels 23 are located at the rotating shaft of the first knob 4
On the wall of side, and the side of the control encoder 6 of direction first positioned at the first installing plate 15.By the wire of the second control encoder 7
27 draw from the rotating shaft side-walls of the first knob 4, wire 27 direction phase of its lead direction substantially with the first control encoder 6
Together, can not only improve the convenience of wiring, it is to avoid wire 27 be exposed to the first installing plate 15 towards the side of the first knob 4 and
Outward appearance is influenceed, and the wire 27 will not hinder the rotation of the first knob 4.
The structure of the 3rd knob 8 in the present embodiment is similar with the structure of the second knob 5, and here is omitted.Above-mentioned
One knob 4, the second knob 5, the 3rd knob 8 and central controller are mounted on operation bench 28.
In the present embodiment, control system also includes the touch-screen 29 for being used to show knob angle information in real time, touches
Touch screen 29 to be installed on operation bench 28, touch-screen 29 is connected with central controller communication, central controller reads control encoder
And the presentation of information such as the data of encoder, and position, the state that the data after processing are changed into actuating station are performed in touch
On screen 29, such operating personnel can be intuitive to see the dynamical state of the free degree of each operation knob and corresponding robot
Figure（Certainly, it is necessary to which the rotational angle of knob and actuating station motor is converted into the dynamic of corresponding robot using software
Make）, the reliability of operation is improved, the possibility of error is reduced.
Claims (8)
1. a kind of control system for remote control medicine equipment, including operational motion is converted into the control of control signal
End, the control signal for collecting and handling control end, and control signal is transferred to the central controller of actuating station, for reality
The actuating station of existing multifreedom motion control；It is characterized in that control of the control end provided with knob and detection knob angle
Encoder processed, the actuating station is provided with motor and the execution encoder for detecting motor rotational angle, the control
Encoder processed, execution encoder, motor are connected with central controller communication respectively, and central controller is according to control encoder
The control signal of transmission and the feedback signal for performing encoder, to control the action of motor so that turn of motor
Dynamic angle is directly proportional to the rotational angle of knob.
2. the control system according to claim 1 for remote control medicine equipment, it is characterised in that the control is compiled
Code device is absolute value encoder, the control signal for controlling encoder transmission for reflection knob current angular information signal,
The feedback signal for performing encoder is the signal for reflecting actuating station current angular information.
3. the control system according to claim 1 or 2 for remote control medicine equipment, it is characterised in that the control
End includes the first knob and the second knob, and first knob controls encoder to be fixedly connected with first, second knob and
Second control encoder is fixedly connected；The first knob inner hollow and form cavity, the side wall of cavity is provided with hollow-out parts, institute
State the second knob and the second control encoder is mounted in cavity, the part of the second knob is exposed to the first rotation by hollow-out parts
Outside button；First knob is additionally provided with the lead channels drawn for the wire of the second control encoder.
4. the control system according to claim 3 for remote control medicine equipment, it is characterised in that the control end
Including the first installing plate and the second installing plate, first knob and the first control encoder are located at the two of the first installing plate respectively
Side, the rotating shaft of the first knob passes through the first installing plate, and is fixedly connected by shaft coupling with the rotating shaft of the first control encoder；The
One installing plate is fixed with the first control encoder support, the first control coding in the side positioned at the first control encoder
Device is fixed on the first control encoder support；Second knob and the second control encoder are respectively positioned at the second installing plate
Both sides, the rotating shaft of the second knob passes through the second installing plate, and is fixedly connected by shaft coupling with the rotating shaft of the second control encoder；
Second installing plate is fixed with the second control encoder support in the side positioned at the second control encoder, and second control is compiled
Code device is fixed on the second control encoder support；The cavity of second installing plate or the second control encoder support and the first knob
Side wall be fixedly connected.
5. the control system according to claim 4 for remote control medicine equipment, it is characterised in that first peace
The first tune damping sheet is also provided with by bolt on dress plate, the rotating shaft of first knob is provided with prominent annular slab, described the
One adjusts between damping sheet and the annular slab of the first knob, and is folded between the annular slab and the first installing plate of the first knob
Elastic damping material；The second tune damping sheet, the rotating shaft of second knob are also provided with by bolt on second installing plate
Provided with prominent annular slab, described second adjusts between damping sheet and the annular slab of the second knob, and the second knob annular slab
Elastic damping material is folded between the second installing plate.
6. the control system according to claim 4 for remote control medicine equipment, it is characterised in that first peace
The first stable disk is also provided with by bolt on dress plate, first stable disk was provided with for leading to that the rotating shaft of the first knob is passed through
Hole, with the stability for the rotating shaft for improving the first knob, the first control encoder support is fixed in the first stable disk；It is described
The second stable disk is also provided with by bolt on second installing plate, second stable disk, which is provided with, supplies the rotating shaft of the second knob to pass through
Through hole, with the stability for the rotating shaft for improving the second knob, it is described second control encoder support be fixed in the second stable disk.
7. the control system according to claim 4 for remote control medicine equipment, it is characterised in that first rotation
The rotary shaft hollow of button is simultaneously connected with the cavity, and the lead channels are located on the rotating shaft side wall of the first knob, and positioned at first
The direction first of installing plate controls the side of encoder.
8. the control system according to claim 1 for remote control medicine equipment, it is characterised in that the control system
Also include the touch-screen for information such as position, the states at real-time display control end, the touch-screen is communicated with central controller
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262511.4A CN106970654A (en) | 2017-04-20 | 2017-04-20 | A kind of control system for remote control medicine equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262511.4A CN106970654A (en) | 2017-04-20 | 2017-04-20 | A kind of control system for remote control medicine equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106970654A true CN106970654A (en) | 2017-07-21 |
Family
ID=59333082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710262511.4A Pending CN106970654A (en) | 2017-04-20 | 2017-04-20 | A kind of control system for remote control medicine equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106970654A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1896443A (en) * | 2005-08-09 | 2007-01-17 | 常州一匙通数码锁业有限公司 | Microconsumption electronic lock with power-supply provided by key |
| CN202388505U (en) * | 2011-12-15 | 2012-08-22 | 深圳市华成工业控制有限公司 | Manipulator controller with rotary knob |
| CN103356295A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Soft lens surgery auxiliary mechanical arm system and control method thereof |
| CN103399584A (en) * | 2013-08-07 | 2013-11-20 | 吴开俊 | Control system for remotely controlling medial instrument and control method thereof |
| CN104908046A (en) * | 2015-06-16 | 2015-09-16 | 东南大学 | Hand controller based on rotary knob type force feedback and mechanical arm remote operating control method |
| CN105286996A (en) * | 2014-07-14 | 2016-02-03 | 乐普（北京）医疗器械股份有限公司 | Control handle of catheter pusher |
| CN205692087U (en) * | 2016-06-14 | 2016-11-16 | 华帝股份有限公司 | Knob device for cooking utensils with function is controlled in projection |
| CN206819166U (en) * | 2017-04-20 | 2017-12-29 | 广州泰晶智能科技有限公司 | A kind of control system for remote control medicine equipment |
-
2017
- 2017-04-20 CN CN201710262511.4A patent/CN106970654A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1896443A (en) * | 2005-08-09 | 2007-01-17 | 常州一匙通数码锁业有限公司 | Microconsumption electronic lock with power-supply provided by key |
| CN202388505U (en) * | 2011-12-15 | 2012-08-22 | 深圳市华成工业控制有限公司 | Manipulator controller with rotary knob |
| CN103356295A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Soft lens surgery auxiliary mechanical arm system and control method thereof |
| CN103399584A (en) * | 2013-08-07 | 2013-11-20 | 吴开俊 | Control system for remotely controlling medial instrument and control method thereof |
| CN105286996A (en) * | 2014-07-14 | 2016-02-03 | 乐普（北京）医疗器械股份有限公司 | Control handle of catheter pusher |
| CN104908046A (en) * | 2015-06-16 | 2015-09-16 | 东南大学 | Hand controller based on rotary knob type force feedback and mechanical arm remote operating control method |
| CN205692087U (en) * | 2016-06-14 | 2016-11-16 | 华帝股份有限公司 | Knob device for cooking utensils with function is controlled in projection |
| CN206819166U (en) * | 2017-04-20 | 2017-12-29 | 广州泰晶智能科技有限公司 | A kind of control system for remote control medicine equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106983560A (en) | Soft lens operation robotic system | |
| CN102809358B (en) | Coordinate positioning machine | |
| CN105397838B (en) | Main hand operating wrist of master-slave robot | |
| CN202512403U (en) | Embedded control system of winding machine | |
| CN104908046B (en) | Hand controller based on rotary knob type force feedback and mechanical arm remote operating control method | |
| CN105204441B (en) | Five axis polishing grinding machine people of hand push teaching type | |
| CN101733678B (en) | Graphical cutter position tracking and controlling system and method | |
| CN113039115A (en) | Apparatus and method for calculating absolute angular position for controlling steering system of vehicle | |
| CN100504696C (en) | Method and system for rear material-fending positioning compensation of plate shearing machine and bending machine | |
| CN113729960B (en) | Main end control module of interventional operation robot | |
| EP2574998A1 (en) | Process for moving a robot | |
| CN107632701A (en) | A kind of control method of man-machine interaction virtual training force feedback parameter | |
| CN206819166U (en) | A kind of control system for remote control medicine equipment | |
| JP5622125B2 (en) | Multi-axis motor drive system and multi-axis motor drive device | |
| CN105814502B (en) | Orbit detector, numerical control device and gesture determination method | |
| CN106970654A (en) | A kind of control system for remote control medicine equipment | |
| WO2019013259A1 (en) | Gripping system | |
| CN201107661Y (en) | Positioning control apparatus | |
| CN102208150A (en) | Six-degree-of-freedom force-feedback virtual surgical instrument | |
| US11370130B2 (en) | Gripping system and gripping method | |
| CN202428443U (en) | Knob-type mechanical arm control panel | |
| CN106017535B (en) | A kind of motor-driven valve position sensor caliberating device and method | |
| CN203366316U (en) | Tablet computer detection device | |
| JPS61252081A (en) | Master/slave manipulator | |
| JP6157772B1 (en) | Servo control diagnostic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170721 |
|
| RJ01 | Rejection of invention patent application after publication |