CN109669545A - Force feedback station - Google Patents
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- CN109669545A CN109669545A CN201910055484.2A CN201910055484A CN109669545A CN 109669545 A CN109669545 A CN 109669545A CN 201910055484 A CN201910055484 A CN 201910055484A CN 109669545 A CN109669545 A CN 109669545A
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- 230000007246 mechanism Effects 0.000 claims abstract description 75
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 35
- 239000010959 steel Substances 0.000 claims abstract description 35
- 230000008713 feedback mechanism Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 10
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- 238000003825 pressing Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 241001416181 Axis axis Species 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 230000006978 adaptation Effects 0.000 description 6
- 210000004072 lung Anatomy 0.000 description 6
- 238000005259 measurement Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
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- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000009730 filament winding Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
This application discloses a kind of force feedback stations, pass through setting: force feedback mechanism and operating mechanism；Force feedback mechanism includes that fixed frame, cable tensioner, slide bar, wirerope, movable pulley mechanism and feedback force apply module；Fixed frame includes: top plate and bottom plate；Slide bar is fixed between top plate and bottom plate；Movable pulley mechanism is fixed on top plate；It is fixed with cable tensioner on bottom plate and feedback force applies module；Operating mechanism includes pedestal, operating stick and binding yarn device, and operating stick and binding yarn device are all connected on the base, and pedestal is slidably connected on slide bar, and binding yarn device is fixed on a steel cord；Movable pulley mechanism, cable tensioner and feedback force apply module and connect with wirerope, and constitute closed loop configuration, so that feedback force applies module and applies the power opposite with pedestal glide direction to wirerope when driving pedestal to slide up and down along slide bar.The application solves feedback operation platform in the related technology can not real-time response and the poor technical problem of accuracy.
Description
Technical field
This application involves force feedback technique fields, in particular to a kind of force feedback station.
Background technique
Force feedback station represents a kind of innovation in terms of man-machine contact interaction technique, and previous computer user can only lead to
Vision to be crossed to interact, it is evident that tactile is not added to as the most important perceptive mode in many applications, and six
The appearance of freedom degree force feedback operation platform changes everything, just as display is able to use the figure that computer generation is seen at family
Picture, loudspeaker are able to use family and hear that the sound of computer synthesis is the same, and force feedback station contacts user and operates calculating
The dummy object that machine generates is possibly realized.
Force feedback station in the related technology has the shortcomings that motion range is small and precision is low.It cannot achieve moving parts
The existing requirement of feedback force can be experienced in a wide range of, and return difference is big, can not real-time response, and accuracy is poor.
For feedback operation platform in the related technology can not real-time response and the poor problem of accuracy, not yet propose have at present
The solution of effect.
Summary of the invention
The main purpose of the application is to provide a kind of force feedback station, with solve in the related technology feedback operation platform without
Method real-time response and the poor problem of accuracy.
To achieve the goals above, a kind of force feedback station is provided according to the embodiment of the present application.
It include: force feedback mechanism and operating mechanism according to the force feedback station of the application；
Force feedback mechanism includes that fixed frame, cable tensioner, slide bar, wirerope, movable pulley mechanism and feedback force apply
Module；
Fixed frame includes: top plate and bottom plate；Slide bar is fixed between top plate and bottom plate；Fixed sliding turbine on top plate
Structure；It is fixed with cable tensioner on bottom plate and feedback force applies module；
Operating mechanism includes pedestal, operating stick and binding yarn device, and operating stick and binding yarn device are all connected on the base, pedestal
It is slidably connected on slide bar, binding yarn device is fixed on a steel cord；
Movable pulley mechanism, cable tensioner and feedback force apply module and connect with wirerope, and constitute closed loop configuration,
So that it is opposite with pedestal glide direction to wirerope application that feedback force applies module when driving pedestal to slide up and down along slide bar
Power.
Optionally, pedestal be equipped with groove, binding yarn device be equipped with respective slot protrusion so that binding yarn device include it is convex
It rises by the pressing portions of wirerope in corresponding groove, with the relative position of fixing bundle rope device and wirerope.
Optionally, operating mechanism includes: connecting shaft, connecting rod, the first rotary encoder and the second rotary encoder；
One end of operating stick is fixed with connecting shaft, and connecting shaft rolling is connected to connecting rod one end, and connecting shaft is axially distinct
In the axial direction of connecting rod, the measuring rod of the first rotary encoder and one end of connecting shaft are connected, and connecting rod rolls connection on the base, and
Connecting rod passes through binding yarn device, and connecting rod is equipped with the through-hole for accommodating steel wire penetrating；
The measuring rod and connecting shaft of second rotary encoder are connected far from one end of connecting shaft, so that the first rotary encoder
Connecting shaft is measured along axial rotation and the second rotary encoder measurement connecting rod along axial rotation.
Optionally, operating mechanism further includes linear bearing；
Linear bearing is fixed on the base, and linear bearing is sleeved on slide bar, so that linear bearing is along sliding bar, with
Band moving base is slided up and down along slide bar.
Optionally, cable tensioner includes: the fixing seat with sliding groove, scroll wheel and holding screw；Scroll wheel with
Steel cable sliding connection；
Scroll wheel is axially arranged with a bolt, and is fixed in fixing seat after passing through sliding groove by nut；Holding screw
After screw division enters sliding groove above fixing seat, screw division bottom end is flexibly connected with bolt, for passing through holding screw control
Scroll wheel processed moving down in slot, to drive the tensioning of wirerope.
Optionally, it includes: driving motor and wound by steel wires axis that feedback force, which applies module, is wound with steel wire on wound by steel wires axis
Rope；Driving motor and wound by steel wires axis are drivingly connected, for generating phase according to the effect power drive wound by steel wires axis of operating mechanism
The feedback force answered.
Optionally, feedback force applies module further include: first support, second support, the first transmission gear and the second transmission
Gear；First support and second support are oppositely arranged, and are equipped with wound by steel wires axis below first support between second support, and first
Bracket lower outer is equipped with the first transmission gear with wound by steel wires axis axis even；Two sides are respectively equipped with mutual drive above first support
The driving motor and second the first transmission gear of transmission gear of dynamic connection and the second transmission gear are mutually twisted connection.
Optionally, movable pulley mechanism includes: the first sliding wheel assembly and the second sliding wheel assembly；
First sliding wheel assembly and the second sliding wheel assembly apply module with operating mechanism and feedback force respectively and are adapted to setting,
Apply the wirerope between module for transition attended operation mechanism and feedback force.
Optionally, movable pulley mechanism further include: tensioning wheel assembly；Tensioning wheel assembly is set to the first sliding wheel assembly and second
It slides between wheel assembly.
Optionally, tensioning wheel assembly includes: that the first tension pulley support, the first tension pulley support, adjusting bracket and tensioning are slided
Wheel；First tension pulley support, the first tension pulley support are opposite to be set on top plate；
Adjusting bracket is adjustable to be set between the first tension pulley support and the first tension pulley support；It is equipped with below adjusting bracket
Tension pulley block；
Wirerope is passed sequentially through after walking out from operating mechanism above the pulley of the first sliding wheel assembly, the lower section of tension pulley block
Apply module with feedback force is entered above the pulley of the second sliding wheel assembly.
In the embodiment of the present application, a kind of force feedback station is provided, setting: force feedback mechanism and operating mechanism is passed through；
Force feedback mechanism includes that fixed frame, cable tensioner, slide bar, wirerope, movable pulley mechanism and feedback force apply module；It is fixed
Frame includes: top plate and bottom plate；Slide bar is fixed between top plate and bottom plate；Movable pulley mechanism is fixed on top plate；It is fixed on bottom plate
Apply module equipped with cable tensioner and feedback force；Operating mechanism includes pedestal, operating stick and binding yarn device, operating stick and beam
Rope device is all connected on the base, and pedestal is slidably connected on slide bar, and binding yarn device is fixed on a steel cord；Movable pulley mechanism,
Cable tensioner and feedback force apply module and connects with wirerope, and constitute closed loop configuration so that when drive pedestal along
When slide bar slides up and down, feedback force applies module and applies the power opposite with pedestal glide direction to wirerope.In this way, sliding turbine
Structure, cable tensioner, feedback force, which apply, constitutes closed loop configuration between module, wirerope and operating mechanism, and it is anti-to realize this power
The feedback purpose that station real time response speed is fast and accuracy is high, and pedestal, when slide bar slides up and down, wirerope can be always
It realizes the force feedback function to pedestal, and then realizes this force feedback station and the purpose of larger motion range may be implemented, because
This, this force feedback station has motion range big, and response is fast, the high technical effect of real-time, to solve in the related technology
Feedback operation platform can not real-time response and the poor technical problem of accuracy.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram according to a kind of force feedback station of embodiment of the application；
Fig. 2 is according to a kind of structural schematic diagram of the cable tensioner of embodiment of the application；
Fig. 3 is the structural schematic diagram for applying module according to a kind of feedback force of embodiment of the application；
Fig. 4 is according to a kind of schematic perspective view of the operating mechanism of embodiment of the application；
Fig. 5 is according to a kind of diagrammatic cross-section of the operating mechanism of embodiment of the application；
Fig. 6 is according to a kind of schematic perspective view of force feedback station of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " being slidably connected ", " fixation ", " socket ", " suit "
It shall be understood in a broad sense.For example, it may be fixedly connected, it is detachably connected or monolithic construction；It can be mechanical connection, or electricity
Connection；It can be directly connected, or indirectly connected through an intermediary, or be two devices, element or composition portion
The connection of/inside.For those of ordinary skills, above-mentioned term can be understood at this as the case may be
Concrete meaning in application.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figures 1 to 6, this application involves a kind of force feedback station, which includes: force feedback machine
Structure and operating mechanism 2；
Force feedback mechanism includes fixed frame 7, cable tensioner 1, slide bar 3, wirerope 4, movable pulley mechanism 5 and feedback force
Apply module 6；
Fixed frame 7 includes: top plate 71 and bottom plate 72；Slide bar 3 is fixed between top plate 71 and bottom plate 72；It is solid on top plate 71
Determine movable pulley mechanism 5；It is fixed with cable tensioner 1 on bottom plate 72 and feedback force applies module 6；
Operating mechanism 2 includes pedestal 21, operating stick 22 and binding yarn device 23, and operating stick 22 and binding yarn device 23 are both connected to
On pedestal 21, pedestal 21 is slidably connected on slide bar 3, and binding yarn device 23 is fixed on wirerope 4；
Movable pulley mechanism 5, cable tensioner 1 and feedback force apply module 6 and connect with wirerope 4, and constitute closed loop
Structure, so that feedback force applies module 6 and applies and pedestal 21 to wirerope 4 when driving pedestal 21 to slide up and down along slide bar 3
The opposite power of glide direction.
Wherein, when operator is by operating the operating stick 22 that includes of operating mechanism 2 so that pedestal 21 glide on slide bar 3
When dynamic, since binding yarn device 23 is fixedly connected with wirerope 4, wirerope 4 also with pedestal 21 sliding and move；Specifically
In use, it is in order to realize and indirectly control to object run object, therefore, when crop operates that operator, which operates operating mechanism 2,
When mechanism 2 is mobile, object run object is also moved, for example, this force feedback station is for operating lung puncture machine
When people, which can be to be lung puncture robot for puncture the needle body of operation；When object run object is
It include that the system of this force feedback station can detecte the needle body when needle body, and after the needle body insertion human organs such as skin
The signal of insertion provides feedback force and applies the feedback accordingly of module 6 after the processing by processing equipments such as single-chip microcontrollers calculates
Power can be realized and provide the purpose of the corresponding feedback force of user, allow an operator to experience true feedback force.
In the present embodiment, movable pulley mechanism 5, cable tensioner 1, feedback force apply module 6, wirerope 4 and operation
Closed loop configuration is constituted between mechanism 2, realizes the purpose that this force feedback station real time response speed is fast and accuracy is high, and base
For seat 21 when slide bar 3 slides up and down, wirerope 4 can realize the force feedback function to pedestal 21 always, and then realize this power
The purpose of larger motion range may be implemented in feedback operation platform.
Wherein, being flexibly connected between movable pulley mechanism 5 and wirerope 4 is mainly used for applying wirerope 4 from feedback force
Add module 6 can be more smooth to the transition between operating mechanism 2；Optionally, cable tensioner 1, operating mechanism 2 and sliding
The position adaptation between mechanism 5 is taken turns, so that wirerope 4 and slide bar 3 between cable tensioner 1 and movable pulley mechanism 5
It is arranged in parallel.
Optionally, top plate 71 and bottom plate 72 can be rectangle or class rectangle shape, and fixed frame 7 can by slide bar 3 and
Other supports supports play general frame, and in general, in order to make fixed frame 7 reach good stability, slide bar 3 and other
The sum of supporting element at least needs 3.
As shown in figure 5, optionally, pedestal 21 is equipped with groove, and binding yarn device 23 is equipped with the protrusion of respective slot, so that beam
The raised pressing portions by wirerope 4 that rope device 23 includes are in corresponding groove, with fixing bundle rope device 23 and wirerope 4
Relative position.
Wherein, which can be specially the binding yarn plate for being provided with protrusion, which is accordingly arranged in
On pedestal 21 so that the protrusion of binding yarn plate setting by the pressing portions of wirerope 4 in the corresponding groove of pedestal 21, to fix base
Relative position between seat 21, binding yarn plate and wirerope 4.In this manner it is ensured that when pedestal 21 is slided along slide bar 3, wirerope 4
It is moved together with pedestal 21.
As shown in Fig. 4 to Fig. 5, optionally, operating mechanism 2 includes: connecting shaft 24, connecting rod 25, the first rotary encoder 26
With the second rotary encoder 27；
One end of operating stick 22 and connecting shaft 24 are fixed, and the rolling of connecting shaft 24 is connected to 25 one end of connecting rod, and connecting shaft 24
The axially distinct axial direction in connecting rod 25, the measuring rod of the first rotary encoder 26 connect with one end of connecting shaft 24, connecting rod 25
Rolling is connected on pedestal 21, and connecting rod 25 passes through binding yarn device 23, and connecting rod 25 is equipped with logical for accommodate that wirerope 4 passes through
Hole；
The measuring rod of second rotary encoder 27 is connect with connecting shaft 24 far from one end of connecting shaft 24, so that the first rotation
Encoder 26 measures connecting shaft 24 along axial rotation and the second rotary encoder 27 measurement connecting rod 25 along axial rotation.
In the present embodiment, this operating mechanism 2 is rolled by connecting shaft 24 and is connected to 25 one end of connecting rod, and connecting shaft 24
The axially distinct axial direction in connecting rod 25, one end of operating stick 22 and connecting shaft 24 are fixed, to realize operating stick 22 in connecting shaft
24 and connecting rod 25 on the direction two freedom degrees operation, then by measuring connecting shaft 24 by the first rotary encoder 26
Along axial rotation, the second rotary encoder 27 measures connecting rod 25 along axial rotation, passes through the first rotary coding to realize
The measurement data of device 26 and the second rotary encoder 27 changes object run object (for example, lung puncture robot is for being punctured
The needle body of operation) motion state.
Optionally, the axial direction for being axially perpendicular to connecting rod 25 of connecting shaft 24.
Wherein, the axial direction for being axially perpendicular to connecting rod 25 of connecting shaft 24 is to realize the first rotary encoder 26 and the second rotation
The rotation of operating stick 22 in two perpendicular direction can be respectively induced by turning encoder 27.
As shown in Figures 4 to 6, optionally, which further includes fixed cover 28 and first bearing；
Fixed cover 28 is fixed with connecting rod 25 close to one end of operating stick 22, and first bearing and the first rotary encoder 26 are solid
It is scheduled in fixed cover 28, first bearing is sleeved in connecting shaft 24.
Wherein, first rotary encoder 26 is fixed on connecting rod 25 by fixed cover 28, and by being fixed on fixed cover
First bearing in 28 is that connecting shaft 24 provides rolling connection installation site, so that the rolling of connecting shaft 24 is connected to the one of connecting rod 25
End.In addition, fixed cover 28 can also realize the separately positioned two sides in operating stick 22, the fixed cover 28 of side is for fixing first
Rotary encoder 26, the other side are used to provide installation site for first bearing.
As shown in Figure 4 and Figure 5, optionally, operating mechanism 2 further includes linear bearing 29；
Linear bearing 29 is fixed on pedestal 21, and linear bearing 29 is sleeved on slide bar 3, so that linear bearing 29 is along cunning
Bar 3 slides, and is slided up and down with band moving base 21 along slide bar 3.
In the present embodiment, the rolling of connecting rod 25 is connected on pedestal 21, i.e., connecting rod 25 may be implemented movable on pedestal 21,
To realize that operating stick 22 drives connecting rod 25 around 25 axial-rotation of connecting rod, and the second rotary encoder 27 and linear bearing 29 are solid
It is scheduled on pedestal 21, slide bar 3 is socketed on linear bearing 29, so that linear bearing 29 is slided along slide bar 3, in this way, can pass through
Operating stick 22 promotes or reduces pedestal 21 with respect to the position on slide bar 3.In this way, this operating mechanism 2 realizes the flat of a direction
The dynamic rotation with both direction, the i.e. movement of three degree of freedom may be implemented to drive the mobile such as Needle-driven Robot of long range
The control of motivation structure, to realize the pose adjustment to Needle-driven Robot, the translation in a direction can be with for the rotation of both direction
Realize that mobile Needle-driven Robot is used to puncture the long distance movement of the needle body of operation.
As shown in figure 5, optionally, which further includes adapting rod 201 and second bearing 202；
Adapting rod 201 is sleeved in second bearing 202, and second bearing 202 is fixed on pedestal 21, and the one of adapting rod 201
It holds and is fixed with one end of the separate connecting shaft 24 of connecting rod 25, the measurement of the other end of adapting rod 201 and the first rotary encoder 26
Bar connection；
Adapting rod 201 is equipped with the through-hole passed through for accommodating wirerope 4.
Wherein, the connection of the measuring rod of connecting rod 25 and the second rotary encoder 27 is realized by adapting rod 201, and by turning
Extension bar 201 is sleeved on second bearing 202, and second bearing 202 is fixed on pedestal 21, to realize the rolling of connecting rod 25 Yu pedestal 21
Dynamic connection, wirerope 4 can pass through through-hole on adapting rod 201.
As shown in Figure 1, optionally, fixed frame 7 further include: two support rods 73；Slide bar 3 be equipped with two, support rod 73 and
Slide bar 3 is respectively arranged on the same side of fixed frame 7；Slide construction 23 is equipped with two slide openings being adapted to 3 position of slide bar.
Specifically, rear or so is set respectively as shown in Figure 1, the front or so of fixed frame 7 is respectively arranged with a slide bar 3
There is a support rod 73, it is preferred that support rod 73 and slide bar 3 are each perpendicular to top plate 71 and bottom plate 72；Also, adaptation, sliding
The left and right sides of structure 23 is also respectively equipped with a slide opening.It can thus guarantee the overall structure stability of fixed frame 7, while can
So that slide construction 23 can smoothly move up and down on slide bar 3, and when top plate 71 and bottom plate 72 are horizontally disposed with, always
It can keep horizontality.
As shown in Fig. 2, optionally, cable tensioner 1 includes: the fixing seat 11 with sliding groove, scroll wheel 12 and tight
Determine screw 13；Scroll wheel 12 is slidably connected with wirerope 4；
Scroll wheel 12 is axially arranged with a bolt, and is fixed in fixing seat 11 after passing through sliding groove by nut；Clamp screw
After the screw division of nail 13 enters sliding groove above fixing seat 11, screw division bottom end is flexibly connected with bolt, for by tight
Determine screw 13 and control the moving down in slot of scroll wheel 12, to drive the tensioning of wirerope 4.
Specifically, can be mobilizable card slot connection between the screw division and bolt of holding screw 13, need to only guarantee
Holding screw 13 will not separate when rotating with bolt；When between holding screw 13 and fixing seat 11 to be threadedly coupled, when
When rotating holding screw 13, the screw division of holding screw 13 will move up and down in sliding groove, and then drive bolt and rolling
Wheel 12 vertical height, and then reach change movable pulley mechanism 5 between cable tensioner 1 and feedback force apply module 6
To the purpose of 4 length of wirerope between cable tensioner 1, and then it is able to drive the tensioning of wirerope 4.
As shown in Figures 1 and 3, optionally, it includes: driving motor 61 and wound by steel wires axis 62, steel that feedback force, which applies module 6,
Wirerope 4 is wound on filament winding spool 62；Driving motor 61 and wound by steel wires axis 62 are drivingly connected, for according to operating mechanism 2
Effect power drive wound by steel wires axis 62 generates corresponding feedback force.
Specifically, wound by steel wires axis 62 is arranged using two-way coiling, driven by driving motor 61 and wound by steel wires axis 62
The structure of connection just can make wound by steel wires axis 62 realize a direction rope closing, and the purpose of rope is put in another direction, by steel wire
Rope 4 is pullled, and then achievees the purpose that impose feedback force to operating mechanism 2.The device has the spy having the advantages of simple structure and easy realization
Point, component is less, can effectively reduce reduction failure rate, the reliable and stable operation of safeguards system.
As shown in figure 3, optionally, feedback force applies module 6 further include: first support 63, second support 64, first are driven
Gear 65 and the second transmission gear 66；First support 63 and second support 64 are oppositely arranged, the lower section of first support 63 and second
Wound by steel wires axis 62 is equipped between frame 64,63 lower outer of first support is equipped with the first driving cog with 62 axis of wound by steel wires axis even
Wheel 65；63 top two sides of first support are respectively equipped with the driving motor 61 being mutually drivingly connected and the second transmission gear 66；First
Transmission gear 65 and the second transmission gear 66 are mutually twisted connection.
Specifically, adaptation is equipped with for realizing driving motor 61 and the second driving cog respectively over and under first support 63
Take turns the circular hole that 66 mutual axis connect and wound by steel wires axis 62 and 65 axis of the first transmission gear connect；And second support 64 and steel wire around
62 junction of spool also is provided with the connecting mechanism for rotating of adaptation, to reduce the abrasion to wound by steel wires axis 62.The device has knot
Structure is simple, it is easy to accomplish the characteristics of, component is less, can effectively reduce reduction failure rate, the reliable and stable operation of safeguards system.
As shown in Figure 1, optionally, movable pulley mechanism 5 includes: the first sliding wheel assembly 51 and the second sliding wheel assembly 52；
It is suitable that first sliding wheel assembly 51 and the second sliding wheel assembly 52 apply module 6 with operating mechanism 2 and feedback force respectively
With setting, apply the wirerope 4 between module 6 for transition attended operation mechanism 2 and feedback force.
Specifically, positional relationship meets the wirerope 4 between both between the first sliding wheel assembly 51 and operating mechanism 2
To be vertically arranged, and the second sliding wheel assembly 52 and feedback force apply positional relationship between module 6 and also meet between both
Wirerope 4 is to be vertically arranged；When wirerope 4 is needed across top plate 71, top plate 71 is equipped with the hole of adaptation.Steel can thus be made
Cord 4 can move vertically, and guarantee that the first sliding wheel assembly 51 and the stress of the second sliding wheel assembly 52 can be secured to position
Set adaptation, can effectively enhancement device stability and durability.
As shown in Figure 1, optionally, movable pulley mechanism 5 further include: tensioning wheel assembly 53；Tensioning wheel assembly 53 is set to first
It slides between wheel assembly 51 and the second sliding wheel assembly 52.Since wirerope 4 is with the intensification of usage degree, length may
With elongated, by the way that the tensioning wheel assembly 53 is arranged, the tightness of whole wirerope 4 can be adjusted on the top of device,
Without being cut to wirerope 4；Thus have the advantages that easy to operate.
As shown in Figure 1, optionally, tensioning wheel assembly 53 includes: the first tension pulley support 531, the first tension pulley support
532, adjusting bracket 533 and tension pulley block 534；First tension pulley support 531, the first tension pulley support 532 are opposite set on top plate
On 71；
Adjusting bracket 533 is adjustable to be set between the first tension pulley support 531 and the first tension pulley support 532；Adjust branch
Tension pulley block 534 is equipped with below frame 533；
Wirerope 4 is passed sequentially through after walking out from operating mechanism 2 above the pulley of first sliding wheel assembly 51, tension pulley block
Enter feedback force above the pulley of 534 lower section and the second sliding wheel assembly 52 and applies module 6.
That is, shape of the wirerope 4 in movable pulley mechanism 5 is linear or M shape, it is elastic when being not required to be adjusted
When it is as linear, due to first sliding wheel assembly 51 and second sliding wheel assembly 52 between straight length be it is constant
Value is greater than the principle on third side based on the sum of triangle both sides when for M shape, and the first sliding wheel assembly 51 and second are slided
The total length of lines between drive wheel assemblies 52 is elongated, therefore has achieved the purpose that the wirerope 4 being tensioned in whole device.This reality
The clever structure in example is applied, can effectively adjust tightness, and structure is simply easily achieved, the zero of device can be effectively reduced
Number of components reduces overall failure rate, it is easier to which manufacture uses and prolongs the service life.
As shown in fig. 6, optionally, this force feedback station further includes shell 8, shell 8 is equipped with scram button 81 and shape
State indicator light 82, wherein the effect of scram button 81 is the dump realized in emergency situations, the work of status indicator lamp 82
With being prompted the operating status of this force feedback station；
Force feedback mechanism is arranged inside shell 8, and the operating stick 22 that operating mechanism 2 includes and fixed cover 28 are respectively positioned on outer
Outside shell 8, shell 8 is equipped with the fluting 83 as operation track, and 25 one end of connecting rod that operating mechanism 2 includes passes through the shell
8 fluting 83 is connect with operating stick 22, fixed cover 28 respectively, and the other end of connecting rod 25 is located inside shell 8.
This force feedback station working principle is as follows:
When applying in lung puncture robot and operator is by operation operating mechanism 2, operating mechanism 2 can
It is slided up and down along slide bar 3；As cable tensioner 1, operating mechanism 2, movable pulley mechanism 5 and feedback force apply module 6
Transmission, wirerope 4 also with operating mechanism 2 sliding and move；This force feedback station can be applied in lung puncture robot
In, wherein object run object can be needle body；After needle body is inserted into lung, the system for including this force feedback station can be with
The high low signal that the power of respective needle insertion is detected by devices such as the force detection sensors that is mounted on needle body is passing through monolithic
After the processing of the processing equipments such as machine calculates, provide the driving motor 61 that feedback force applies in module 6 rotated it is complete defeated
Angle, and then wound by steel wires axis 62 is driven to move, the power that needle is inserted into is fed back accordingly by the folding and unfolding realization to wirerope 4
Power can be realized and provide the purpose of the corresponding feedback force of user, enable users to experience true feedback force.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of force feedback station characterized by comprising force feedback mechanism and operating mechanism；
The force feedback mechanism includes that fixed frame, cable tensioner, slide bar, wirerope, movable pulley mechanism and feedback force apply
Module；
The fixed frame includes: top plate and bottom plate；The slide bar is fixed between the top plate and bottom plate；It is solid on the top plate
The fixed movable pulley mechanism；It is fixed with the cable tensioner on the bottom plate and feedback force applies module；
The operating mechanism includes pedestal, operating stick and binding yarn device, and the operating stick and the binding yarn device are both connected to institute
It states on pedestal, the pedestal is slidably connected on the slide bar, and the binding yarn device is fixed on the wirerope；
The movable pulley mechanism, cable tensioner and feedback force apply module and connect with the wirerope, and constitute closed loop
Structure, so that the feedback force applies module and applies to wirerope when driving the pedestal to slide up and down along the slide bar
The power opposite with the pedestal glide direction.
2. force feedback station according to claim 1, which is characterized in that the pedestal is equipped with groove, the binding yarn
Device is equipped with the protrusion of the corresponding groove, so that the protrusion that the binding yarn device includes exists the pressing portions of the wirerope
In the corresponding groove, with the relative position of the fixation binding yarn device and the wirerope.
3. force feedback station according to claim 1, which is characterized in that the operating mechanism includes: connecting shaft, connects
Bar, the first rotary encoder and the second rotary encoder；
One end of the operating stick is fixed with the connecting shaft, and the connecting shaft rolling is connected to described connecting rod one end, and described
The axially distinct axial direction in the connecting rod of connecting shaft, the measuring rod of first rotary encoder and one end of the connecting shaft
Connection, the connecting rod rolling are connected on the pedestal, and the connecting rod passes through the binding yarn device, and the connecting rod, which is equipped with, to be used
In the through-hole for accommodating the steel wire penetrating；
The measuring rod of second rotary encoder is connect with the connecting shaft far from one end of the connecting shaft, so that described
One rotary encoder measures the connecting shaft and measures the connecting rod along axis along axial rotation and second rotary encoder
To rotation.
4. force feedback station according to claim 1, which is characterized in that the operating mechanism further includes linear bearing；
The linear bearing is fixed on the pedestal, and the linear bearing is sleeved on the slide bar, so that the straight line
Bearing is along the sliding bar, to drive the pedestal to slide up and down along the slide bar.
5. force feedback station according to claim 1, which is characterized in that the cable tensioner includes: band sliding
Fixing seat, scroll wheel and the holding screw of slot；The scroll wheel is connect with the steel cable sliding；
The scroll wheel is axially arranged with a bolt, and is fixed on the fixing seat after passing through the sliding groove by nut；Institute
The screw division for stating holding screw passes through enter sliding groove above the fixing seat after, screw division bottom end and the bolt activity connect
It connects, for controlling the scroll wheel moving down in slot by the holding screw, to drive the tensioning of wirerope.
6. force feedback station according to claim 1, which is characterized in that it includes: driving that the feedback force, which applies module,
Motor and wound by steel wires axis are wound with the wirerope on the wound by steel wires axis；The driving motor and the wound by steel wires axis
It is drivingly connected, generates corresponding feedback force for wound by steel wires axis described in the effect power drive according to the operating mechanism.
7. force feedback station according to claim 6, which is characterized in that the feedback force applies module further include: the
One bracket, second support, the first transmission gear and the second transmission gear；The first support and second support are oppositely arranged, institute
State and be equipped with the wound by steel wires axis below first support between second support, the first support lower outer be equipped with it is described
The first transmission gear of wound by steel wires axis axis even；Two sides are respectively equipped with the drive being mutually drivingly connected above the first support
First transmission gear described in dynamic motor and the second transmission gear and the second transmission gear are mutually twisted connection.
8. force feedback station according to claim 1, which is characterized in that the movable pulley mechanism includes: the first sliding
Wheel assembly and the second sliding wheel assembly；
The first sliding wheel assembly and the second sliding wheel assembly apply module with the operating mechanism and feedback force respectively and are adapted to
Setting connects the wirerope between the operating mechanism and feedback force application module for transition.
9. force feedback station according to claim 1, which is characterized in that the movable pulley mechanism further include: tensioning wheel
Component；The tensioning wheel assembly is set between the first sliding wheel assembly and the second sliding wheel assembly.
10. force feedback station according to claim 1, which is characterized in that the tensioning wheel assembly includes: the first tensioning
Wheel support, the first tension pulley support, adjusting bracket and tension pulley block；First tension pulley support, the first tension pulley support phase
To on the top plate；
The adjusting bracket is adjustable to be set between first tension pulley support and the first tension pulley support；The adjusting bracket
Lower section is equipped with the tension pulley block；
The wirerope is passed sequentially through after walking out from the operating mechanism above the pulley of the first sliding wheel assembly, and the tensioning is slided
Enter the feedback force above the pulley of the lower section of wheel and the second sliding wheel assembly and applies module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055484.2A CN109669545A (en) | 2019-01-21 | 2019-01-21 | Force feedback station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055484.2A CN109669545A (en) | 2019-01-21 | 2019-01-21 | Force feedback station |
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| CN109669545A true CN109669545A (en) | 2019-04-23 |
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ID=66149798
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| CN201910055484.2A Pending CN109669545A (en) | 2019-01-21 | 2019-01-21 | Force feedback station |
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|---|---|---|---|---|
| WO2004058457A1 (en) * | 2002-12-31 | 2004-07-15 | Fabio Salsedo | Tendon-driven rotational joint for exoskeleton structure |
| CN101432079A (en) * | 2007-02-06 | 2009-05-13 | Abb株式会社 | Coating system |
| CN104546144A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | Switchable seven-degree-of-freedom force feedback remote operating manipulator |
| US20150209215A1 (en) * | 2014-01-24 | 2015-07-30 | Samsung Electronics Co., Ltd. | Holder and walking assistant robot having the same |
| CN209496333U (en) * | 2019-01-21 | 2019-10-15 | 北京理工大学 | Force feedback station |
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2019
- 2019-01-21 CN CN201910055484.2A patent/CN109669545A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004058457A1 (en) * | 2002-12-31 | 2004-07-15 | Fabio Salsedo | Tendon-driven rotational joint for exoskeleton structure |
| CN101432079A (en) * | 2007-02-06 | 2009-05-13 | Abb株式会社 | Coating system |
| US20150209215A1 (en) * | 2014-01-24 | 2015-07-30 | Samsung Electronics Co., Ltd. | Holder and walking assistant robot having the same |
| CN104546144A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | Switchable seven-degree-of-freedom force feedback remote operating manipulator |
| CN209496333U (en) * | 2019-01-21 | 2019-10-15 | 北京理工大学 | Force feedback station |
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