CN110169824A - A kind of moving cell of across signal Two-way Feedback control - Google Patents
A kind of moving cell of across signal Two-way Feedback control Download PDFInfo
- Publication number
- CN110169824A CN110169824A CN201910316115.4A CN201910316115A CN110169824A CN 110169824 A CN110169824 A CN 110169824A CN 201910316115 A CN201910316115 A CN 201910316115A CN 110169824 A CN110169824 A CN 110169824A
- Authority
- CN
- China
- Prior art keywords
- signal
- displacement
- unit
- working end
- control system
- 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
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of moving cells of across signal Two-way Feedback control, can interact the transmitting of Shi Li and displacement signal.It is made of two sets of unit A comprising same system element and unit B.Driving device drives motor element mechanical movement, and it is moved together with elastic element and working end, elastic element establishes feedback force among motor element and working end and by its own stress and deformation, and in motor element, elastic element connects force sensor in working end or surface any position, force snesor exports the force signal of relationship proportional to the displacement signal of working end, force signal makees tracking displacement by the channel input control system of connection and the motor element of mutually control other side's unit, form the servo-control system of displacement or the angular displacement of the mechanical displacement of two sets of motor element outputs or the working end of angular displacement tracking other side's unit.Signal of the present invention is interactive transmitting.
Description
Technical field
The present invention relates to a kind of moving cell of across signal Two-way Feedback control, Shi Li and displacement signal can be interacted
Transmitting, is mainly used for needing to transmit the communication system of haptic signal or servo-system.
Background technique
The patent of invention of Patent No. 2018113978063 discloses a kind of touch reception transmission machine, includes two sets and includes
There are the unit A and unit of driving device, motor element, elastic element, working end, displacement sensor, channel and control system
B.Demand is no longer satisfied, needs to be further improved it.
Summary of the invention
The object of the invention is exactly to provide a kind of movement list of across signal Two-way Feedback control to enrich tactile Transfer Technology
Member.
The present invention is achieved by the following technical solutions:
It includes driving device, motor element, elasticity that a kind of moving cell of across signal Two-way Feedback control, which includes two sets,
Element, working end, force snesor, channel and control system unit A and unit B, control system and the driving device
Connection, the driving device, motor element, elastic element and working end are sequentially connected, and in motor element, elastic element
Force sensor is connected in working end or surface any position, the force snesor of unit A passes through the control of channel and unit B
The force snesor of system connection, unit B is connect by channel with the control system of unit A, and driving device drives motor element machine
Tool movement, generates mechanical displacement or angular displacement, when motor element mechanical movement, starts shipment with elastic element and working end one
Dynamic, the elastic element establishes feedback force by its own stress and deformation among motor element and working end, works as work
When end stress is mobile, force snesor output services end by force signal, work may know that by force signal and Hooke's law
The displacement signal of end, therefore force signal can be used as the displacement signal of proportional relationship, force signal is input to control by channel
System, control system control driving device work connected to it, so that controlling motor element makees tracking other side's cell operation end
The displacement of head, that is, the mechanical displacement or angular displacement that form two sets of motor element outputs accurately track the working end of other side's unit
Displacement or angular displacement servo-control system, because of tracking displacement, the work that the elastic element of unit A and unit B is subject to
Extruding or the tensile deformation amount for making end and motor element are identical, and the reaction force that two elastic elements deformation generates is equal, and two
Reaction force is respectively acting on both ends operator by working end.
The control system is zoomed in or out by the way that force signal is proportional, and the motor element for mutually controlling other side's unit is made
The tracking of equal or proportional scaling is displaced.
The elastic element of two units is identical or different coefficient of elasticity, the two elastic elements coefficient of elasticity
When equal, extruding or tensile deformation amount of the working end that the elastic element of unit A and unit B is subject to motor element are identical.
The motor element of two units is mechanical displacement or is angular displacement or one is that mechanical displacement is another
One is angular displacement.
Two driving devices be to be driven by electricity or be hydraulic-driven or be pneumatic actuation either three kinds
The combination of any the two of driving method.
The channel of two units is the group of wireless channel or wire channel either wireless channel and wire channel
It closes.
The mode of two channel transfer signals is number or simulation.
The invention has the advantages that
The force snesor feedback that the present invention uses needs to carry out across the signal proportion transformation of power to displacement, and working principle of the present invention is clear
Clear, signal is interactive transmitting, and interaction fidelity is good, and each functional component technology maturation exploitativeness is strong.
Detailed description of the invention
Fig. 1 is the embodiment of the present invention schematic diagram.
Specific embodiment
As shown in Figure 1, the driving device is electric pushrod, motor element is moving lever, and moving lever is mounted on electronic
On push rod, electric pushrod drives moving lever movement, and elastic element is spring, and one end of spring is fixedly connected on moving lever, separately
One end is fixedly connected in working end, and Quartz Force Sensor is equipped in working end, and channel is signal wire, and control system is
Servo-control system, working end are the mounting base of execution unit, transition seat.
Embodiment: a kind of moving cell of across signal Two-way Feedback control, by including control system 1, electric pushrod one
2, moving lever 1, spring 1, working end be first 5, Quartz Force Sensor 1, signal wire 1 form unit A and by comprising
Control system 2 1.1, electric pushrod 2 2.1, moving lever 2 3.1, spring 2 4.1, working end 2 5.1, Quartz Force Sensor
2 6.1, the unit B composition of signal wire 2 7.1.
Electric pushrod 1 is that the power-driven gear for the straight-line displacement for electric power being transformed into moving lever 1 is (well known electronic
Push rod, internal mechanism are generally motor drive a pair of feed screw nut and the rotation motion of motor are in line displacement).Control
System 1 can allow motor forward/backward rotation by controlling electricity output, so that driving moving lever 1 to do stretches out electric pushrod 1
Straight-line displacement or the straight-line displacement for retracting electric pushrod 1.Moving lever 1, spring 1 and working end first 5 are linked in sequence, fortune
When lever 1 is as motor element and straight-line displacement, moved together with spring 1 and working end first 5.Spring 1 is being transported
Feedback force is established among lever 1 and working end first 5 and by its own stress and deformation, working end first 5 is passed with Quartz Force
Sensor 1 couples, and the ratio force signal of the displacement signal of one 6 output services end 1 of Quartz Force Sensor, force signal passes through connection
The moving lever 2 3.1 of one 7 input controller 2 1.1 of signal wire and control unit B that connect makees equal tracking displacement, that is, forms fortune
The servo-control system of the straight-line displacement of the working end first 5 for the straight-line displacement tracking cell A that lever 2 3.1 exports.
Electric pushrod 2 2.1 is that the power-driven gear for the straight-line displacement for electric power being transformed into moving lever 2 3.1 is (well known
Electric pushrod, internal mechanism are generally motor drive a pair of feed screw nut and the rotation motion of motor are in line displacement).
Control system 2 1.1 can allow motor forward/backward rotation by controlling electricity output, so that driving moving lever 2 3.1 to do stretches out electronic push away
The straight-line displacement of bar 2 2.1 or the straight-line displacement for retracting electric pushrod 2 2.1.Moving lever 2 3.1, spring 2 4.1 and working end
First 2 5.1 are linked in sequence, when moving lever 2 3.1 makees motor element and straight-line displacement, with spring 2 4.1 and working end two
5.1 moving together.Spring 2 4.1 is established among moving lever 2 3.1 and working end 2 5.1 and by its own stress and deformation
Feedback force, working end 2 5.1 couple with Quartz Force Sensor 2 6.1,2 6.1 output services end two of Quartz Force Sensor
The ratio force signal of 5.1 displacement signal, 2 7.1 input controller 1 of signal wire and control unit A that force signal passes through connection
Moving lever 1 make tracking displacement, that is, form the working end 2 5.1 of the straight-line displacement tracking cell B of the output of moving lever 1
The servo-control system of straight-line displacement.
Form watching for the straight-line displacement of the working end of straight-line displacement tracking other side's unit of two sets of motor element outputs
Control system is taken, because equal tracking displacement is working end that the elastic element of Unit two is subject to and motor element squeeze
Pressure or tensile deformation amount are identical, and setting the elastic coefficient is equal, then the reaction force that two spring deformations generate is equal, the two
Reaction force is respectively acting on both ends operator by working end, to reach interactive transmission force, be displaced these initiation touchings
The purpose of the signal of feel.
When control system is zoomed in or out by the way that force signal is proportional, the motor element for mutually controlling other side's unit is made ratio
When the tracking displacement of example scaling or when elastic element is different coefficient of elasticity in Unit two, touch reception transmission machine can be to transmitting
Displacement and the information of power zoom in or out transmitting.
Motor element can be identical or different displacement type in Unit two, such as: one be mechanical displacement another
It is angular displacement, transformation of scale setting is carried out to force sensor signals by control system, forms the mechanical position of motor element output
The angular displacement of the servo-control system or motor element output of moving the angular displacement of the working end of tracking other side's unit tracks other side
The servo-control system of the mechanical displacement of the working end of unit.The haptic signal that can be achieved between different displacement types in this way passes
It passs.
Claims (7)
1. a kind of moving cell of across signal Two-way Feedback control, it is characterised in that: include two sets include driving device,
Motor element, elastic element, working end, force snesor, channel and control system unit A and unit B, control system and institute
The driving device connection stated, the driving device, motor element, elastic element and working end are sequentially connected, and are being moved
In element, elastic element and working end or surface any position connects force sensor, and the force snesor of unit A passes through channel
It is connect with the control system of unit B, the force snesor of unit B is connect by channel with the control system of unit A, and driving device is driven
Dynamic motor element mechanical movement, generates mechanical displacement or angular displacement, when motor element mechanical movement, with elastic element and work
Make end to move together, the elastic element is established among motor element and working end by its own stress and deformation anti-
Power is presented, when working end stress is mobile, the stress of force snesor output services end may know that working end by Hooke's law
The displacement signal of head, therefore force signal can be used as the displacement signal of proportional relationship, force signal is input to control system by channel
System, control system control driving device work connected to it, so that controlling motor element makees tracking other side's cell operation end
Displacement, that is, the mechanical displacement or angular displacement that form the output of two sets motor elements track the working end of other side's unit displacement or
The control system of angular displacement；The reaction force that two elastic elements deformation generates is equal, and two reaction forces pass through working end point
Both ends operator is not acted on.
2. a kind of moving cell of across signal Two-way Feedback control according to claim 1, it is characterised in that: the control
System processed is zoomed in or out by the way that force signal is proportional, and the motor element for mutually controlling other side's unit makees equal or proportional scaling
Tracking displacement.
3. a kind of moving cell of across signal Two-way Feedback control according to claim 1, it is characterised in that: described two
The elastic element of a unit is identical or different coefficient of elasticity, when the two elastic elements coefficient of elasticity is equal, unit A and list
The extruding of the working end that the elastic element of first B is subject to and motor element or tensile deformation amount are identical.
4. a kind of moving cell of across signal Two-way Feedback control according to claim 1, it is characterised in that: described two
The motor element of a unit is mechanical displacement or is angular displacement or one is mechanical displacement the other is angular displacement.
5. a kind of moving cell of across signal Two-way Feedback control according to claim 1, it is characterised in that: described two
A driving device is to be driven by electricity or is hydraulic-driven or is that pneumatic actuation either three kinds of driving methods are both any
Combination.
6. a kind of moving cell of across signal Two-way Feedback control according to claim 1, it is characterised in that: described two
The channel of a unit is the combination of wireless channel or wire channel either wireless channel and wire channel.
7. a kind of moving cell of across signal Two-way Feedback control according to claim 6, it is characterised in that: described two
The mode of a channel transfer signal is number or simulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910316115.4A CN110169824A (en) | 2019-04-19 | 2019-04-19 | A kind of moving cell of across signal Two-way Feedback control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910316115.4A CN110169824A (en) | 2019-04-19 | 2019-04-19 | A kind of moving cell of across signal Two-way Feedback control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110169824A true CN110169824A (en) | 2019-08-27 |
Family
ID=67689714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910316115.4A Pending CN110169824A (en) | 2019-04-19 | 2019-04-19 | A kind of moving cell of across signal Two-way Feedback control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110169824A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1414347A (en) * | 2002-11-05 | 2003-04-30 | 李军 | Finger tip touch reception transmission machine |
| WO2011100220A1 (en) * | 2010-02-09 | 2011-08-18 | The Trustees Of The University Of Pennsylvania | Systems and methods for providing vibration feedback in robotic systems |
| CN106462243A (en) * | 2014-03-24 | 2017-02-22 | 直观外科手术操作公司 | System and method for virtual feedback with haptic devices |
| CN108420545A (en) * | 2018-03-01 | 2018-08-21 | 东南大学 | Electric touch feedback device and the operating robot for being equipped with the device |
| CN109350245A (en) * | 2018-11-22 | 2019-02-19 | 中国科学院合肥物质科学研究院 | A kind of touch reception transmission machine |
-
2019
- 2019-04-19 CN CN201910316115.4A patent/CN110169824A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1414347A (en) * | 2002-11-05 | 2003-04-30 | 李军 | Finger tip touch reception transmission machine |
| WO2011100220A1 (en) * | 2010-02-09 | 2011-08-18 | The Trustees Of The University Of Pennsylvania | Systems and methods for providing vibration feedback in robotic systems |
| CN106462243A (en) * | 2014-03-24 | 2017-02-22 | 直观外科手术操作公司 | System and method for virtual feedback with haptic devices |
| CN108420545A (en) * | 2018-03-01 | 2018-08-21 | 东南大学 | Electric touch feedback device and the operating robot for being equipped with the device |
| CN109350245A (en) * | 2018-11-22 | 2019-02-19 | 中国科学院合肥物质科学研究院 | A kind of touch reception transmission machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2007063693A1 (en) | Wireless actuator | |
| CN105458878A (en) | Robot system for performing force control | |
| EP1902793A3 (en) | Method for changing force gain in a die cushion control and die cushion control apparatus | |
| CN104863982B (en) | A kind of variation rigidity shaft joint and variation rigidity driving mechanism | |
| CN105511400B (en) | A kind of pressing robot control system | |
| CN104992919A (en) | Positioning foot, positioning device and positioning method | |
| CN109350245A (en) | A kind of touch reception transmission machine | |
| CN100504696C (en) | Method and system for rear material-fending positioning compensation of plate shearing machine and bending machine | |
| CN110169824A (en) | A kind of moving cell of across signal Two-way Feedback control | |
| CN112659120A (en) | Master-slave teleoperation and force feedback control method of hydraulic operation mechanical arm | |
| KR970705205A (en) | A machine with a plurality of crimping stations for preparing electrical harnesses. | |
| CN203856787U (en) | Mobile joint driving device for robot | |
| EP1372128A3 (en) | Apparatus and method of force feedback input for flight simulator | |
| CN202257175U (en) | Slide block monitoring system on hydraulic machine | |
| CN111993377A (en) | Teleoperation main hand force feedback curve fitting algorithm and system | |
| CN202017744U (en) | Punch press drive arrangement | |
| CN103326614A (en) | Stepping type actuator driven by double piezoelectric stacks | |
| CN101970271A (en) | Dual force ram drive for a screw press | |
| CN103470551A (en) | Remote-handle control device and engineering machinery | |
| CN104722690A (en) | Robot lock rivet riveting system and precision servo riveting machine thereof | |
| CN108971282B (en) | A kind of universal metal bending robot of 90 degree of bendings | |
| CN102331732A (en) | System for monitoring slide block on hydraulic press | |
| CN204414090U (en) | Automation six-axis linkage movable type mechanical hand | |
| CN104089076A (en) | Diaphragm type angular travel pneumatic actuating mechanism | |
| CN101488552B (en) | Die bonding method for automatic quartz alignment by image recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190827 |