CN203092570U - Measurement and control circuit of robot teleoperation hand controller with seven-degree of freedom force feedback - Google Patents

Abstract

The utility model discloses a measurement and control system of a robot teleoperation hand controller with seven-degree of freedom force feedback. The circuit is characterized by comprising a microprocessor module, a position detecting module, a force feedback module, a communication interface module and a power supply module. The position detecting module is used for detecting the free-degree of freedom position information of the hand controller; the force feedback module is used for providing feedback force/moment for various degrees of freedom of the hand controller; the communication interface module is used for communicating a hand controller measurement and control system with a computer; the communication way comprises universal serial bus (USB) communication and serial communication; a function key is used for providing the functions of reset, expanding stroke and recording current position information for the hand controller; and the power supply module is used for providing power supply for the overall hand controller measurement and control system. According to the circuit provided by the utility model, the position information of the seven-degree of freedom hand controller is measured by an incremental photoelectrical coded disc, and the seven-degree of freedom feedback force/moment can be provided for the seven-degree of freedom hand controller through adopting a direct current servo motor, and thus the requirement of teleoperation of the seven-degree of freedom of force feedback can be satisfied.

Description

A seven-degree-of-freedom force feedback robot remote-operated hand controller measurement and control circuit

1. Technical field

The utility model relates to a measurement and control circuit for a remote operation hand controller of a seven-degree-of-freedom force feedback robot, which can be widely used in multi-degree-of-freedom force feedback remote operation occasions, such as aerospace, medical treatment, virtual reality and the like. the

2. Background technology

With the widespread application of interactive teleoperated robots, a large number of human-machine interface devices with force-tactile feedback will be required. The robot hand controller is a common human-machine interface device for remote operation of robots. On the one hand, it measures the position information of the operator's hand as a control command to control the manipulator or the virtual manipulator in virtual reality to track the movement of the human hand. The returned force-tactile information is converted into force or torque directly acting on the human hand, so that the operator can produce the "immersive" force-tactile presence effect at the remote robot work site or virtual robot work site, thereby realizing the sense of touch. controls, or create realistic touch sensations in virtual environments. The seven-degree-of-freedom force feedback hand controller can meet the requirements of multi-degree-of-freedom teleoperation with force feedback, and can be used in aerospace, medical, emergency rescue, virtual reality and other fields, and has a wide range of application values. the

3. Contents of utility model

The purpose of the utility model is to provide a seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit that can improve system stability and reliability. the

The utility model adopts the following technical solutions:

A measurement and control circuit for a seven-degree-of-freedom force feedback robot remote operation hand controller, including: a microprocessor module, a position detection module, a force feedback module, a communication interface module and a power supply module, and a position detection module is connected to the microprocessor module And the force feedback module, the position detection module includes a photoelectric encoder circuit including first to seventh photoelectric encoder discs, a first photoelectric isolation circuit including first to seventh optocouplers, and a pulse counting circuit including first to third counters And a phase detection circuit containing the first to fourth D flip-flops, the seven photoelectric encoder discs in the photoelectric encoder circuit are used to receive the position signals of the seven degrees of freedom of the seven-degree-of-freedom force feedback hand controller, and each photoelectric The encoder disk generates A-phase pulse signal and B-phase pulse signal, and the 7-way A-phase pulse signals generated by the first to seventh photoelectric encoder disks are respectively transmitted to the first to third counters through the first to seventh photocouplers, and the pulses are counted The output terminal and the control terminal of the circuit are connected with the counting data port and the counting control port of the microprocessor module, and the 7-way A-phase pulse signals and 7-way B-phase pulse signals generated by the first to seventh photoelectric encoder discs pass through the first to seventh photoelectric encoder discs respectively. The seventh optocoupler transmits to the first to fourth D flip-flops, the output end of the phase detector circuit is connected to the direction data port of the microprocessor module, and the force feedback module includes an inverting circuit including the first to fourth NOT gates, The second photoelectric isolation circuit including the eighth to the ninth optocoupler, the D/A conversion circuit including the first to the second D/A converter, the motor driving circuit including the first to the seventh motor driver, including the first To the motor group of the seventh DC motor, the input terminals of the 4 NOT gates in the reverse circuit are respectively connected with the force feedback data output terminals and the force feedback control output terminals of the microprocessor module, and the 4 NOT gates of the first to fourth NOT gates are connected to each other. The 14 output terminals of the first to second D/A converters are respectively transmitted to the first to the second D/A converters through the eighth to the ninth optocouplers, and the 14 output terminals of the first to the second D/A converters are respectively transmitted to the first to the seventh motor drivers The first to seventh DC motors are sent to the first to seventh DC motors, and the first to seventh DC motors provide feedback force/torque for each degree of freedom of the hand controller in a locked-rotor manner. the

Compared with the prior art, the utility model has the following advantages:

1. The measurement and control circuit of the seven-degree-of-freedom force feedback robot remote operation hand controller of the utility model can measure the position information of the seven-degree-of-freedom hand controller and provide feedback force/torque for each degree of freedom of the hand controller, satisfying multi-degree-of-freedom force feedback remote operation requirements. the

2. The measurement and control circuit of the seven-degree-of-freedom force feedback robot remote operation hand controller of the utility model has a serial communication interface and a USB communication interface, which can meet the requirements of different application occasions for the communication interface and expand the use range of the hand controller. the

3. The measurement and control circuit of the seven-degree-of-freedom force feedback robot remote operation hand controller of the utility model provides the hand controller with the functions of resetting, extending the stroke, and recording current position information through the function key module, so as to meet the special needs in the remote operation process. the

4. The position detection module of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the utility model adopts an independent position detection module (including a pulse counting circuit and a phase detection circuit) to count the pulse signals of the encoder disc, which reduces the Occupy the resources of the microprocessor, and when the MCU program runs away, the position detection module can still record the position information of the hand controller, so that the accurate position information of the hand controller can still be obtained after the MCU resumes normal operation, ensuring the safety of the system stability and reliability. In the existing hand controller measurement and control system, the microprocessor is used to directly count the pulses of the encoder disc to obtain the position information of the hand controller. When the program in the microprocessor runs away, the correct position information of the hand controller cannot be recorded. the

5. The force feedback module of the seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit provides feedback force/torque for the hand controller in the form of DC motor stalling, which has high efficiency and simple control process. the

4. Description of drawings

Fig. 1 is a block diagram of the system composition of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 2 is a block diagram of the position detection module of the measurement and control circuit of the remote operation hand controller of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 3 is the photoelectric encoder disc circuit and the first photoelectric isolation circuit of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 4 is the pulse counting circuit of the measurement and control circuit of the remote operation hand controller of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 5 is the phase detection circuit of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 6 is a block diagram of the composition of the force feedback module of the seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit of the utility model. the

Fig. 7 is the inverting circuit, the second photoelectric isolation circuit and the D/A conversion circuit of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 8 is the motor drive circuit of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the present invention. the

Fig. 9 is a block diagram of the communication interface module of the remote operation hand controller of the seven-degree-of-freedom force feedback robot of the present invention. the

Fig. 10 is the circuit diagram of the communication interface module of the seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit of the utility model

Fig. 11 is a circuit diagram of the microprocessor of the measurement and control system of the seven-degree-of-freedom force feedback hand controller of the present invention. the

Fig. 12 is a block diagram of the composition of the power supply module of the measurement and control circuit of the remote operation hand controller of the seven-degree-of-freedom force feedback robot of the utility model. the

Fig. 13 is a circuit diagram of the power supply module of the measurement and control circuit of the remote operation hand controller of the seven-degree-of-freedom force feedback robot of the present invention. the

Fig. 14 is a flow chart of the lower computer software of the remote operation hand controller measurement and control circuit of the seven-degree-of-freedom force feedback robot of the present invention. the

5. Specific implementation

Describe the specific implementation steps of the present utility model in detail below in conjunction with accompanying drawing. the

Referring to Fig. 1, the measurement and control circuit of the seven-degree-of-freedom force feedback robot remote operation hand controller of the utility model includes: a microprocessor module 1, a position detection module 2, a force feedback module 3, a communication interface module 4 and a power supply module 5. The incremental photoelectric encoder disc is used to measure the position information of the hand controller, and the DC servo motor is used to provide feedback force/torque for the hand controller. The microprocessor module 1 communicates with the computer through the communication interface module 4, and the communication methods include serial port communication and USB communication. The position detection module 2 sends the detected position information of each degree of freedom of the hand controller to the microprocessor module 1, and the microprocessor module 1 sends the processed position information to the computer through the communication interface module 4; the microprocessor module 1 The feedback force information of the computer is received through the communication interface module 4, and the microprocessor module 1 outputs the feedback force/torque to the hand controller through the force feedback module 3 after processing the feedback force information. the

Referring to FIG. 2 , the position detection module includes a photoelectric encoder disk 201 , a first photoelectric isolation circuit 202 , a pulse counting circuit 203 , and a disk phase detector circuit 204 . the

The first to seventh photoelectric encoder disks Encoder1-Encoder7 in the photoelectric encoding circuit 201 use incremental photoelectric encoder disks, and the first to seventh photocouplers U2-1–U2-7 in the photoelectric isolation circuit 202 use dual-channel high-speed photocouplers HCPL-2630, the first to third counters U2-8-U2-10 in the pulse counting circuit 203 select 8254 chips, the first level converter U2-11 selects SN74CBTD3384 chips, and the first to fourth discriminators in the phase detection circuit 204 Phase U2-12-U2-15 selects D flip-flop 7474 chips, second level shifter U2-16 selects SN74CBTD3384 chips, and the first to seventh photoelectric encoders Encoder1-Encoder7 in the photoelectric encoding circuit 201 are respectively connected with the motor group 305 The output shafts Motor_Shaft1-Motor_Shaft7 of the first to the seventh DC motors are connected, and the A and B phase pulse output terminals of the first to the seventh photoelectric encoder discs Encoder1-Encoder7 are respectively connected to the first to the seventh optocouplers in the photoelectric isolation circuit 202 The two negative poles of the light-emitting tubes of U2-1–U2-7 (pins 1 and 4 of HCPL-2630) are connected, and the output terminals of the first to seventh optocouplers (pins 7 and 6 of HCPL-2630) are respectively Connect a pull-up resistor, the power supply terminals (pin 8 of HCPL-2630) of the first to seventh optocouplers U2-1–U2-7 are connected to the D+5V power supply, and the first to seventh optocouplers in the photoelectric isolation circuit 202 The first output terminals (pin 7 of HCPL-2630) of the three optocouplers U2-1-U2-3 are respectively connected with the first to third pulse input terminals (pin 7 of 8254) of the first counter U2-8 in the pulse counting circuit 203 Pins 9, 15, 18) are connected, and the first output terminals (pin 7 of HCPL-2630) of the fourth to sixth optocouplers U2-4-U2-6 are respectively connected to the second counter U2 in the pulse counting circuit 203 The first to third pulse input terminals of -9 (pins 9, 15, 18 of 8254) are connected, and the first output terminals of the seventh optocoupler U2-1-U2-3 (pin 7 of HCPL-2630) Connect with the first pulse input terminal (pin 9 of 8254) of the third counter U2-10 in the pulse counting circuit 203, the first to the third counter U2-8, U2-9, U2-10 in the pulse counting circuit 203 The data port (pin 8-1 of 8254) is connected in parallel, and connected with the counting data port of the microprocessor module 1 through the first level shifter U2-11, and the first to third counters U2-8 in the pulse counting circuit 203 , U2-9, U2-10 write signal port (pin 23 of 8254) and read signal port (pin 22 of 8254) are respectively connected in parallel, and through the first level shifter U2-11 and microprocessor module 1 The counting control ports of the pulse counting circuit 203 are connected to each other, and the first to third counters U2-8, U2-9, U2-10 in the pulse counting circuit 203 The address signal line and the chip select signal line (pins 19, 20, 21 of 8254) are connected to the count control port of the microprocessor module 1, and the first to seventh optocouplers U2-1– in the first photoelectric isolation circuit 202 The first and second output terminals of U2-7 are respectively connected to the input terminals of the first to fourth D flip-flops U2-12-U2-15 in the phase detection circuit 204, and the first to fourth D flip-flops in the phase detection circuit 204 The seven output ends of the switches U2-12-U2-15 are respectively connected to the direction data input port of the microprocessor module 1 through the second level shifter. For other pin connections of 8254 and SN74CBTD3384, refer to their technical manuals. the

Referring to FIG. 6 , the force feedback module includes an inverter circuit 301 , a second photoelectric isolation circuit 302 , a D/A conversion circuit 303 , a motor drive circuit 304 , and a motor unit 305 . the

The first to fourth inverting gates U3-1A-U3-1D in the inverter circuit 301 use 7404 chips, the eighth to ninth optocouplers in the second photoelectric isolation circuit 302 use high-speed optocoupler HCPL-2630, D/A conversion In the circuit 303, the first to the second D/A converters select the D/A chip TLV5630 chip with the SPI interface, and the first to the seventh motor drivers in the motor drive circuit 304 select the ADS50/5 type motor driver of MAXON Company, ADS50/ 5 There is a power supply module, a signal module, and a code disc input module on the driver, and the input terminals of the first to fourth NOT gates (pins 1, 3, 5, and 9 of the 7404) in the inverter circuit 301 are respectively connected to the microprocessor module 1 The force feedback data output terminal is connected to the force feedback control output terminal, and the output terminals of the first to fourth NOT gates in the inverter circuit 301 (pins 2, 4, 6, and 8 of the 7404) are respectively connected to the first through a resistor. In the second photoelectric isolation circuit 302, the two negative poles (pins 1 and 4 of HCPL-2630) of the four light-emitting tubes of the eighth and ninth optocouplers are connected, and the four output terminals of the eighth and ninth optocouplers are respectively Connect a pull-up resistor to the serial data input (pin 2 of TLV5630) and serial clock input (pin 3 of TLV5630) of the first to second D/A converters U3-4, U3-5 They are connected in parallel respectively, and are respectively connected to the first and second output terminals (pins 7 and 6 of HCPL-2630) of the eighth optocoupler U3-2 in the second photoelectric isolation circuit 302, and the first output terminal in the D/A conversion circuit 303 The 14 output terminals of the first to the second D/A converters U3-4, U3-5 are respectively connected with the input terminals of the first to the seventh motor drivers U3-6-U3-12 in the motor drive circuit 304 (the leads of the signal module pins 1 and 2), and the output ends of the first to seventh motor drivers U3-6-U3-12 (pins 1 and 2 of the power supply module) are respectively connected to the first to seventh DC motors in the motor unit 305. Refer to the technical manual for the connection of other pins of the driver. the

Referring to FIG. 9 , the communication interface module includes a serial communication interface circuit 401 and a USB communication interface circuit 402 . the

The TTL level input terminal (pin 11 of max3232) of the level conversion chip U4-1 in the serial port communication interface circuit 401 is connected with the UART output terminal TX of the microprocessor; the TTL level output terminal of U4-1 (pin 11 of max3232 Pin 12) is connected with the UART input RX end of the microprocessor. The 232-level output terminal of U4-1 (pin 14 of max3232) is connected to the pin 2 of the DB9 interface; the 232-level input terminal of U4-1 (pin 13 of the max3232) is connected to the pin 3 of the DB9 interface; Pin 5 of the DB9 interface, shell pin 10 and shell pin 11 are connected to the ground DGND. Refer to the technical manual for the connection method of the peripheral circuit of the level conversion chip U4-1. the

The bus port transient suppressor U4-2 in the USB interface circuit 402 selects the SN75240 chip, and the channels C and D of the SN75240 are respectively connected with the USB interface of the microprocessor, and the channels C and D of the SN75240 are connected with the pins 2 and 3 of the USB interface. A resistor R4-3 and R4-4 are respectively connected in series between them. Refer to the technical manual for other peripheral circuit connections of U4-2. The USB interface is a B-type USB interface, the VBUS pin of the USB interface (pin 1 of the USB interface) is connected to the VBUS of the USB of the microprocessor, and the shell of the USB interface (pin 0 of the USB interface) is connected to the ground DGND. the

Referring to Fig. 11, the microprocessor in the microprocessor module 1 selects the mixed-signal single-chip microcomputer model as C8051F340, the pins 15-22 of C8051F340 are used as counting data ports, and the pins 47, 48, 30-25 of C8051F340 are used as counting control ports, The pins 38-32 of C8051F340 are used as the direction data port, the MOSI terminal of the microprocessor SPI bus, the SCLK terminal is used as the force feedback data output terminal, the pins 47 and 48 of C8051F340 are used as the force feedback control output terminal, and the pin 1 of C8051F340 is used as UART RX pin of C8051F340, pin 2 of C8051F340 is used as TX pin of UART, pin 8 of C8051F340 is used as D+ pin of USB, pin 9 of C8051F340 is used as D- pin of USB, pin 12 of C8051F340 is used as VBUS pin. the

Referring to FIG. 12 , the power module includes a switching power supply module 501 , a first 5V step-down circuit 502 , a second 5V step-down circuit 503 , and a first 3.3V step-down circuit 504 . the

The switching power supply module 501 is composed of two independent switching power supplies (S-100-12) U7-1 and U7-2. The S-100-12 switching power supply is a single-ended 12V output switching power supply with a power of 100W. The AC input terminals of U7-1 and U7-2 are connected to the corresponding pins of the 3-pin power plug; the first 5V step-down circuit 502 uses a step-down chip LM1085-5.0, and its peripheral circuit connection method refers to its technical manual, the input terminal + 12V is +12V voltage, the output terminal +5V is 5.0V voltage; the second 5V step-down circuit 503 adopts step-down chip LM1085-5.0, and its peripheral circuit connection method refers to its technical manual, and the input terminal D+12V is +12V voltage, The output terminal D+5V is 5.0V voltage; the first 3.3V step-down circuit 504 adopts step-down chip LM1117-3.3, and its peripheral circuit connection method refers to its technical manual, the input terminal D+5V is +5V voltage, and the output terminal +3.3 V is 3.3V voltage. the

Referring to FIG. 14 , the lower computer software is the C8051F340 single-chip software, including a main loop 801 and an interrupt service program 802 . the

"Initialization" in main loop 801 includes system clock initialization, I/O port initialization, USB0 initialization, UART initialization, external bus EMI initialization, SPI0 initialization, system clock initialization includes selecting on-chip clock oscillator, setting system clock as 24MHz, I /O port initialization includes enabling the crossbar switch, assigning pins for UART0 and SPI0, crossbar switch skipping P1.3, P1.6, P1.7, P3.0-P3.7 pins, setting P0, P3 ports, P1.0, P1.1, and P1.2 are push-pull output modes. USB0 initialization includes initializing the USB clock, enabling USB interrupts, and setting the USB operating mode to full-speed mode. UART initialization includes enabling UART0, setting the baud rate, and initializing UART0 clock, enable UART interrupt, external bus EMI initialization includes enabling EMI bus, setting EMI to work on address line, data line multiplexing mode, SPI initialization includes setting SPI0 to work in master mode, collecting data at the second edge of SCL, SCLK is at low level when idle, SPI0 is enabled, and the SPI clock is set to 1/2 system clock. For the control commands of C8051F340, refer to the technical manual. The "8254 initialization" in the main cycle 801 includes the first To the initialization of the third counter (8254), the initialization content includes the design of the working mode of each channel in each 8254 and writing the counting initial value to each technical channel, setting the working mode as mode 0, binary counting mode, first read/ Write the lower 8-bit data, and then read/write the upper 8-bit data. For the read and write control commands of 8254, refer to the technical manual. The "TLV5630 initialization" in the main loop 801 includes selecting the DA conversion reference voltage as the on-chip 2V reference voltage, setting TLV5630 works in fast mode. For the control commands of TLV5630, please refer to the technical manual. In the main loop 801, "sequentially read 7-way 8254 count values" means to read channel 0, channel 1, and channel 1 of U2-8 in the counting circuit 203 respectively. 2. The count values of channel 0, channel 1, channel 2, and channel 0 of U2-10 are stored in the corresponding registers. For the read and write control commands of 8254, refer to the technical manual. The main loop 801 "Read direction data" means to read the state of the direction data port (P2.0-P2.6 pins of C8051F340), and put the pin state into the corresponding register. In the main loop 801, "calculate each The position value of the degree of freedom" is to calculate the position value of each degree of freedom according to the read 8254 count value and the read direction data, and store the calculated value into the corresponding register. In the main loop 801 "USB sending data" is about to send the calculated position values of each degree of freedom to the computer through USB. For USB sending commands, refer to the C8051F340 technical manual. The "UART sending data" in the main loop 801 is about to calculate the positions of each degree of freedom value passed UART0 is sent to the computer, and the UART sending command refers to the C8051F340 technical manual. The "USB receiving data" and "UART receiving data" in the interrupt service program 802 respectively represent reading the data sent from the computer from the USB0 port and from UART0, and the computer sends The incoming data includes the DA channel number and the value to be converted by the corresponding DA channel. "SPI0 send data" is about to send the data received from the computer to the TLV5630 with SPI0. TI and RI are the sending interrupt flag and receiving interrupt flag of UART0 respectively, USB0 , UART0, SPI0 read and write commands, please refer to the technical manual. the

Claims (4)

1. A seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit, including: a microprocessor module (1), a communication interface module (4) and a power supply module (5), characterized in that the microprocessor module (1) is respectively connected with a position detection module (2) and a force feedback module (3), and the position detection module (2) includes a photoelectric encoding circuit (201) including the first to seventh photoelectric encoding discs, including the first The first photoelectric isolation circuit (202) to the seventh optocoupler, the pulse counting circuit (203) including the first to third counters, and the phase detection circuit (204) including the first to fourth D flip-flops, the The 7 photoelectric encoder discs in the photoelectric encoding circuit (201) are respectively used to receive the position signals of the 7 degrees of freedom of the seven-degree-of-freedom force feedback hand controller, and each photoelectric encoder disc generates an A-phase pulse signal and a B-phase pulse signal , the 7-way A-phase pulse signals generated by the first to the seventh photoelectric encoder discs are respectively transmitted to the first to the third counters through the first to the seventh photocouplers, and the output terminal and the control terminal of the pulse counting circuit (203) are connected with the micro The counting data port of the processor module (1) is connected to the counting control port, and the 7-way A-phase pulse signals and 7-way B-phase pulse signals generated by the first to seventh photoelectric encoder discs are respectively transmitted through the first to seventh optocouplers To the first to fourth D flip-flops, the output terminal of the phase detection circuit (204) is connected to the direction data port of the microprocessor module (1), and the force feedback module (3) includes the first to fourth NOT gates the inverting circuit (301), the second photoelectric isolation circuit (302) including the eighth to the ninth optocoupler, the D/A conversion circuit (303) including the first to the second D/A converter, and the second The motor driving circuits (304) of the first to the seventh motor drivers, the motor group (305) including the first to the seventh DC motors, the input terminals of the four NOT gates in the reverse circuit (301) are respectively connected with the micro The force feedback data output terminal of the processor module (1) is connected to the force feedback control output terminal, and the four output terminals of the first to fourth NOT gates are respectively transmitted to the first to second D /A converter, the 14 output terminals of the first to the second D/A converter are respectively transmitted to the first to the seventh DC motors through the first to the seventh motor drivers, and the first to the seventh DC motors are locked-rotor Provides feedback force/torque for each degree of freedom of the hand controller. the 2. According to claim 1, the seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit is characterized in that the first to seventh photoelectric encoder discs (Encoder1-Encoder7) in the photoelectric encoding circuit (201) are selected Incremental photoelectric encoder disk, the first to seventh photocouplers (U2-1–U2-7) in the photoelectric isolation circuit (202) use dual-channel high-speed photocoupler HCPL-2630, and the counter in the pulse counting circuit (203) chooses 8254 chip, the first level shifter selects the SN74CBTD3384 chip, the phase detector in the phase detector circuit (204) selects the D flip-flop 7474 chip for use, the second level shifter selects the SN74CBTD3384 chip for use, and the first to The seventh photoelectric encoder discs (Encoder1-Encoder7) are respectively connected to the output shafts (Motor_Shaft1-Motor_Shaft7) of the first to seventh DC motors in the motor unit (305), and the first to seventh photoelectric encoder discs (Encoder1-Encoder7) The A and B-phase pulse output terminals are respectively connected to the two negative poles of the light-emitting tubes of the first to seventh optocouplers (U2-1–U2-7) in the photoelectric isolation circuit (202), and the first to seventh optocouplers The output terminals of the first to seventh optocouplers (U2-1–U2-7) are respectively connected to a pull-up resistor, the power supply terminals of the first to seventh optocouplers (U2-1–U2-7) are connected to the D+5V power supply, and the first to third optocouplers in the photoelectric isolation circuit (202) The first output terminals of the optocouplers (U2-1-U2-3) are respectively connected to the first to third pulse input terminals of the first counter (U2-8) in the pulse counting circuit (203), and the fourth to sixth The first output ends of the optocouplers (U2-4-U2-6) are respectively connected to the first to third pulse input ends of the second counter (U2-9) in the pulse counting circuit (203), and the seventh optocoupler The first output terminal of (U2-1-U2-3) is connected with the first pulse input terminal of the third counter (U2-10) in the pulse counting circuit (203), and the first to third counters in the pulse counting circuit (203) The data ports of the counters (U2-8, U2-9, U2-10) are connected in parallel, and connected to the counting data ports of the microprocessor module (1) through the first level shifter (U2-11), and the pulse counting circuit ( 203), the write signal ports and read signal ports of the first to third counters (U2-8, U2-9, U2-10) are respectively connected in parallel, and are connected with the microprocessor through the first level shifter (U2-11) The counting control ports of the module (1) are connected, and the address signal lines and chip selection signal lines of the first to third counters (U2-8, U2-9, U2-10) in the pulse counting circuit (203) are connected with the microprocessor module (1) is connected to the counting control port, and the first and second output terminals of the first to seventh optocouplers (U2-1–U2-7) in the first photoelectric isolation circuit (202) are respectively connected to the phase detector circuit (204 ) of the first to fourth D flip-flops (U2-12 -U2-15) are connected to the input terminals, and the seven output terminals of the first to fourth D flip-flops (U2-12-U2-15) in the phase detection circuit (204) are respectively connected to the second level converter and the microprocessor connected to the direction data input port of the controller module (1). the 3. The seven-degree-of-freedom force feedback robot remote operation hand controller measurement and control circuit according to claim 1, characterized in that in the force feedback module (3), the first to fourth NOT gates in the inverting circuit (301) are 7404 Chip, the eighth to ninth optocouplers in the second photoelectric isolation circuit (302) use high-speed optocouplers HCPL-2630, and the first to second D/A converters in the D/A conversion circuit (303) use SPI interfaces The D/A chip TLV5630 chip, the first to the seventh motor drivers in the motor drive circuit (304) use the ADS50/5 motor driver of MAXON company, and the ADS50/5 driver has a power supply module, a signal module, and a code disc input module. The input terminals of the first to fourth NOT gates in the inverter circuit (301) are respectively connected to the force feedback data output terminal and the force feedback control output terminal of the microprocessor module (1). The output terminals of the fourth NOT gate are respectively connected to the negative poles of the 4 luminous tubes of the eighth and ninth optocouplers in the second photoelectric isolation circuit (302) through a resistor, and the 4 cathodes of the eighth and ninth optocouplers are respectively connected to each other. Each output terminal is respectively connected to a pull-up resistor, and the serial data input terminal and the serial clock input terminal of the first to second D/A converter (U3-4, U3-5) are respectively connected in parallel, and are respectively connected to the second The first and second output ends of the eighth optocoupler (U3-2) in the photoelectric isolation circuit (302) are connected, and the first to second D/A converters (U3-4) in the D/A conversion circuit (303) , U3-5) are respectively connected to the input terminals of the first to seventh motor drivers (U3-6–U3-12) in the motor drive circuit (304), and the first to seventh motor drivers (U3- 6-U3-12) are respectively connected to the first to seventh DC motors in the motor unit (305). the 4. The measurement and control circuit of the seven-degree-of-freedom force feedback robot remote operation hand controller according to claim 1, characterized in that the microprocessor in the microprocessor module (1) is a mixed-signal single-chip microcomputer with a model of C8051F340, and the pins of C8051F340 15-22 as counting data ports, pins 47, 48, 30-25 of C8051F340 as counting control ports, pins 38-32 of C8051F340 as direction data ports, MOSI end and SCLK end of microprocessor SPI bus as force feedback The data output end, the pin 47, 48 of C8051F340 is used as the force feedback control output end. the

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