CN208358829U - single-degree-of-freedom force feedback handle - Google Patents
single-degree-of-freedom force feedback handle Download PDFInfo
- Publication number
- CN208358829U CN208358829U CN201821043873.0U CN201821043873U CN208358829U CN 208358829 U CN208358829 U CN 208358829U CN 201821043873 U CN201821043873 U CN 201821043873U CN 208358829 U CN208358829 U CN 208358829U
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- China
- Prior art keywords
- gear
- handle
- pressing plate
- servo motor
- forces
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- Withdrawn - After Issue
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Abstract
The utility model relates to a kind of single-degree-of-freedom force feedback handles, the upper end of DC servo motor is connect with handle gear-box, lower end is connect with handle control cabinet, one end of gear forces feedback pressing plate A and gear forces feedback pressing plate B are inserted in handle gear-box, and it is respectively arranged with gear A and gear B, gear B and direct current watch the output axis connection of motor upper end, gear A is rotatably mounted in handle gear-box by shafting, and it is meshed with gear B, it is clamping end that gear forces, which feed back pressing plate A and the other end of gear forces feedback pressing plate B, the angle limit plate being mounted on handle gear-box is equipped among the other end that gear forces feed back pressing plate A and gear forces feedback pressing plate B；Magnetic rotary encoder, handle controller and handle drives device are equipped in handle control cabinet respectively, the output shaft of DC servo motor lower end is connected with the magnet being correspondingly arranged with magnetic rotary encoder.The utility model has the characteristics that compact-sized, light-weight, flexibility and adaptable.
Description
Technical field
The utility model belongs to force-feedback control technology, principal and subordinate's remote operating field, specifically a kind of single-degree-of-freedom power
Handle is fed back, the remote operation such as remote diagnosis first aid, long-range motion reappearance and force feedback is mainly used for.
Background technique
With the rapid development of industrial technology, multi-freedom robot can be smooth under some special requirements and environment
Complicated task is completed, such as assembly, welding industry are used widely, and have been realized in automation control；But in core spoke
Penetrate, the non-structure environments such as fire and fight-terrorism warfare scene, in various tasks operation, remain difficult to realize robot from acting
Industry, it is still necessary to which personnel participate in control, and principal and subordinate's remote operating is most common operating method.But main hand end hand in existing remote control system
It mostly uses control button to trigger control instruction at handle, can not control from hand end-of-arm tooling claming angle, it is even more impossible to perceive
From the true operation power of hand end-of-arm tooling, intuitive, stability and the reliability of remote tele-operation control are impacted.
Utility model content
The above problem existing for control instruction is triggered in order to solve remote control system using control button, the utility model
It is designed to provide a kind of single-degree-of-freedom force feedback handle.
The purpose of this utility model is achieved through the following technical solutions:
The utility model include handle gear-box, gear forces feedback pressing plate A, angle limit plate, gear forces feedback pressing plate B,
DC servo motor, handle control cabinet, magnet, magnetic rotary encoder, handle controller and handle drives device, wherein DC servo
The upper end of motor is connect with handle gear-box, and lower end is connect with handle control cabinet, and the gear forces feedback pressing plate A and gear forces are anti-
One end of feed voltage plate B is inserted in handle gear-box, and is respectively arranged with gear A and gear B, the gear B and the direct current
The output axis connection of servo motor upper end, the gear A are rotatably mounted in handle gear-box by shafting, and with
The gear B is meshed, and the other end of the gear forces feedback pressing plate A and gear forces feedback pressing plate B are clamping end, in the gear
The angle limit being mounted on the handle gear-box is equipped among the other end of force feedback pressing plate A and gear forces feedback pressing plate B
Plate；Magnetic rotary encoder, handle controller and handle drives device, the DC servo are equipped in the handle control cabinet respectively
The output shaft of motor lower end is connected with the magnet being correspondingly arranged with magnetic rotary encoder；The DC servo motor by gear A,
The mesh driving gear force feedback pressing plate A of gear B, gear forces feedback pressing plate B folding, the magnet is with DC servo motor lower end
Output shaft rotation, pass through the magnetic rotary encoder acquire gear forces feed back pressing plate A, gear forces feed back pressing plate B folding angle
Degree；
Wherein: the upper end of the handle control cabinet is connected with the lower end of DC servo motor, and the lower end of handle control cabinet 8 connects
It is connected to handle lower installation board, the upper surface of the handle lower installation board is equipped with copper post, the magnetic rotary encoder, handle controller
And handle drives device is from top to bottom respectively arranged in the copper post；
The handle controller, handle drives device and DC servo motor are linked in sequence；
The output shaft of the DC servo motor lower end is connect by magnet Coupling Shaft with magnet；
The upper end of the handle gear-box is equipped with handle upper mounting plate, the upper end phase of lower end and the DC servo motor
Even, the both ends of the shafting are respectively arranged on the bottom plate of handle upper mounting plate and handle gear-box, the gear A rotational installation
In the shafting.
The advantages of the utility model and good effect are as follows:
1. the utility model effectively prevents the drawbacks of conventional handle is using button triggering control instruction, not only make operator
Real-time control is carried out to the claming angle of end-of-arm tooling, while operator can perceive from hand end-of-arm tooling operating force, realize end
The true power of tool reproduces, and improves intuitive, the reliability and stability of principal and subordinate's remote operating.
2. the utility model is compact-sized, light-weight, flexibility with it is adaptable, can be widely applied to remote diagnosis urgency
Rescue, long-range motion reappearance and feedback etc. teleoperations field.
Detailed description of the invention
Fig. 1 is the utility model schematic perspective view；
Fig. 2 is the utility model internal view；
Wherein: 1 is handle upper mounting plate, and 2 feed back pressing plate A for gear forces, and 3 be angle limit plate, and 4 be gear forces feedback pressure
Plate B, 5 be handle gear-box, and 6 be shafting, and 7 be DC servo motor, and 8 be handle control cabinet, and 9 be magnet Coupling Shaft, and 10 be magnetic
Body, 11 be magnetic rotary encoder, and 12 be handle controller, and 13 be handle drives device, and 14 be handle lower installation board, and 15 be gear A,
16 be gear B, and 17 be copper post.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the utility model includes handle upper mounting plate 1, handle gear-box 5, gear forces feedback pressing plate
A2, angle limit plate 3, gear forces feedback pressing plate B4, DC servo motor 7, handle control cabinet 8, magnet Coupling Shaft 9, magnet 10,
Magnetic rotary encoder 11, handle controller 12, handle drives device 13 and handle lower installation board, wherein handle upper mounting plate 1 and hand
5 upper end of handle gear-box is bolted to connection, and the upper end of DC servo motor 7 and the lower end of handle gear-box 5 pass through bolt
It is fixedly connected, the upper end of the flange and handle control cabinet 8 of 7 lower end of DC servo motor is bolted to connection, handle control
The lower end of case 8 is bolted to connection with handle lower installation board 14.
Gear forces feed back pressing plate A2 and gear forces feedback pressing plate B4 is L-shaped, and one end is inserted in handle gear-box 5
It is interior, and it is respectively arranged with gear A 15 and gear B 16, gear forces feed back pressing plate A2 and the other end of gear forces feedback pressing plate B4 is
Clamping end is equipped among the other end that the gear forces feed back pressing plate A2 and gear forces feedback pressing plate B4 and is fixed on handle gear-box
Angle limit plate 3 on 5 opens and closes angle for constraining force feedback pressing plate.The output of gear B 16 and 7 upper end of DC servo motor
Axis is fixedly connected by holding screw, is installed on inside handle gear-box 5.Gear A 15 passes through shafting 6 (including shaft and bearing)
It is rotatably mounted in handle gear-box 5, and is meshed with gear B 16；The both ends of shafting 6 are respectively arranged on handle
On the bottom plate of mounting plate 1 and handle gear-box 5, gear A 15 is rotatably installed in the shafting 6.Gear A 15 and gear B 16 are symmetrical
Layout, and drive gear forces feedback pressing plate A2 and gear forces to feed back pressing plate B4 open and close movement by engagement.Magnet 10 passes through tightening
Screw is fixedly connected with the lower end of magnet Coupling Shaft 9, and the upper end of the magnet Coupling Shaft 9 passes through holding screw and DC servo motor
The output shaft of 7 lower ends is fixedly connected.
Magnetic rotary encoder 11, handle controller 12 and handle drives device 13, handle are equipped in handle control cabinet 8 respectively
The upper surface of lower installation board 14 is equipped with copper post 17, and magnetic rotary encoder 11, handle controller 12 and handle drives device 13 are by upper
It is respectively arranged under in the copper post 17, handle controller 12, handle drives device 13 and DC servo motor 7 are linked in sequence.
The single-degree-of-freedom force feedback handle of the utility model can be used as independent force feedback operation module and use, can also be with
Other upper limb ectoskeletons are used cooperatively.
The handle controller 12 and handle drives device 13 of the utility model are the prior art.
The working principle of the utility model are as follows:
The utility model makes gear forces feedback pressing plate A2 and gear forces feedback pressing plate B4 be in and open using motor rotation blockage characteristic
Open state is reappeared operator's finger engagement action using the gear A 15 and 16 structure of gear B that are arranged symmetrically, is compiled using magnetic rotation
Code device 11 acquires finger engagement instruction, acts for controlling from hand end-of-arm tooling, while passing using from the torque of hand end-of-arm tooling
Sensor detects end-of-arm tooling operating force, realizes main hand end hand Real-time force feedback using current loop control.Specifically:
DC servo motor 7 passes through gear A 15, the mesh driving gear force feedback pressing plate A2 of gear B 16, gear force feedback
Pressing plate B4 folding, magnet 10 are rotated with the output shaft of 7 lower end of DC servo motor, acquire gear forces by magnetic rotary encoder 11
The opening angle of pressing plate A2, gear forces feedback pressing plate B4 are fed back, it is by handle drives device 13 that magnetic rotary encoder 11 is collected
This signal is sent to from end, and control is opened and closed from the manipulator at end.From end force feedback signal, it is fed back into handle controller 12,
Handle controller 12 drives DC servo motor 7 to rotate with handle drives device 13 again, and finger has the folding of a angle to pass to from end,
There is a force feedback to pass to main side from end, thus there is position and power so one effect.
Claims (5)
1. a kind of single-degree-of-freedom force feedback handle, it is characterised in that: including handle gear-box (5), gear forces feedback pressing plate A (2),
Angle limit plate (3), gear forces feed back pressing plate B (4), DC servo motor (7), handle control cabinet (8), magnet (10), magnetic rotation
Turn encoder (11), handle controller (12) and handle drives device (13), wherein the upper end of DC servo motor (7) and handle teeth
Roller box (5) connection, lower end are connect with handle control cabinet (8), and gear forces feedback pressing plate A (2) and gear forces feed back pressing plate B
(4) one end is inserted in handle gear-box (5), and is respectively arranged with gear A (15) and gear B (16), the gear B (16)
With the output axis connection of the DC servo motor (7) upper end, the gear A (15) is rotatably pacified by shafting (6)
It in handle gear-box (5), and is meshed with the gear B (16), gear forces feedback pressing plate A (2) and gear forces are anti-
The other end of feed voltage plate B (4) is clamping end, in the other end of gear forces feedback pressing plate A (2) and gear forces feedback pressing plate B (4)
Centre is equipped with the angle limit plate (3) being mounted on the handle gear-box (5)；It is accommodated respectively in the handle control cabinet (8)
Have magnetic rotary encoder (11), handle controller (12) and a handle drives device (13), DC servo motor (7) lower end it is defeated
Shaft is connected with the magnet (10) being correspondingly arranged with magnetic rotary encoder (11)；The DC servo motor (7) passes through gear A
(15), the mesh driving gear force feedback pressing plate A (2) of gear B (16), gear forces feedback pressing plate B (4) folding, the magnet
(10) it is rotated with the output shaft of DC servo motor (7) lower end, acquires gear force feedback by the magnetic rotary encoder (11)
The folding angle of pressing plate A (2), gear forces feedback pressing plate B (4).
2. single-degree-of-freedom force feedback handle according to claim 1, it is characterised in that: the handle control cabinet (8) it is upper
End is connected with the lower end of DC servo motor, and the lower end of handle control cabinet (8) is connected with handle lower installation board (14), under the handle
The upper surface of mounting plate (14) is equipped with copper post (17), and the magnetic rotary encoder (11), handle controller (12) and handle drive
Dynamic device (13) are from top to bottom respectively arranged in the copper post (17).
3. single-degree-of-freedom force feedback handle according to claim 2, it is characterised in that: the handle controller (12), hand
Handle driver (13) and DC servo motor (7) are linked in sequence.
4. single-degree-of-freedom force feedback handle according to claim 1, it is characterised in that: under the DC servo motor (7)
The output shaft at end is connect by magnet Coupling Shaft (9) with magnet (10).
5. single-degree-of-freedom force feedback handle according to claim 1, it is characterised in that: the handle gear-box (5) it is upper
End is equipped with handle upper mounting plate (1), and lower end is connected with the upper end of the DC servo motor (7), the both ends of the shafting (6)
It is respectively arranged on the bottom plate of handle upper mounting plate (1) and handle gear-box (5), the gear A (15) is rotatably installed in the axis
It is on (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821043873.0U CN208358829U (en) | 2018-07-03 | 2018-07-03 | single-degree-of-freedom force feedback handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821043873.0U CN208358829U (en) | 2018-07-03 | 2018-07-03 | single-degree-of-freedom force feedback handle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208358829U true CN208358829U (en) | 2019-01-11 |
Family
ID=64924397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821043873.0U Withdrawn - After Issue CN208358829U (en) | 2018-07-03 | 2018-07-03 | single-degree-of-freedom force feedback handle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208358829U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666821A (en) * | 2018-07-03 | 2020-01-10 | 中国科学院沈阳自动化研究所 | Single-degree-of-freedom force feedback handle |
-
2018
- 2018-07-03 CN CN201821043873.0U patent/CN208358829U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666821A (en) * | 2018-07-03 | 2020-01-10 | 中国科学院沈阳自动化研究所 | Single-degree-of-freedom force feedback handle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190111 Effective date of abandoning: 20230627 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190111 Effective date of abandoning: 20230627 |