CN209425455U - A kind of power/torque-feedback equipment - Google Patents
A kind of power/torque-feedback equipment Download PDFInfo
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- CN209425455U CN209425455U CN201822226564.3U CN201822226564U CN209425455U CN 209425455 U CN209425455 U CN 209425455U CN 201822226564 U CN201822226564 U CN 201822226564U CN 209425455 U CN209425455 U CN 209425455U
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- potentiometer
- clamp
- feedback
- handle case
- torque
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Abstract
The utility model relates to a kind of power/torque-feedback equipment, comprising: the movable joint end of main force's feedback device, main force's feedback device has the first potentiometer；The movable joint end of secondary force feedback equipment, secondary force feedback equipment has the second potentiometer；Handle module, comprising: handle case is fixedly connected on the first potentiometer；Clamp measurement module, is fixedly connected in handle case；Axle sleeve is set in outside handle case and the first potentiometric junction, and axle sleeve and handle case constitute shaft hole matching in junction；Forked members, one end of forked members are connected on the second potentiometer, and forked end is connected on axle sleeve, and axle sleeve and forked members pass through axle sleeve and the axis hole of handle case junction and handle case composition revolute.Two sets of force feedback equipments are carried out efficient coupling by simple handle module and forked members by the utility model, and user can not only hold handle module and generate Three Degree Of Freedom power, but also can provide additional torque-feedback, meet power/torque feedback output demand.
Description
Technical field
The utility model relates to a kind of medical instrument, more particularly to it is a kind of based on force feedback equipment and to have both power/torque defeated
Power out/torque-feedback equipment.
Background technique
Existing possesses the feedback device of power output, and generally have the structure type of serial or parallel connection: cascaded structure is a kind of
Arc kinematic chain mechanism, it is to be connected to be formed by cradle head or linear joint by a series of connecting rods；Parallel-connection structure is
Platform is connected with fixed platform by least two independent kinematic chains, has two or more freedom degrees, and with simultaneously
The close loop mechanism that connection mode drives.
And feedback device that is existing while having both the output of power/torque, the basic structure type for using mixed connection, i.e., in kinematic chain
Existing series connection also has structure type in parallel.
Currently, the feedback device for having both the output of power/torque in the market is mostly expensive, and it is multiple to control and use mode
It is miscellaneous, it is not particularly suited for all demanders.And only possess the feedback device of power output, and be unable to satisfy moment feedback operating condition
Demand.
Utility model content
In view of the above problems, the object of the present invention is to provide one kind is based on force feedback equipment and to have both power/torque defeated
Power out/torque-feedback equipment, the device structure is simple, economically feasible and easy processing make.
To achieve the above object, the utility model uses a kind of following technical scheme: power/torque-feedback equipment, comprising: main
The movable joint end of force feedback equipment, main force's feedback device has the first potentiometer；Secondary force feedback equipment, the pair power
The movable joint end of feedback device has the second potentiometer；Handle module, comprising: handle case is fixedly connected on described first
On potentiometer；Clamp measurement module is fixedly connected in the handle case；Axle sleeve is set in the handle case and described first
Outside potentiometric junction, and the axle sleeve and handle case constitute shaft hole matching in junction；Forked members, the fork-shaped structure
One end of part is connected on second potentiometer, and the forked end of the forked members is connected on the axle sleeve, the axle sleeve
Revolute is constituted by the axle sleeve and the axis hole of handle case junction and the handle case with forked members.
The power/torque-feedback equipment, it is preferred that the clamp measurement module includes: fixed substrate, is fixed on described
Inside handle case；Clamp potentiometer is fixedly connected on the fixed substrate；Potentiometer gear, it is potentiometric with the clamp
Measurement axis is fixedly connected；First clamp gear and the second clamp gear, are rotatably connected on the fixed substrate, and described first
Clamp gear is meshed by the second clamp gear with the potentiometer gear；First clamp and the second clamp, it is solid respectively
Surely it is connected on the first clamp gear and the second clamp gear.
The power/torque-feedback equipment, it is preferred that the handle module further include: key floats and is arranged in the hand
On handle shell；Keypad is fixedly connected in the handle case and with described by key contacts, and having on the keypad can perceive
The key switch of the key-press status.
The power/torque-feedback equipment, it is preferred that the rotary shaft of the handle case and the axle sleeve and forked members
Rotating shaft direct cross.
The power/torque-feedback equipment, it is preferred that main force's feedback device is that there are five movable joints for tool
TouchX force feedback equipment, first potentiometer are connected to the 5th movable joint end of the TouchX force feedback equipment.
The power/torque-feedback equipment, it is preferred that the pair force feedback equipment is that there are three movable joints for tool
TouchX force feedback equipment, second potentiometer are connected to the third movable joint end of the TouchX force feedback equipment.
Because the utility model adopts the above technical scheme, it has the following advantages: the utility model is by two sets of force feedbacks
Equipment carries out efficient coupling by simple handle module and forked members, and user can not only hold handle module and generate XYZ
To Three Degree Of Freedom power, and can produce additional torque-feedback, meet power/torque feedback output demand, solve existing
There is the status that can not economically meet under equipment for power/torque feedback output demand.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the local connection schematic diagram of the utility model；
Fig. 3 is the structural schematic diagram of the utility model clamp measurement module.
Specific embodiment
The preferred embodiment of the utility model is described in detail below with reference to attached drawing, to be clearer to understand this reality
With novel objects, features and advantages.It should be understood that embodiment shown in the drawings is not the limit to the scope of the utility model
System, and simply to illustrate that the connotation of technical solutions of the utility model.
As shown in Figure 1 and Figure 2, power provided by the embodiment of the utility model/torque-feedback equipment, comprising: include: that the main force is anti-
Equipment 1 is presented, the movable joint end of main force's feedback device 1 has the first potentiometer 9；Secondary force feedback equipment 2, secondary force feedback equipment
2 movable joint end has the second potentiometer (not shown)；Handle module 3, comprising: handle case 4 is fixedly connected on
On one potentiometer 9；Clamp measurement module 5 is fixedly connected in handle case 4；Axle sleeve 8 is set in handle case 4 and the first potentiometer
Outside 9 junction, and axle sleeve 8 and handle case 4 constitute shaft hole matching in junction；Forked members 10, the one of forked members 10
End is connected on the second potentiometer, and the forked end of forked members 10 is connected on axle sleeve 8, and axle sleeve 8 and forked members 10 pass through axis
The axis hole and handle case 4 of set 8 and 4 junction of handle case constitute revolute.
Main force's feedback device 1 and secondary force feedback equipment 2 are passed through handle module 3 and forked members by the utility model as a result,
10 carry out efficient couplings, user can not only hold handle module 3 generate XYZ to Three Degree Of Freedom power, but also can produce volume
Outer torque-feedback meets power/torque feedback output demand.Meanwhile first potentiometer 9 and the second potentiometer can generate accordingly
Signal output, realizes the measurement to handle module 3 location information and directional information.
In the above-described example, it is preferred that as shown in figure 3, clamp measurement module 5 includes: fixed substrate 11, be fixed on handle
Inside shell 4；Clamp potentiometer 12 is fixedly connected on fixed substrate 11；Potentiometer gear 13, the measurement with clamp potentiometer 12
Axis is fixedly connected；First clamp gear 14 and the second clamp gear 15, are rotatably connected on fixed substrate 11, and the first clamp tooth
Wheel 14 is meshed by the second clamp gear 15 with potentiometer gear 13；First clamp 16 and the second clamp 17, it is fixed respectively to connect
It connects on the first clamp gear 14 and the second clamp gear 15.As a result, when the first clamp 16 or the second clamp 17 are in the work of external force
When with lower rotation, another clamp can also follow rotation, while the second clamp gear 15 drives potentiometer gear 13 to rotate, in turn
Clamp potentiometer 12 is set to generate corresponding signal output.
In the above-described example, it is preferred that handle module 3 further include: key 6 floats and is arranged in handle case 4；Keypad
7, it is fixedly connected in handle case 4 and is contacted with key 6, there is the key switch that can perceive 6 state of key on keypad 7.
In the above-described example, it is preferred that the rotary shaft of handle case 4 and the rotating shaft direct cross of axle sleeve 8 and forked members 10.
In the above-described example, it is preferred that main force's feedback device 1 is that there are five the TouchX force feedbacks of movable joint to set for tool
Standby, the first potentiometer 9 is connected to the 5th movable joint end of the TouchX force feedback equipment.
In the above-described example, it is preferred that secondary force feedback equipment 2 is that there are three the TouchX force feedbacks of movable joint to set for tool
Standby, the second potentiometer is connected to the third movable joint end of the TouchX force feedback equipment.
The various embodiments described above are merely to illustrate the utility model, wherein the structure of each component, connection type and manufacture craft
Etc. may be changed, all equivalents and improvement carried out on the basis of technical solutions of the utility model,
It should not exclude except the protection scope of the utility model.
Claims (6)
1. a kind of power/torque-feedback equipment characterized by comprising
The movable joint end of main force's feedback device (1), main force's feedback device (1) has the first potentiometer (9)；
The movable joint end of secondary force feedback equipment (2), the pair force feedback equipment (2) has the second potentiometer；
Handle module (3), comprising: handle case (4) is fixedly connected on first potentiometer (9)；Clamp measurement module (5),
It is fixedly connected on the handle case (4)；Axle sleeve (8) is set in the company of the handle case (4) Yu first potentiometer (9)
It is external to meet place, and the axle sleeve (8) and handle case (4) constitute shaft hole matching in junction；
One end of forked members (10), the forked members (10) is connected on second potentiometer, the forked members
(10) forked end is connected on the axle sleeve (8), and the axle sleeve (8) and forked members (10) pass through the axle sleeve (8) and hand
The axis hole of handle shell (4) junction and the handle case (4) constitute revolute.
2. power according to claim 1/torque-feedback equipment, which is characterized in that the clamp measurement module (5) includes:
Fixed substrate (11) it is internal to be fixed on the handle case (4)；
Clamp potentiometer (12) is fixedly connected on the fixed substrate (11)；
Potentiometer gear (13) is fixedly connected with the measurement axis of the clamp potentiometer (12)；
First clamp gear (14) and the second clamp gear (15), are rotatably connected on the fixed substrate (11), and described
One clamp gear (14) is meshed by the second clamp gear (15) with the potentiometer gear (13)；
First clamp (16) and the second clamp (17) are respectively fixedly connected in the first clamp gear (14) and the second clamp tooth
It takes turns on (15).
3. power according to claim 1/torque-feedback equipment, which is characterized in that the handle module (3) further include:
Key (6) floats and is arranged on the handle case (4)；
Keypad (7) is fixedly connected on the handle case (4) and contacts with the key (6), has on the keypad (7)
There is the key switch that can perceive the key (6) state.
4. power according to claim 1/torque-feedback equipment, which is characterized in that the rotary shaft of the handle case (4) and institute
State the rotating shaft direct cross of axle sleeve (8) and forked members (10).
5. according to claim 1 to 4 described in any item power/torque-feedback equipment, which is characterized in that main force's feedback device
It (1) is tool there are five the TouchX force feedback equipment of movable joint, it is anti-that first potentiometer (9) is connected to the TouchX power
Present the 5th movable joint end of equipment.
6. according to claim 1 to 4 described in any item power/torque-feedback equipment, which is characterized in that the pair force feedback equipment
It (2) is tool there are three the TouchX force feedback equipment of movable joint, second potentiometer is connected to the TouchX force feedback
The third movable joint end of equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822226564.3U CN209425455U (en) | 2018-12-28 | 2018-12-28 | A kind of power/torque-feedback equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822226564.3U CN209425455U (en) | 2018-12-28 | 2018-12-28 | A kind of power/torque-feedback equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209425455U true CN209425455U (en) | 2019-09-24 |
Family
ID=67974388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822226564.3U Active CN209425455U (en) | 2018-12-28 | 2018-12-28 | A kind of power/torque-feedback equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209425455U (en) |
-
2018
- 2018-12-28 CN CN201822226564.3U patent/CN209425455U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100019 room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100019 room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |