CN211015405U - Force feedback device for operating shaft of remote operating device - Google Patents
Force feedback device for operating shaft of remote operating device Download PDFInfo
- Publication number
- CN211015405U CN211015405U CN202020033484.0U CN202020033484U CN211015405U CN 211015405 U CN211015405 U CN 211015405U CN 202020033484 U CN202020033484 U CN 202020033484U CN 211015405 U CN211015405 U CN 211015405U
- Authority
- CN
- China
- Prior art keywords
- force feedback
- shaft
- force
- plate
- operating
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Mechanical Control Devices (AREA)
Abstract
The utility model discloses a force feedback device of a remote operation device operation shaft, which is characterized by comprising an operation shaft fixing seat, a force feedback turbine, a force feedback worm, a force feedback transmission shaft, a force feedback shaft sleeve, a force feedback spring, a force feedback pressure transmission plate, a force feedback pressure sensor, a force feedback limiting plate, a force feedback coupling and a force feedback motor; the operating shaft fixing seat is rotatably fixed with an operating shaft; the force feedback turbine is sleeved on the operating shaft; the force feedback worm is meshed with the force feedback worm wheel; the force feedback worm is slidably sleeved on the force feedback transmission shaft and cannot rotate relative to the force feedback transmission shaft. The utility model has the advantages that: the utility model provides a during remote operation device operation, the problem of operating personnel hand no feedback power, certain resistance is experienced to operating personnel hand when operating personnel operates, increases the operation and experiences.
Description
Technical Field
The utility model relates to a remote operation device field especially relates to force feedback device of remote operation device operation axle.
Background
The remote operation device is used for indirectly controlling the execution device, and the execution device acts according to the action signal sent by the remote operation device. Because the remote operation device is not directly connected with the execution device, when the remote operation device is operated, the hand of an operator has no feedback force, the operation experience is poor, and misoperation easily occurs.
Disclosure of Invention
In order to solve the problems in the prior art, the utility model discloses a force feedback device of a remote operation device operation shaft, which comprises an operation shaft fixing seat, a force feedback turbine, a force feedback worm, a force feedback transmission shaft, a force feedback shaft sleeve, a force feedback spring, a force feedback pressure transmission plate, a force feedback pressure sensor, a force feedback limiting plate, a force feedback coupling and a force feedback motor; the operating shaft fixing seat is rotatably fixed with an operating shaft; the force feedback turbine is sleeved on the operating shaft; the force feedback worm is meshed with the force feedback worm wheel; the force feedback worm is slidably sleeved on the force feedback transmission shaft and cannot rotate relative to the force feedback transmission shaft; one end of the force feedback transmission shaft sequentially penetrates through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transmission plate and the force feedback limiting plate and is connected with an output shaft of the force feedback motor through the force feedback coupler; the other end of the force feedback transmission shaft sequentially penetrates through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transmission plate and the force feedback limiting plate; the force feedback shaft sleeve and the force feedback pressure transmission plate can slide along the axial direction of the force feedback transmission shaft; the force feedback pressure sensor is arranged between the force feedback limiting plate and the force feedback pressure transmission plate; the force feedback spring presses the force feedback shaft sleeve to the shaft end of the force feedback worm, and presses the force feedback pressure transmission plate to the force feedback pressure sensor; the force feedback motor and the force feedback limiting plate are both fixed on the operating shaft fixing seat; the force feedback shaft sleeve can rotate and slide in the operating shaft fixing seat; the force feedback motor is controlled by the controller; the force feedback pressure sensor measurements are transmitted to the controller.
The device also comprises a force feedback limiting plate adjusting plate; the force feedback limiting plate far away from the force feedback motor is fixed on the operating shaft fixing seat through the force feedback limiting plate adjusting plate; the axial position of the force feedback limiting plate far away from the force feedback motor along the force feedback transmission shaft can be adjusted by adjusting the force feedback limiting plate adjusting plate.
The cross section of the force feedback transmission shaft can be machined into a polygon, and the axial inside of the force feedback worm is also machined into a matched polygon.
The operating shaft is connected with an encoder; the encoder is used for measuring the rotating angle of the operating shaft.
The utility model has the advantages that: the utility model solves the problem that the hand of the operator has no feedback force when the remote operation device is operated, and the hand of the operator feels certain resistance when the operator operates, thereby increasing the operation experience; the resistance felt by the hand of the operator during operation can be adjusted by adjusting the first set value; when the operating force is too large, the controller gives an alarm to prompt that the operating force is abnormal, so that misoperation of operators can be effectively prevented.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a sectional view taken along a-a in fig. 2.
Fig. 5 is a sectional view taken along the direction B-B in fig. 3.
Fig. 6 is an exploded view of the present invention.
Detailed Description
The embodiments of the present invention are described in detail below to make the advantages and features of the present invention easier to understand by those skilled in the art, thereby making more clear and definite definitions of the protection scope of the present invention.
Example 1
Referring to fig. 1-6, the force feedback device of the remote operation device operation shaft comprises an operation shaft fixing seat 3, a force feedback turbine W1, a force feedback worm W2, a force feedback transmission shaft W3, a force feedback shaft sleeve W4, a force feedback spring W5, a force feedback pressure transmission plate W6, a force feedback pressure sensor W7, a force feedback limit plate W8, a force feedback coupling W9 and a force feedback motor W11; the operating shaft fixing seat 3 is rotatably fixed with an operating shaft 1; the force feedback turbine W1 is sleeved on the operating shaft 1; the force feedback worm W2 and the force feedback worm gear W1 are meshed; the force feedback worm W2 is slidably sleeved on the force feedback transmission shaft W3 and the force feedback worm W2 cannot rotate relative to the force feedback transmission shaft W3; one end of the force feedback transmission shaft W3 sequentially passes through the force feedback shaft sleeve W4, the force feedback spring W5, the force feedback pressure transmission plate W6 and the force feedback limiting plate W8 and is connected with an output shaft of the force feedback motor W11 through the force feedback coupling W9; the other end of the force feedback transmission shaft W3 sequentially penetrates through the force feedback shaft sleeve W4, the force feedback spring W5, the force feedback pressure transmission plate W6 and the force feedback limiting plate W8; the force feedback shaft sleeve W4 and the force feedback pressure transmission plate W6 can slide along the axial direction of the force feedback transmission shaft W3; the force feedback pressure sensor W7 is arranged between the force feedback limiting plate W8 and the force feedback pressure transmission plate W6; the force feedback spring W5 presses the force feedback bushing W4 against the axial end of the force feedback worm W2, pressing the force feedback pressure transfer plate W6 against the force feedback pressure sensor W7; the force feedback motor W11 and the force feedback limiting plate W8 are both fixed on the operating shaft fixing seat 3; the force feedback shaft sleeve W4 can rotate and slide in the operating shaft fixing seat 3; the force feedback motor W11 is controlled by the controller; the force feedback pressure sensor W7 measurement is transmitted to the controller.
The device also comprises a force feedback limiting plate adjusting plate W12; the force feedback limiting plate W8 far away from the force feedback motor W11 is fixed on the operating shaft fixing seat 3 through the force feedback limiting plate adjusting plate W12; the position of the force feedback restriction plate W8, which is remote from the force feedback motor W11, along the axial direction of the force feedback transmission shaft W3 can be adjusted by adjusting the force feedback restriction plate adjustment plate W12. This makes it possible to adjust the measurement value of the force feedback pressure sensor W7 at the initial state of the operation shaft 1.
The force feedback transmission shaft W3 can be machined into a polygon in cross section and the axial inner part of the force feedback worm W2 is also machined into a matched polygon; the polygon may be a triangle, a quadrangle, a pentagon, or a hexagon.
The operating shaft 1 is connected with an encoder 4; the encoder 4 is used for measuring the rotating angle of the operating shaft 1; the corresponding execution shaft of the execution device performs corresponding action according to the measured value of the encoder 4.
Explanation of the working principle of the force feedback device of the operation shaft of the remote operation device: when the worm gear and the worm are in transmission, if the worm gear rotates actively, the worm gear and the worm have a self-locking function, so that when an operator operates the operating shaft 1 actively, the operating shaft 1 drives power to feed back the worm gear W1 to generate a corresponding rotating trend; the force feedback worm W2 slides along the axial direction of the force feedback transmission shaft W3, the measured values of the force feedback pressure sensors W7 on the two sides change and are transmitted to the controller, and the controller can convert the operating force borne by the operating shaft 1 by combining the change values of the measured values of the force feedback pressure sensors W7 and the transmission relation; when the operating force applied to the operating shaft 1 is smaller than a first set value, the operating shaft 1 is locked and does not act; when the operating force applied to the operating shaft 1 is greater than or equal to the first set value, the controller controls the force feedback motor W11 to drive the power feedback transmission shaft W3 to rotate, so that the power feedback turbine W1 rotates towards the direction of generating a corresponding rotation trend, and therefore, an operator can feel certain resistance on the hand during operation, and the operating experience is increased; the resistance felt by the hand of the operator during operation can be adjusted by adjusting the first set value; when the operating force borne by the operating shaft 1 is greater than the second set value, the operating shaft 1 is locked and does not act, and meanwhile, the controller gives an alarm to prompt that the operating force is abnormal, so that misoperation of operators can be effectively prevented.
The utility model provides a during remote operation device operation, the problem of operating personnel hand no feedback power, certain resistance is experienced to operating personnel hand when operating personnel operates, increases the operation and experiences.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.
Claims (4)
1. The force feedback device of the remote operation device operation shaft is characterized by comprising an operation shaft fixing seat, a force feedback turbine, a force feedback worm, a force feedback transmission shaft, a force feedback shaft sleeve, a force feedback spring, a force feedback pressure transmission plate, a force feedback pressure sensor, a force feedback limiting plate, a force feedback coupler and a force feedback motor; the operating shaft fixing seat is rotatably fixed with an operating shaft; the force feedback turbine is sleeved on the operating shaft; the force feedback worm is meshed with the force feedback worm wheel; the force feedback worm is slidably sleeved on the force feedback transmission shaft and cannot rotate relative to the force feedback transmission shaft; one end of the force feedback transmission shaft sequentially penetrates through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transmission plate and the force feedback limiting plate and is connected with an output shaft of the force feedback motor through the force feedback coupler; the other end of the force feedback transmission shaft sequentially penetrates through the force feedback shaft sleeve, the force feedback spring, the force feedback pressure transmission plate and the force feedback limiting plate; the force feedback shaft sleeve and the force feedback pressure transmission plate can slide along the axial direction of the force feedback transmission shaft; the force feedback pressure sensor is arranged between the force feedback limiting plate and the force feedback pressure transmission plate; the force feedback spring presses the force feedback shaft sleeve to the shaft end of the force feedback worm, and presses the force feedback pressure transmission plate to the force feedback pressure sensor; the force feedback motor and the force feedback limiting plate are both fixed on the operating shaft fixing seat; the force feedback shaft sleeve can rotate and slide in the operating shaft fixing seat; the force feedback motor is controlled by the controller; the force feedback pressure sensor measurements are transmitted to the controller.
2. The force feedback device of claim 1, further comprising a force feedback limit plate adjustment plate; the force feedback limiting plate far away from the force feedback motor is fixed on the operating shaft fixing seat through the force feedback limiting plate adjusting plate; the axial position of the force feedback limiting plate far away from the force feedback motor along the force feedback transmission shaft can be adjusted by adjusting the force feedback limiting plate adjusting plate.
3. The force feedback device of claim 1, wherein said force feedback transmission shaft is shaped in a polygonal cross-section and said force feedback worm shaft is shaped in a matching polygonal shape toward the inside.
4. The force feedback device of claim 1, wherein the operating shaft is coupled with an encoder; the encoder is used for measuring the rotating angle of the operating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020033484.0U CN211015405U (en) | 2020-01-08 | 2020-01-08 | Force feedback device for operating shaft of remote operating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020033484.0U CN211015405U (en) | 2020-01-08 | 2020-01-08 | Force feedback device for operating shaft of remote operating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211015405U true CN211015405U (en) | 2020-07-14 |
Family
ID=71474472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020033484.0U Expired - Fee Related CN211015405U (en) | 2020-01-08 | 2020-01-08 | Force feedback device for operating shaft of remote operating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211015405U (en) |
-
2020
- 2020-01-08 CN CN202020033484.0U patent/CN211015405U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2632143B2 (en) | Rack steering system with servo motor | |
| KR100736473B1 (en) | Electric parking brake having operating force measurement device in vehicle | |
| US8156834B2 (en) | Linear actuator having quick-release mechanism | |
| RU1820873C (en) | Apparatus for adjustment of working clearance between rollers of milling machines | |
| KR101037028B1 (en) | A electronic parking break unit with a strain gage | |
| JPH0671576A (en) | Two-system rotating power tool having adjustable output torque | |
| EP1191255A1 (en) | Variable planetary power transmission apparatus | |
| DE112013005570T5 (en) | Electric vehicle brake device | |
| US10316945B2 (en) | Linear actuator device | |
| CN201100471Y (en) | Angle stroke electric execution machine | |
| CN211015405U (en) | Force feedback device for operating shaft of remote operating device | |
| WO2011120515A1 (en) | Power-assisted hand shears and method for the operation thereof | |
| US4766985A (en) | Power clutch system | |
| JPH04163278A (en) | Motor-operated power steering device | |
| EP0601988B1 (en) | Torque delivering power tool | |
| DE102006026873A1 (en) | Actuating device for a vehicle brake system, in particular for a "by-wire brake system" | |
| CN103280344B (en) | The transmission device of circuit breaker hand, electromotion integrated operating mechanism | |
| CN111026278A (en) | Force feedback method and force feedback device for operating shaft of remote operating device | |
| SE9900728D0 (en) | Elhandverktygsmaskin | |
| KR101475337B1 (en) | Valve actuator device including torque sensor unit | |
| JP3110034U (en) | Tool braking assist device | |
| KR101914150B1 (en) | Brake apparatus for ballscrew precision actuator | |
| JP5826776B2 (en) | Rotary clamping machine | |
| US3435932A (en) | Overload clutch for machine tools,particularly lathes | |
| DE202009007324U1 (en) | Steering force simulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200714 Termination date: 20220108 |