SU1763171A1 - Controller with force sensitization - Google Patents

Description

one

(21) 4685491/08

(22) 03.05.89

(46) 09/23/92. Bul 35

(71) Belarusian State University. V.I. Lenin

(72) L.I.Matyukhina, A.S.Mikhalev, A.V.Tokarev and I.M. Chushenkov

(56) USSR Copyright Certificate No. 1662841, cl. B 25 J 3 / 00,1989.

(54) PERSONAL DEVICE WITH POWER SENSITIVITY The invention relates to robotics. The purpose of the invention is to expand the functionality of the copying keying device. On

The base 8 has a movable handle 1, rigidly connected to the crosspiece, consisting of ferromagnetic rods 4. Magnetization coils 5 are housed in housings 7 with ferromagnetic protrusions 10. The body 7 is rigidly connected to the base b. On the rod 4 and the protrusion 10 installed plate capacitive sensor. When the device is in operation, the operator acts on the handle 1. The corresponding displacement of the cross is fixed by capacitive sensors. Supplying a current to the magnetizing coils 5, a reverse force is exerted on the handle 1, since the rods 4 are pushed out or retracted into the magnetizing coils 5, 2 Cpf, 3, 3.

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The invention relates to the field of mechanical engineering and can be used as a setting device for semi-automatic manipulator control.

The aim of the invention is to enhance the functionality of the driver by introducing feedback through force sensation.

FIG. 1 shows a general view of the device; in fig. 2 shows a section A-A in FIG. in fig. 3 - diametrically opposite rods.

The device comprises a movable handle 1 fixed to the flange 2, which is fixed by means of brackets 3 to a crosspiece formed by six mutually perpendicular rods 4. Each rod I is made of ferromagnetic material and is located in the corresponding magnetization coil 5 with a gap 6 The magnetizing coil 5 is installed in the housing 7 mounted on a common base 8. The housing 7 is made of magnetically soft material and comprises a cover 9 with a protrusion 10 of a ferromagnetic material. On the ledge 10 through the dielectric gasket 11 is fixed plate 12 of the capacitive sensor, the second plate 13 of this sensor through the dielectric gasket 14 is fixed on the end of the corresponding rod 4. Plate 13, mounted on diametrically opposite rods x 4, can be interconnected. Then the fixed plates 12 and a pair of movable plates 213 placed between them form a differential capacitor. Each rod 4 is spring-loaded with respect to the corresponding body 7 by the spring 15. The distance between the plates 12 and 13 is greater than the thickness of gap b,

The device works as follows.

The operator, acting on the handle 1, shifts the spider in one direction or another. The distance between the respective plates 12, 13 varies. The corresponding change in capacitance is recorded by the measuring device and a control signal is generated from it to the actuator. By applying current to the magnetizing coils 5 so that the ferromagnetic rods 4 are drawn into the coils, they obtain

centering force required size. However, the magnitude of the current in different magnetization coils 5 may be different. Managed the values of these currents by signals from the actuator,

get what the operator feels the opposition of the handle 1, proportional to the force effect of the actuating device.

Claims (3)

1. The driver with power sensing, containing a base with a movable handle mounted on it, rigidly connected to a crosspiece, made as a set of mutually perpendicular rods, each rod being spring-loaded relative to the base and equipped with a position sensor and a centering mechanism rigidly connected to the base, differing in that what with In order to expand the functionality, each centering mechanism is made in the form of a magnetization coil with a central hole and a body equipped with a protrusion and fixed on the base, each protrusion and its corresponding rod made of ferromagnetic material and placed coaxially with each other in the hole of the corresponding coil magnetization with a gap relative to each other, and the position sensor is made in the form of a capacitive sensor, the plates of which are placed on additionally inserted dielectric spacers mounted on mutually facing ends of the rod and the corresponding protrusion. 2. Device pop. 1, characterized in that the plates of capacitive sensors placed on diametrically arranged rods are connected to one another. 3. Device pop. 1, characterized in that the distance between the plates of the capacitive sensor is larger than the distance between the side surface of the rod and inner surface of the coil. sh and / sh SESESSSSSS T 10 P 12 13/4 . 7x. I 70 Sh TTGG K 13 P P