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Passive force/moment feedback driver of man-machine interface device for controlling remote-control operation robot

A technology for teleoperating robots and human-machine interfaces, applied in the field of passive force/torque feedback drives, can solve the problems of discontinuous driving torque, stick-slip, high dynamic friction coefficient, etc., and achieve the effect of large torque, simple device structure and small size

Inactive Publication Date: 2010-02-10
SOUTHEAST UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

What's more, the friction material has a relatively high coefficient of dynamic friction, which easily leads to the occurrence of stick-slip phenomenon, which can cause the discontinuity of the driving torque

Method used

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  • Passive force/moment feedback driver of man-machine interface device for controlling remote-control operation robot

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Embodiment Construction

[0020] Below in conjunction with accompanying drawing, the present invention is described in detail:

[0021] A passive force / torque feedback driver for a man-machine interface device controlled by a teleoperated robot, comprising a base 15 and an upper cover 2, threaded holes are set on the outer circumference of the base 15 and the upper cover 2, and bolts 1 are used to secure the The base 15 is fixed to the upper cover 2, and a torque feedback shaft 5 is arranged between the base 15 and the upper cover 2. The torque feedback shaft 5 is provided with a moving friction plate 11 and a moving gasket 14, and the moving friction plate 11 is separated by the moving gasket 14. Positioning so that the gaps between the moving friction plates 11 are equal, the moving friction plates 11 and the moving gasket 14 are fixed on the torque feedback shaft 5 through keys, and the static friction plate 12 and the static gasket 8 are arranged between the base 15 and the upper cover 2, and the st...

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Abstract

The invention discloses a passive force / moment feedback driver of a man-machine interface device for controlling a remote-control operation robot, comprising a shell, a moment feedback shaft, dynamical friction pieces, magneto-rheological fluid and an electric signal input coil, wherein the moment feedback shaft, the dynamical friction pieces and the magneto-rheological fluid are arranged into theshell, the electric signal input coil is used for inputting an electric signal converted by a long-distance force signal, the dynamical friction pieces are fixed on the moment feedback shaft, at least one static friction piece is arranged in the shell, the static friction pieces are arranged among the dynamical friction pieces at intervals, the magneto-rheological fluid is filled around the dynamical friction pieces and the static friction pieces, and the electric signal input coil is coiled outside the static friction pieces. The passive force / moment feedback driver adopts a magneto-rheological fluid technology and converts the magneto-rheological fluid into the electric signal to be input into the electric signal input coil, a passive feedback moment is generated on the moment feedbackshaft under the action of a coil magnetic field to the magneto-rheological fluid, and feedback force is continuous and stable. The passive force / moment feedback driver has simple and compact structure, light weight, small size and friction force and stable and safe characteristics and can transfer a larger moment.

Description

technical field [0001] The invention relates to a passive force / torque feedback driver for a human-machine interface device controlled by a teleoperated robot, in particular to a feedback driver for transmitting force / torque using liquid intelligent materials. Background technique [0002] With the widespread application of interactive teleoperated robots, a large number of human-machine interface devices with force feedback function will be required. Force feedback can be divided into active type and passive type. Active force feedback is mostly driven by motors, and some are driven by pneumatic, hydraulic or electromagnetic devices. Active force feedback drivers generally have relatively poor stability and are prone to damage to the operator when they lose control. Injuries are caused, and the volume is large, the mechanical structure is relatively complicated, and the friction of the entire mechanism is relatively large. Using pneumatic or hydraulic actuators requires cor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 戴金桥王爱民崔建伟宋爱国文辞
Owner SOUTHEAST UNIV
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