Clucking power feedback system in touching device

Abstract

The invention discloses a clucking power feedback system in a touching device, which comprises a chucking part, and a power feedback realization part, wherein the chucking part comprises a shell; two chucking handles are connected with the shell through a short connecting shaft and a bearing; one ends of two chucking connecting bars are connected with the chucking handles through a short connecting shaft and a bearing; the other ends of the two chucking connecting bars are connected with a sliding block through a bearing; the sliding block is fixedly connected with a spring; and the two chucking handles rotate along the two short connecting shafts to form chucked opening-closing motions. The realization of power feedback is as follows: a controller receives a chucking power signal, and sends a control signal to a motor; the motor drives a lead screw to rotate; when power is fed back, the lead screw drives a nut to move towards the direction of compressing the spring so as to compress the spring; then the spring is deformed to generate an elastic force; then the elastic force is transferred onto the chucking handles to lead an operator to feel the chucking power. The clucking power feedback system in the touching device has the advantages of simple and compact structure, high power feedback precision, easiness for operation, and low manufacturing cost.

Description

technical field [0001] The invention relates to a clamping structure required in a teleoperation robot system and a virtual reality system, which can realize clamping force feedback in a teleoperation robot system or a virtual reality system, and is especially suitable for underwater, medical, aerospace and dangerous environments Implementation of gripper joints and their force feedback required in teleoperated robotic systems or virtual reality systems. Background technique [0002] With the rapid development and wide application of teleoperation robot technology, a variety of tactile devices have been successfully developed. These tactile devices will feed back information on the interaction force between the end effector of the operating robot and the environment to the operator, making the operator feel The "immersive" perception effect generally involves the clamping joints in these tactile devices, but the force feedback of the clamping joints has not been realized in ...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development and wide application of teleoperation robot technology, a variety of tactile devices have been successfully developed. These tactile devices will feed back information on the interaction force between the end effector of the operating robot and the environment to the operator, making the operator feel The "immersive" perception effect generally involves the clamping joints in these tactile devices, but the force feedback of the clamping joints has not been realized in the current commercialized tactile devices (such as PHANTOM, Omega and other tactile devices). And most of the clamping structures are developed in a specific application environment and have poor versatility. Therefore, it is of great significance to develop a clamping force feedback system with strong versatility, simple structure, and easy operation to make up for the shortcomings of existing structures.

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