Device capable of detecting transmission force and performing transmission

Abstract

The invention discloses a device capable of detecting transmission force and performing transmission. The device comprises a driving bearing and a driven bearing, wherein the axis of the driving bearing and the axis of the driven bearing are parallel with each other and arranged in a vertical spaced mode. A coupler is matched with an inner ring of the driving bearing in an immovable mode, an outer ring of the driving bearing is sleeved with an outer ring sleeve in interference fit with the outer ring, the outer ring sleeve is sleeved with a driving bearing side rubber sleeve, the inner ring of the driving bearing is connected with the outer ring of the driving bearing through an elastic element, and an angle sensor is used for measuring the relative rotation angle of the outer ring and the inner ring of the driving bearing. A supporting shaft matched with an inner ring of the driven bearing in an immovable mode is inserted into the inner ring of the driven bearing, one end of the supporting shaft is fixedly connected with a long hole of a supporting plate at a preset position, an outer ring of the driven bearing is sleeved with a driven bearing side rubber sleeve, and the driven bearing side rubber sleeve is sleeved with a second outer ring sleeve in interference fit with the driven bearing side rubber sleeve. Small transmission force can be measured by the device with the method, and meanwhile the device can perform effective transmission.

Description

technical field [0001] The present invention relates to a device that can detect the transmission force in the field of robot automation, in particular, it relates to the guide wire transmission of the auxiliary intravascular minimally invasive interventional surgery robot, other medical robots and industrial automation fields that require precise transmission and transmission force detection. device. Background technique [0002] With the development and progress of automation and robot technology, the intelligence level of mechanical equipment has been continuously improved, and the reliability, compliance and safety of human-computer interaction have also been greatly developed. However, in the environment of human-computer interaction, the equipment lacks external force detection equipment or uses force sensors to detect the force during the interaction process. In many cases, this kind of detection is difficult to meet the requirements of use, such as too much noise int...

AI Technical Summary

Problems solved by technology

However, in the environment of human-computer interaction, the equipment lacks external force detection equipment or uses force sensors to detect the force during the interaction process. In many cases, this detection is difficult to meet the requirements of use, such as too much noise interference and large measurement errors under dynamic conditions.

[0003] A typical example is to assist minimally invasive interventional surgery robots in blood vessels instead of doctors to insert catheters or guide wires into the human body. Due to the long length of inserted guide wires, many such robots use rollers to drive guide wires or catheters. In the process, it is necessary to detect the resistance of the inserted guide wire or catheter in real time. Since the force sensor is not installed at the front end of the device, that is, the force caused by the large inertia of the device also acts on the sensor, and the signal-to-noise ratio of the collected force is small. It is difficult to effectively remove noise to obtain stable resistance information

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