A clamp force feedback unit

Abstract

The embodiment of the present disclosure provides a clamp force feedback unit, including a handle, a motor seat, a motor assembly, a clamp assembly, an encoder assembly and a force feedback structure. The handle is an axisymmetric structure and is arranged adjacent to the motor seat, and the force feedback structure is arranged inside the handle and the motor seat. The motor assembly is arranged inside the motor seat and connected to the handle and the force feedback structure. The clamp assembly is installed on the outside of the handle, and the front end of the force feedback structure is fixedly connected to the clamp assembly for force feedback between the motor assembly and the clamp assembly. The encoder assembly is arranged inside the motor seat for measuring the working data of the motor assembly. The transmission structure of the clamp force feedback unit disclosed in the present disclosure is simple and compact, with small size and light weight, simple wiring and easy operation.

Description

Technical Field

[0001] The present disclosure belongs to the field of medical devices, and in particular, relates to a clamp force feedback unit. Background Art

[0002] Force feedback technology is widely used in the fields of master-slave control robots and medical fields. In the medical field, force feedback technology enables doctors to feel the actual working conditions of the slave equipment and improve the safety of the equipment for patients. At present, most of the existing force feedback solutions in the world use dual motors in parallel and attach pressure sensors to the surface of the clamp to achieve the rotation of the clamp around its own axis and force feedback. This solution has a complex transmission mechanism, complex electrical wiring, and poor stability. At the same time, the produced transmission mechanism is large in size and heavy in weight, which is not easy to operate. Summary of the invention

[0003] The present invention is dedicated to solving the deficiencies of the prior art and aims to provide a force feedback structure with simple structure, high stability and easy control.

[0004] In one aspect, an embodiment of the present disclosure provides a clamp force feedback unit, comprising:

[0005] Handle, motor seat, motor assembly, clamp assembly, encoder assembly and force feedback structure;

[0006] The handle is an axisymmetric structure and is disposed adjacent to the motor seat, and the force feedback structure is disposed inside the handle and the motor seat;

[0007] The motor assembly is arranged inside the motor seat and connected to the handle and the force feedback structure;

[0008] The clamp assembly is installed on the outside of the handle, and the front end of the force feedback structure is fixedly connected to the clamp assembly for performing force feedback between the motor assembly and the clamp assembly;

[0009] The encoder assembly is arranged inside the motor seat and is used to measure the working data of the motor assembly.

[0010] In a possible implementation, the clamp assembly includes a first clamp and a second clamp, one end of the first clamp and the second clamp is a connecting portion, and the other end is an operating portion;

[0011] The first clamp and the second clamp are arranged at opposite positions on the outside of the handle, and the front end of the connecting part is fixedly connected to the front end of the handle.

[0012] In a possible implementation, connection grooves are provided on both sides of the handle at positions opposite to the first clamp and the second clamp;

[0013] The tail ends of the connecting parts of the first clamp and the second clamp are connected to one end of a connecting rod, the connecting rod passes through a connecting slot, and the other end is connected to the front end of the force feedback structure.

[0014] In a possible implementation manner, the connecting rods corresponding to the first clamp and the second clamp are connected to the same position at the front end of the force feedback structure.

[0015] In a possible implementation, the motor assembly includes a first motor and a second motor;

[0016] The mover of the first motor is fixedly connected to the handle, and is used to provide a driving force for the handle to rotate along the central axis;

[0017] The output shaft of the second motor is connected to the force feedback structure to provide a horizontal driving force for the force feedback structure.

[0018] In a possible implementation, the force feedback structure includes a rack with an axisymmetric structure, the rack is located inside a mover of the first motor, and the mover of the first motor rotates along a circle with a central axis of the rack as a rotation axis.

[0019] In a possible implementation, the rack includes a connecting end and an engaging end, and a moving groove is provided inside;

[0020] The connecting end side is provided with a through hole whose central axis coincides with the central axis of the rack;

[0021] The rack is connected to the clamp assembly via a connector having one end located in the movable groove and the other end passing through the through hole.

[0022] In a possible implementation, the output shaft of the second motor is fixedly connected to a gear, and the meshing end of the rack meshes with the gear.

[0023] In a possible implementation, the encoder component includes a first encoder and a second encoder;

[0024] The first encoder and the second encoder are respectively arranged at the ends of the first motor and the second motor, and are used to measure the working data of the corresponding motors.

[0025] In the present disclosure, the transmission structure of the clamp force feedback unit is simple and compact, with small size and light weight, simple wiring and easy operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] This specification describes the complete and instructive disclosure of the present application, including its best mode of implementation, for those skilled in the art. This specification refers to the accompanying drawings, in which:

[0027] Figure 1 One of the structural schematic diagrams of a clamp force feedback unit provided in an embodiment of the present disclosure;

[0028] Figure 2 The second structural schematic diagram of a clamp force feedback unit provided in an embodiment of the present disclosure.

[0029] Reference numerals:

[0030] 1. Handle; 2. Motor seat; 3. Motor assembly; 31. First motor; 311. Mover; 312. Stator; 32. Second motor; 4. Clamp assembly; 41. First clamp; 42. Second clamp; 43. First connecting rod; 44. Second connecting rod; 5. Encoder assembly; 51. Encoder magnetic ring; 52. Encoder reader; 6. Force feedback structure; 61. Rack; 62. Connector. DETAILED DESCRIPTION

[0031] Now with reference to the embodiments of the present application in detail, one or more examples of the embodiments of the present application are illustrated in the drawings. Each example is provided to explain the present application, but not to limit the present application. In fact, it will be clear to those skilled in the art that various modifications and changes can be made in the present application without departing from the scope or spirit of the present application. For example, the features described or described as a part of an embodiment can be used together with another embodiment to produce another embodiment. As used in this specification, the terms "first", "second", etc. can be used interchangeably to distinguish one component from another component without intending to indicate the position or importance of each component. As used in the specification, unless the context clearly indicates otherwise, the terms "one", "an", "the", and "said" are intended to indicate that there are one or more elements. The terms "include", "include" and "have" are intended to be inclusive, and mean that there may be other elements in addition to the listed elements.

[0032] Now referring to the drawings, in which the same numerals represent the same elements throughout the drawings, the present disclosure will be further explained below in conjunction with specific embodiments.

[0033] Figure 1 This is one of the structural schematic diagrams of a clamp force feedback unit provided in an embodiment of the present disclosure, Figure 2 This is a second structural diagram of a clamp force feedback unit provided in an embodiment of the present disclosure. Figure 1 This is the left side cross-sectional view of the clamp force feedback unit. Figure 2 Figure 1 is a top view of a partial cross-section of the clamp force feedback unit. Figure 1 and Figure 2As shown, the clamp force feedback unit of the embodiment of the present disclosure includes a handle 1, a motor seat 2, a motor assembly 3, a clamp assembly 4, an encoder assembly 5 and a force feedback structure 6. Among them, the handle 1 and the motor seat 2 can be set as an axisymmetric structure with space inside, and the handle 1 and the motor seat 2 are close in space. In order to further improve the visual effect of the clamp force feedback unit, the side where the handle 1 and the motor seat 2 contact each other can be designed as a plane with matching shapes and sizes.

[0034] Optionally, based on the hollow structure inside the handle 1 and the motor base 2, the force feedback structure 6 can be arranged inside the handle 1 and the motor base 2. Among them, the front end of the force feedback structure 6 is arranged inside the handle 1, and the tail end is arranged inside the motor base 2. At the same time, the motor assembly 3 is also arranged inside the motor base 2, and is connected to the handle 1 and the force feedback structure 6, and is used to apply corresponding force to the handle 1 or the force feedback structure 6. The handle 1 can rotate along the central axis under the drive of the motor assembly 3. The clamp assembly 4 is installed on the outside of the handle 1 and can move relative to the handle 1. Furthermore, the front end of the force feedback structure 6 arranged inside the handle 1 is fixedly connected to the clamp assembly 4, and the tail end of the force feedback structure 6 arranged inside the motor base 2 is connected to the motor assembly 3. Based on this connection structure, the force feedback structure 6 can perform force feedback between the motor assembly 3 and the clamp assembly 4.

[0035] Furthermore, the encoder assembly 5 is also arranged inside the motor base 2, and is used to measure the working data of the motor assembly 3. Optionally, the encoder assembly 5 can also be connected to a slave device outside the clamp force feedback unit of the embodiment of the present disclosure for communication, so as to perform real-time feedback adjustment on the motor assembly 3 according to the data transmitted by the slave device, and further improve the working accuracy of the clamp force feedback unit.

[0036] In a possible implementation, the clamp assembly 4 may include a first clamp 41 and a second clamp 42, each clamp including a connection portion and an operating portion, and the clamp may be of an integrated design or a split design, and the connection portion and the operating portion are arranged at both ends of the clamp, that is, one end of the clamp is the operating portion and the other end is the connection portion. Optionally, the styles of the two clamps may be the same or different, for example, they may be in a long strip shape or a plate shape, and their overall appearance may be in a straight line shape or a curved line shape.

[0037] Optionally, the first clamp 41 and the second clamp 42 are both arranged on the outside of the handle 1, and the positions where the first clamp 41 and the second clamp 42 are arranged are opposite, that is, they can be located in the same plane. Specifically, the position where the clamp is fixedly connected to the handle 1 can be the front end of the handle 1, that is, the front end of the connecting part of the first clamp 41 and the second clamp 42 is fixedly connected to the front end of the handle 1. Among them, the connection method between the handle 1 and the clamp can be through a hinge connection, and the connected first clamp 41 and the second clamp 42 can move relative to the handle 1 with the hinge as the axis when the user operates the operating part.

[0038] Furthermore, the clamp assembly 4 may also include a first connecting rod 43 and a second connecting rod 44 as connecting members. Connecting grooves matching the first clamp 41 and the second clamp 42 are also provided at positions on both sides of the handle 1 that are opposite to the first clamp 41 and the second clamp 42. The tail ends of the connecting parts on the first clamp 41 and the second clamp 42 can be connected to the front end of the force feedback structure through a connecting rod passing through the connecting groove. Specifically, the tail end of the connecting part of the first clamp 41 is connected to one end of the first connecting rod 43, the first connecting rod 43 passes through the connecting groove opposite to the position of the first clamp 41, and the other end is connected to the front end of the force feedback structure 6. In contrast, the tail end of the connecting part of the second clamp 42 is connected to one end of the second connecting rod 44, the second connecting rod 44 passes through the connecting groove opposite to the position of the second clamp 42, and the other end is connected to the front end of the force feedback structure 6.

[0039] Optionally, the connection between the first clamp 41 and the first connecting rod 43, and the connection between the second clamp 42 and the second connecting rod 44 can be connected through a hinge, and the connected parts can move with the hinge as the axis. At the same time, the positions where the first connecting rod 43 and the second connecting rod 44 are connected to the force feedback structure 6 can be the same, and the connection between the connecting rod and the force feedback structure 6 can also be connected through a hinge. In other words, the first connecting rod 43 and the second connecting rod 44 can be connected to the hinge installation position at the front end of the force feedback structure 6 through the same hinge.

[0040] Optionally, the first clamp 41 and the second clamp 42 may be fixed to the handle 1 at a position inside a connection groove corresponding to the position thereof, and may be fixed at the front end of the connection groove.

[0041] In a possible implementation, the motor assembly 3 includes a first motor 31 and a second motor 32. The first motor 31 also includes a mover 311 and a stator 312, wherein the stator 312 is fixed to the inner wall of the motor base 2, and the mover 311 may be a hollow cylindrical structure, one end of which is fixedly connected to the handle 1, and is used to provide a driving force for the handle 1 to rotate along the central axis during the operation of the mover 311. The output shaft of the second motor 32 is connected to the force feedback structure 6, and is used to provide a driving force in the horizontal direction for the force feedback structure 6 when the second motor 32 is in the working state.

[0042] Optionally, the encoder assembly 5 includes a first encoder and a second encoder, which are respectively arranged at the ends of the first motor 31 and the second motor 32, and are used to measure the working data of the first motor 31 and the second motor 32, and to perform feedback fine adjustment on the first motor 31 and the second motor 32. Among them, at least one of the first encoder and the second encoder may include an encoder magnetic ring 51 and an encoder reader 52, and the motor working data measured by the encoder may include at least one of the motor current, the rotation angle of the motor, and the speed of the motor.

[0043] In a possible implementation, the force feedback mechanism 6 includes a rack 61 of an axisymmetric structure. Based on the hollow structure of the mover 311 of the first motor 31, the rack 61 can be located inside the mover 311 and the rotation axis of the mover 311 can coincide with the central axis of the rack 61. That is, during the operation of the first motor 31, the mover 311 rotates along a circle with the central axis of the rack 61 as the rotation axis.

[0044] Optionally, the rack 61 can be a straight long strip structure, which includes two parts, a connecting end and a meshing end, and a movable groove is provided inside the rack 61. A through hole whose central axis coincides with the central axis of the rack 61 is provided on the side of the connecting end of the rack 61, and the rack 61 is connected to the clamp assembly 4 through the through hole. The specific connection method can be to connect the clamp assembly 4 through a connector 62 with one end located in the movable groove and the other end passing through the through hole, and the connector 62 can rotate in the through hole relative to the rack 61. Specifically, a vertical through hole is provided on one side of the connector 62 passing through the through hole, and corresponding vertical through holes are also provided on one side of the first connecting rod 43 and the second connecting rod 44, and the clamp assembly 4 and the force feedback mechanism 6 are connected together by a hinge passing through the vertical through holes of the connector 62, the first connecting rod 43 and the second connecting rod 44.

[0045] When the handle 1 rotates, the first connecting rod 43 and the second connecting rod 44 drive the connecting member 62 to rotate in the through hole of the rack relative to the rack 61, and the rack 61 remains stationary. When the first clamp 41 and the second clamp 42 are subjected to force, the first connecting rod 43 and the second connecting rod 44 move horizontally in the connecting groove, driving the rack 61 to move in the horizontal direction.

[0046] Furthermore, the output shaft of the second motor 32 can be connected to the force feedback mechanism 6 through the gear 7. The specific connection method can be to fix the output shaft of the second motor 32 to the gear 7 by passing through the gear, and ensure that the meshing end of the rack 61 is meshed with the gear 7.

[0047] Based on the structural features of the clamp force feedback unit in the present disclosure, the user can use the clamp force feedback unit to drive the driven device to work. On the one hand, when the user needs to control the rotation of the driven device, since the mover 311 of the first motor 31 is fixedly connected to the handle 1, the user's index finger and thumb press the operating parts of the first clamp 41 and the second clamp 42 respectively to rotate the handle 1, and the first encoder set at the end of the first motor 31 measures the rotation angle and speed of the first motor 31, and controls the output of the first motor 31 according to the measurement results, so as to drive the left and right clamps to rotate through the rotation of the mover 311, and provide auxiliary force for the user's rotation control.

[0048] On the other hand, when the user needs to control the driven device to clamp an object, the user's index finger and thumb press the operating parts of the first clamp 41 and the second clamp 42 respectively, and the two clamps rotate along the connection position with the handle 1 to drive the corresponding first connecting rod 43 and the second connecting rod 44 to move in the connection groove, thereby driving the rack 61 in the power feedback mechanism 6 to move in the horizontal direction. Since the rack 61 is connected to the gear 7 connected to the output shaft of the second motor 32, the horizontal movement of the rack 61 drives the gear 7 to rotate, and the rotation of the gear 7 drives the second motor 32 to rotate, and the second encoder set at the end of the second motor 32 measures the angle change of the first clamp 41 and the second clamp 42. At the same time, the clamp on the driven device clamps the object to generate pressure, and the size of the pressure is collected by the corresponding sensor, and the pressure size is converted into a reference pressure for applying to the first clamp 41 and the second clamp 42. Specifically, the torque required for the second motor 32 to output the reference pressure can be calculated through the connecting rod mechanism, and then the torque reference value can be converted into the reference value of the current of the second motor 32. The current of the second motor 32 is measured and negative feedback is adjusted, so that the output torque of the second motor 32 reaches the reference current value to output the reference pressure to the first clamp 41 and the second clamp 42, so that the fingers of the operating user can feel the clamp pressure on the driven device, which is convenient for the user to control the clamp pressure on the driven device. Furthermore, the second motor 32 can also provide auxiliary force for the user's clamping control.

[0049] Based on the above technical features, the clamp force feedback unit of the embodiment of the present disclosure assists the clamp assembly and the handle to rotate through the rotary motor (first motor 31), and drives the clamp to move horizontally through the coaxial rack 61 through the second motor 32, providing corresponding feedback force for the operating user, which can improve the stability of the operation process and the operating experience. At the same time, the clamp force feedback unit has a simple and compact transmission structure, small size and light weight, simple wiring and easy operation.

[0050] This specification uses embodiments to disclose the present application, including the best embodiment, and also enables those skilled in the art to practice the present application, including making and using any device or system and performing any incorporated method. The embodiments of the present application and the technical solutions obtained by slightly changing the embodiments are all within the protection scope of the present application.

Claims

1. A clamp force feedback unit, characterized in that: include: Handle, motor seat, motor assembly, clamp assembly, encoder assembly and force feedback structure; The handle is an axisymmetric, hollow structure, and is disposed adjacent to the motor seat. The motor seat is a hollow structure, and the force feedback structure is disposed inside the handle and the motor seat. The motor assembly is arranged inside the motor seat and connected to the handle and the force feedback structure; The clamp assembly is installed on the outside of the handle, and the front end of the force feedback structure is fixedly connected to the clamp assembly for performing force feedback between the motor assembly and the clamp assembly; The encoder assembly is arranged inside the motor seat and is used to measure the working data of the motor assembly; Wherein, the motor assembly includes a first motor, a mover of the first motor is fixedly connected to the handle, and the mover is a hollow cylindrical structure, which is used to provide a driving force for the handle to rotate along the central axis; The force feedback structure includes a rack with an axisymmetric structure, the rack is a straight long strip structure, the rack is located inside the mover of the first motor, and the mover of the first motor rotates along a circle with the central axis of the rack as the rotation axis. The rack includes a connecting end and an engaging end, and a moving groove is provided inside; The connecting end side is provided with a through hole whose central axis coincides with the central axis of the rack; The rack is connected to the clamp assembly via a connecting piece with one end located in the movable groove and the other end passing through the through hole. The connecting piece can rotate in the through hole relative to the rack.

2. The clamp force feedback unit according to claim 1, characterized in that: The clamp assembly comprises a first clamp and a second clamp, wherein one end of the first clamp and the second clamp is a connecting portion and the other end is an operating portion; The first clamp and the second clamp are arranged at opposite positions on the outside of the handle, and the front end of the connecting part is fixedly connected to the front end of the handle.

3. The clamp force feedback unit according to claim 2, characterized in that: Connecting grooves are provided at positions on both sides of the handle that are opposite to the first clamp and the second clamp; The tail ends of the connecting parts of the first clamp and the second clamp are connected to one end of a connecting rod, the connecting rod passes through a connecting slot, and the other end is connected to the front end of the force feedback structure.

4. The clamp force feedback unit according to claim 3, characterized in that: The connecting rods corresponding to the first clamp and the second clamp are connected to the same position at the front end of the force feedback structure.

5. The clamp force feedback unit according to claim 1, characterized in that: The motor assembly includes a second motor; The output shaft of the second motor is connected to the force feedback structure to provide a horizontal driving force for the force feedback structure.

6. The clamp force feedback unit according to claim 5, characterized in that: The output shaft of the second motor is fixedly connected to the gear, and the meshing end of the rack is meshed with the gear.

7. The clamp force feedback unit according to claim 5, characterized in that: The encoder assembly includes a first encoder and a second encoder; The first encoder and the second encoder are respectively arranged at the ends of the first motor and the second motor, and are used to measure the working data of the corresponding motors.

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