Electromagnetic driving force tactile feedback device

Abstract

The utility model provides an electromagnetic driving force tactile feedback device. The electromagnetic driving force tactile feedback device comprises a base; the sliding block is connected to the base in a sliding manner; the fixed seat is fixedly connected to the sliding block; one end of the rotating bracket is rotationally connected with the fixed seat through a rotating shaft; the rocker arm comprises a handheld end and a fixed end, and the fixed end is fixedly connected to the rotating support; the first electromagnetic driving assembly is fixedly connected to the end, away from the rotating shaft, of the rotating support, and the first electromagnetic driving assembly is used for driving the rotating support to rotate around the rotating shaft through electromagnetic force so as to output feedback force in the rotating direction to the rocker arm; and the second electromagnetic driving assembly is fixedly connected with the fixed seat, and the electromagnetic driving assembly is used for driving the fixed seat to linearly move through electromagnetic force so as to output feedback force in the linear direction to the rocker arm. The electromagnetic driving force tactile feedback device is fast in response, low in cost and simple to assemble.

Description

Technical Field

[0001] The utility model relates to the technical field of virtual reality, in particular to an electromagnetic driving force tactile feedback device. Background Art

[0002] With the improvement of medical level, medical surgery has become more and more mature. In order to improve the proficiency of surgery, doctors need to do a lot of surgical practice. Virtual reality technology combines simulators with virtual surgical scenes, which provides great convenience for doctors' surgical practice and has been increasingly used in various surgical training. In order to improve the realism of simulated training surgery, it is necessary to consider the force tactile sensation generated by the tissue and transmitted to the operator after the instrument touches the tissue. Therefore, a force tactile feedback mechanism is needed to simulate the contact force between the instrument and the body tissue.

[0003] The current commercial tactile feedback systems are not designed specifically for the field of medical training, so they cannot fully meet the requirements in many key performance parameters. For example, they often fail to meet the high standards required for microsurgery in terms of positioning accuracy, output stability, feedback force, deadweight compensation, and inertia compensation. The force feedback manipulators currently available on the market generally use rotary motors as prime movers, but force feedback manipulators often require the motors to work in a stalled or low-speed state when working, which is not a suitable working condition for the motor. In order for the motor to work in a more ideal working condition, it is necessary to add a deceleration link, which will inevitably introduce additional mechanical resistance to the system, and will also inevitably produce mechanical backlash, resulting in a decrease in positioning accuracy. On the other hand, due to the existence of the tooth gap in the winding of the motor, the output characteristics of the motor at different angles are not consistent, which will affect the output accuracy of the force feedback manipulator.

[0004] In summary, the existing force tactile feedback mechanism has a complicated structure, complex and time-consuming assembly, and high cost. At the same time, the weight, resistance, and inertia are large, and the operator's hand feeling experience is relatively poor. Due to the existence of the gap between the winding teeth in the motor, the output characteristics of the motor at different angles are not consistent, which will affect the output accuracy of the force feedback manipulator. Moreover, due to the delay problem of various feedback systems, the response speed is not timely and the accuracy is poor, and the operator experience is not smooth enough. Utility Model Content

[0005] In view of the above situation, it is necessary to provide an electromagnetic driving force tactile feedback device to address the problems in the prior art.

[0006] The utility model provides an electromagnetic driving force tactile feedback device, comprising:

[0007] Base;

[0008] A slider, slidably connected to the base;

[0009] A fixed seat, fixedly connected to the sliding block;

[0010] A rotating bracket, one end of which is rotatably connected to the fixing seat via a rotating shaft;

[0011] A rocker arm, comprising a handheld end and a fixed end, wherein the fixed end is fixedly connected to the rotating bracket, and a user controls the rocker arm to rotate around the rotating shaft and to slide along a straight line with the slider by operating the handheld end;

[0012] a first electromagnetic drive component, the first electromagnetic drive component is fixedly connected to an end of the rotating bracket away from the rotating shaft, and the first electromagnetic drive component is used to drive the rotating bracket to rotate around the rotating shaft through electromagnetic force, so as to output a feedback force in a rotation direction to the rocker arm;

[0013] The second electromagnetic drive component is fixedly connected to the fixing seat, and the electromagnetic drive component is used to drive the fixing seat to move linearly through electromagnetic force to output linear feedback force to the rocker arm.

[0014] Furthermore, the above-mentioned electromagnetic driven force tactile feedback device, wherein the rotating bracket includes two connecting arms, one end of the two connected parts are far away from each other, and the other end is connected to the rotating shaft, the first electromagnetic driving component includes a first coil support seat fixed on the fixed seat, a first coil fixed on the first coil support seat, and a first support rod and electromagnet placed in the first coil, and the two ends of the first support rod are respectively fixedly connected to one end of the two connecting arms far away from each other.

[0015] Furthermore, the above-mentioned electromagnetic driven force tactile feedback device, wherein the fixed seat includes a connecting rod, and connecting brackets symmetrically fixed on both sides of the connecting rod, the connecting rod is fixedly connected to the slider, and the second electromagnetic drive component includes a second coil support seat fixed on the base, a second coil fixed on the second coil support seat, and a second support rod and an electromagnet placed in the second coil, and the two ends of the second support rod are fixedly connected to the two connecting brackets.

[0016] Furthermore, in the above-mentioned electromagnetic driven force tactile feedback device, the rotating shaft is rotatably connected to the fixed seat through a bearing and a bearing seat, and the two connecting brackets of the fixed seat are fixedly connected to both sides of the bearing seat.

[0017] Furthermore, in the above-mentioned electromagnetic driven force tactile feedback device, slide rails are respectively installed on both sides of the base, and the slider is slidably connected to the base through the slide rails.

[0018] Furthermore, the electromagnetic driving force tactile feedback device further includes an encoder, which is mounted on the fixing seat and is used to detect the rotation angle of the rotating shaft.

[0019] Furthermore, the electromagnetic driving force tactile feedback device further includes a displacement sensor, which is mounted on the base and is used to detect the distance moved by the rocker arm.

[0020] Furthermore, the above-mentioned electromagnetic driven force tactile feedback device also includes a photoelectric switch arranged opposite to the rotating bracket, and the photoelectric switch is installed on the base through the photoelectric switch bracket. An extension plate extends from one end of the rotating bracket connected to the rotating shaft, and the extension plate extends to the detection area of ​​the photoelectric switch.

[0021] The electromagnetic driven force tactile feedback device of the present invention has a light and simple structure, does not have components such as servo motors and linear motors, has a low overall cost and is easy to assemble. At the same time, the magnitude of the feedback force can be adjusted and has a wide range of applications, which is more advantageous for large-scale mass production. In addition, the electromagnetic driven force tactile feedback device has a fast response, and does not have the problem of the existing force tactile feedback mechanism motor jittering when working in a stalled or low-speed state, or adding a reducer to introduce additional mechanical resistance, and generating mechanical backlash that causes a decrease in positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the electromagnetic driving force tactile feedback device in an embodiment of the utility model;

[0023] Figure 2 It is a schematic diagram of the exploded structure of the electromagnetic driving force tactile feedback device in an embodiment of the utility model;

[0024] Figure 3 It is a front view of the electromagnetic driven force tactile feedback device;

[0025] Figure 4 for Figure 3 A cross-sectional view along section line BB;

[0026] Figure 5 is a top view of the electromagnetically driven force tactile feedback device;

[0027] Figure 6 for Figure 5 Section view along section line AA.

[0028] Main component symbols

[0029] DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The drawings provide embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing this embodiment is to make the disclosure of the present invention more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. In addition, the various embodiments of the present invention, the features in the embodiments, and the features of the embodiments can be freely combined without obvious conflicts or contradictions.

[0033] See also Figure 1 and Figure 2 , is an electromagnetic driving force tactile feedback device in an embodiment of the utility model, comprising: a base 10, a slider 20, a fixed seat 30, a rotating bracket 40, a rocker arm 50, a first electromagnetic driving component 60 and a second electromagnetic driving component 70. The slider 20 is slidably connected to the base 10, and the fixed seat 30 is fixedly connected to the slider 20. One end of the rotating bracket 40 is rotatably connected to the fixed seat 30 through a rotating shaft 81, and the other end of the rotating bracket 40 is fixedly connected to the first electromagnetic driving component 60. In a specific implementation, a bearing seat 82 is fixedly provided on the fixed seat 30, and the rotating shaft 81 is installed in the bearing seat 82 through a bearing, so as to realize a rotatable connection with the fixed seat 30 through the bearing and the bearing seat.

[0034] The rocker arm 50 includes a user handheld end and a fixed end, and the fixed end is fixedly connected to the rotating bracket 40. The user controls the rocker arm 50 to rotate around the rotating shaft 81 with the rotating bracket 40 by operating the handheld end, and controls the rocker arm 50, the rotating bracket 40 and the fixed seat 30 to move linearly with the slider 20.

[0035] The first electromagnetic drive assembly 60 is used to drive the rotating bracket 40 to rotate around the rotating shaft 81 by electromagnetic force. When the rocker arm 50 needs force feedback in the rotational position, the first electromagnetic drive assembly 60 generates electromagnetic force to push the rotating bracket 40, and then transmits the force to the rocker arm 50, and outputs feedback force to the rocker arm 50 in the rotational direction. The second electromagnetic drive assembly 70 is fixedly connected to the fixed seat 30, and the second electromagnetic drive assembly 70 is used to drive the fixed seat 30 to move linearly by electromagnetic force. That is, when the rocker arm 50 needs force feedback in the linear position, the second electromagnetic drive assembly 70 generates electromagnetic force to push the fixed seat 30 to move linearly, and then transmits the force to the rocker arm 50 in the linear direction to output feedback force in the linear direction to the rocker arm 50.

[0036] The rotating bracket 40 is generally Y-shaped and includes two connecting arms 41, one end of the two connecting arms 41 is away from each other, and the other end is rotatably connected to the rotating shaft 81. Figure 3 and Figure 4 As shown, the first electromagnetic drive assembly 60 includes a first coil support seat 61 fixed on the fixed seat 30, a first coil 62 fixed on the first coil support seat 61, a first support rod 63 placed in the first coil 62, and an electromagnet 64 sleeved on the first support rod 63. Both ends of the first coil support seat 61 are connected to the fixed seat 30 through a support arm 65. Both ends of the first support rod 63 are fixedly connected to the ends of the two connecting arms 41 that are away from each other.

[0037] The fixing seat 30 includes a connecting rod 31 and connecting brackets 32 symmetrically fixed on both sides of the connecting rod 31. The bottom of the connecting rod 31 is fixedly connected to the two sliders 20. Slide rails 11 are respectively installed on both sides of the base 10, and the two sliders 20 are slidably connected to the base 10 through the slide rails 11.

[0038] like Figure 5 and Figure 6 As shown, the second electromagnetic drive assembly 70 includes a second coil support seat 71, a second coil 72, a second support rod 73 and an electromagnet. In a specific implementation, the main body of the second coil support seat 71 can be cylindrical, the second coil 72 is sleeved on the outside of the main body of the second coil support seat 71, and the two ends of the second coil support seat 71 are respectively fixed to the bottom of the base 10 by screws. The second support rod 73 and the magnet sleeved on the outside of the second support rod 73 are placed in the second coil support seat 71, and the two ends of the second support rod 73 are fixedly connected to two connecting brackets.

[0039] Furthermore, the electromagnetic driving force tactile feedback device also includes an encoder 91 and a displacement sensor 92. The encoder 91 is located above the rotating bracket 40 and is connected to the rotating shaft 81 to detect the rotation angle of the rotating shaft 81. The encoder 91 is fixed to the fixing base 30 through an encoder mounting base 93. Specifically, the encoder 91 is fixed to the upper end of the encoder mounting base 93, and the two legs of the encoder mounting base 93 are fixed to the two ends of the connecting rod 31. The displacement sensor 92 is installed on the base 10 to detect the distance moved by the rocker arm.

[0040] The electromagnetic driving force tactile feedback device also includes a photoelectric switch 94, which is mounted on the base through a photoelectric switch bracket 95. An extension plate 42 extends from one end of the rotating bracket 40 connected to the rotating shaft 81, and the extension plate 42 extends to the detection area of ​​the photoelectric switch 94. The photoelectric switch is used to assist the encoder 91 in positioning the rotation angle of the robot arm 50. For example, in this embodiment, a relative encoder is selected in the encoder 91 to determine a standard position.

[0041] When the rocker arm 50 needs force feedback in the rotation direction, the first coil 62 is energized, and the electromagnet generates electromagnetic force to push the first support rod 63 and then transfer the force to the rocker arm 50, generating a sense of force. When the rocker arm 50 needs force feedback in the linear direction, the second coil 72 is energized, and the electromagnet generates electromagnetic force to push the second support rod 72 and then transfer the force to the rocker arm 50, generating a sense of force. And the magnitude of the feedback force in the rotation direction and the linear direction can be adjusted by adjusting the magnitude of the current of the first coil 62 and the second coil 72.

[0042] The electromagnetic driven force tactile feedback device in this embodiment has a light and simple structure, does not have components such as servo motors and linear motors, has a low overall cost and is easy to assemble. At the same time, the feedback force can be adjusted to have a wide range of applications, which is beneficial for large-scale mass production. In addition, the electromagnetic driven force tactile feedback device has a fast response, and does not have the existing force tactile feedback mechanism motor jittering when working in a stalled or low-speed state, or adding a reducer to introduce additional mechanical resistance, and the generation of mechanical backlash that causes a decrease in positioning accuracy.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0044] The above-mentioned embodiments only express the implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. An electromagnetic driving force tactile feedback device, characterized in that: include: Base; A slider, slidably connected to the base; A fixed seat, fixedly connected to the sliding block; A rotating bracket, one end of which is rotatably connected to the fixing seat via a rotating shaft; A rocker arm, comprising a handheld end and a fixed end, wherein the fixed end is fixedly connected to the rotating bracket, and a user controls the rocker arm to rotate around the rotating shaft and to slide along a straight line with the slider by operating the handheld end; a first electromagnetic drive component, the first electromagnetic drive component is fixedly connected to an end of the rotating bracket away from the rotating shaft, and the first electromagnetic drive component is used to drive the rotating bracket to rotate around the rotating shaft through electromagnetic force, so as to output a feedback force in a rotation direction to the rocker arm; The second electromagnetic drive component is fixedly connected to the fixing seat, and the electromagnetic drive component is used to drive the fixing seat to move linearly through electromagnetic force to output linear feedback force to the rocker arm.

2. The electromagnetic driving force tactile feedback device according to claim 1, characterized in that: The rotating bracket includes two connecting arms, one end of the two connected parts are far away from each other, and the other end is connected to the rotating shaft. The first electromagnetic drive component includes a first coil support seat fixed on the fixed seat, a first coil fixed on the first coil support seat, and a first support rod and an electromagnet placed in the first coil. The two ends of the first support rod are respectively fixedly connected to one end of the two connecting arms far away from each other.

3. The electromagnetic driving force tactile feedback device according to claim 1, characterized in that: The fixed seat includes a connecting rod and connecting brackets symmetrically fixed on both sides of the connecting rod, the connecting rod is fixedly connected to the slider, the second electromagnetic drive component includes a second coil support seat fixed on the base, a second coil fixed on the second coil support seat, and a second support rod and an electromagnet placed in the second coil, and the two ends of the second support rod are fixedly connected to the two connecting brackets.

4. The electromagnetic driving force tactile feedback device according to claim 3, characterized in that: The rotating shaft is rotatably connected to the fixing seat via a bearing and a bearing seat, and two connecting brackets of the fixing seat are fixedly connected to two sides of the bearing seat.

5. The electromagnetic driving force tactile feedback device according to claim 1, characterized in that: Slide rails are respectively installed on both sides of the base, and the slider is slidably connected to the base through the slide rails.

6. The electromagnetic driving force tactile feedback device according to claim 1, characterized in that: It also includes an encoder, which is installed on the fixing seat and is used to detect the rotation angle of the rotating shaft.

7. The electromagnetic driving force tactile feedback device according to claim 1, characterized in that: It also includes a displacement sensor, which is installed on the base and is used to detect the distance moved by the rocker arm.

8. The electromagnetic driving force tactile feedback device according to claim 1, characterized in that: It also includes a photoelectric switch arranged opposite to the rotating bracket, the photoelectric switch is installed on the base through a photoelectric switch bracket, an extension plate extends from one end of the rotating bracket connected to the rotating shaft, and the extension plate extends to the detection area of ​​the photoelectric switch.

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