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    • 2. 发明授权
    • Handle apparatus for a power-assist device
    • 用于助力装置的手柄装置
    • US4163929A
    • 1979-08-07
    • US929001
    • 1978-07-28
    • Maria M. JanuHoward R. Wagner
    • Maria M. JanuHoward R. Wagner
    • A61B6/00A61B6/04G05G9/04G05B11/01
    • A61B6/4482A61B6/0457A61B6/467G05G9/04
    • A handle apparatus is for use with a device which has a movable component and a variable speed motor system which is responsive to an error signal for driving the movable component to desired positions corresponding to the error signal. The handle apparatus includes a central stationary support member which can be mounted to the movable component. The support member is adapted to receive a miniature force sensor which includes a linear variable differential transformer having an operative axis. The member receives one force sensor for each axis in which power-assist is desired; with the axis of each force sensor positioned corresponding to each axis of power-assist. Each force sensor is electrically connected to an input signal and has an actuator translatable along the operative axis connected to a central core and has a base containing the transformer wherein movement of the actuator translates the core within the transformer to produce the error signal corresponding to the magnitude and direction of the translation of the core. A generally hollow, cylindrical sleeve encloses the support member and the force sensors to form a manually engageable surface. The sleeve is adapted to independently engage each actuator of the force sensors. Each actuator of the force sensors operates through a spring diaphragm which positions and returns the sleeve to a stable position and provides elastic resistance to force in any direction. Any manual force applied to the sleeve translates the corresponding actuator to thus produce the error signal which is proportional to the magnitude and direction of the force.
    • 手柄装置用于具有可移动部件和可变速度电动机系统的装置,所述可移动部件和变速电动机系统响应于用于将可移动部件驱动到对应于误差信号的期望位置的误差信号。 手柄装置包括可安装到可移动部件的中心固定支撑构件。 支撑构件适于接收包括具有操作轴的线性可变差动变压器的微型力传感器。 该构件为需要动力辅助的每个轴接收一个力传感器; 其中每个力传感器的轴线对应于每个辅助轴线。 每个力传感器电连接到输入信号,并且具有可沿着连接到中心芯的操作轴线平移的致动器,并且具有包含变压器的基座,其中致动器的运动将变压器内的芯体转换以产生对应于 核心的翻译的大小和方向。 通常中空的圆柱形套筒包围支撑构件和力传感器以形成可手动接合的表面。 套筒适于独立地接合力传感器的每个致动器。 力传感器的每个致动器通过弹簧隔膜操作,该弹簧隔膜将套筒定位并返回到稳定的位置,并且在任何方向上提供弹性阻力。 施加到套筒上的任何手动力使相应的致动器平移,从而产生与力的大小和方向成比例的误差信号。
    • 3. 发明授权
    • Power assist device using strain responsive means
    • 动力辅助装置使用应变响应装置
    • US4107590A
    • 1978-08-15
    • US733644
    • 1976-10-18
    • Thomas PuryMenachem AssaHoward R. Wagner
    • Thomas PuryMenachem AssaHoward R. Wagner
    • A61B6/00G05D3/14G05B11/01
    • A61B6/4482G05D3/1481
    • In apparatus wherein a massive component, such as the spot film device of an x-ray table, is driven to various positions with an electric motor drive, a handle is attached to the component for urging it in the desired direction. The handle is attached to the component with beams that flex slightly. A piezoresistive strain gage assembly is mounted on one of the beams for developing an error signal in response to the handle being urged in either direction. The signal is amplified and used to control the power assist driving motor. Means are provided for compensating the vertical component of gravitational force when the handle and the object to which it is attached are angulated. Means are also provided for disabling the drive motor if an electronic element fails.
    • 在诸如x射线台的点胶膜装置的大块部件通过电动机驱动被驱动到各种位置的装置中,手柄附接到部件上以沿期望的方向推动。 把手用轻微弯曲的梁连接到组件上。 压阻应变计组件安装在其中一个梁上,用于响应于沿两个方向被推动的手柄而形成误差信号。 信号被放大并用于控制动力辅助驱动电动机。 提供了用于在手柄及其所附着的物体成角度时补偿重力垂直分量的装置。 还提供了如果电子元件失效则禁止驱动电动机的装置。