CN101450484B - Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function - Google Patents
Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function Download PDFInfo
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- CN101450484B CN101450484B CN2008102098422A CN200810209842A CN101450484B CN 101450484 B CN101450484 B CN 101450484B CN 2008102098422 A CN2008102098422 A CN 2008102098422A CN 200810209842 A CN200810209842 A CN 200810209842A CN 101450484 B CN101450484 B CN 101450484B
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Abstract
The invention discloses an exoskeleton finger with a finger tip position following and finger tip bidirectional feedback functions, which relates to a finger of a data glove with bidirectional active drive and force feed back functions. The invention aims to solve the drawbacks that the prior force-feedback data glove can not move without the cooperation of human fingers, can not realize bidirectional active drive, is bloated in structure and low in integration, can not well tell a 'contact' mode from a 'non-contact' mode during force feedback, has a serious friction problem and is inconvenient to control. The output end of a motor driving system of the exoskeleton finger is connected with the input end of an extendable exoskeleton mechanism. The output end of the extendable exoskeleton mechanism is connected with a finger tip force feedback device and a position following device to form a modularized force feedback finger. The exoskeleton finger has the advantages of realizing following positions where the finger of an operator moves and force feedback in a free space or a constrained space according to the operation of a following hand to improve the virtual reality and the sound-surround ambiance of remote control, along with more compact structure, high system bandwidth.
Description
Technical field
The present invention relates to a kind of data glove finger with two-way active drive and force feedback.
Background technology
At present, force feedback data gloves commonly used both at home and abroad mainly contains following several Cyber-Grasp (force feedback data gloves), Sensor Glove II force feedback data gloves, the force feedback data gloves CAS-Grasp of Institute of Automation Research of CAS etc., there is following shortcoming in these data glove fingers: one, need to cooperate composition polygon linkage to move with every section dactylus of people's hand finger.Two, can not realize that all two-way active drive can only make staff produce stretching routine, and motor is from staff, thereby, can only realize referring to the force feedback of abdomen, can't realize referring to the force feedback of carrying on the back.Three, structure is too fat to move, integrated level is low.Four, when force feedback, can not well distinguish " contact " and " noncontact " pattern.Five, adopt rope drive, bring strong friction problem, be unfavorable for control.
Summary of the invention
The objective of the invention is above-mentioned various shortcomings, proposed a kind of exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function at existing (force feedback data) finger of glove existence.The present invention is made up of motor driven systems, extending exoskeleton mechanism and finger fingertip, and the output of motor driven systems is connected with the input of extending exoskeleton mechanism, and the output of extending exoskeleton mechanism is connected with finger fingertip.Described motor-driven mechanism is by dc brushless motor, the motor hold-down screw, motor cabinet, the motor cabinet mounting screw, motor output shaft coupling, the motor cabinet alignment pin, cushion cover is installed, the reduction box mounting screw, the reduction box mounting base, pad, first frame, the bevel gear hold-down screw, output bevel gear, inner sleeve, outer sleeve, the sleeve hold-down screw, harmonic speed reducer output shaft coupling and harmonic wave reduction box are formed, dc brushless motor is fixed on the motor cabinet by the motor hold-down screw, be connected with the motor cabinet mounting screw between reduction box mounting base and the motor cabinet, the edge of reduction box mounting base rear end is provided with the reduction box mounting screw, the rear portion of reduction box mounting base is provided with the installation cushion cover, motor output shaft coupling is arranged on the rear portion of installation cushion cover and is connected by the rear portion of motor cabinet alignment pin with the reduction box mounting base, the rear portion of harmonic reduction case is connected with the front portion of reduction box mounting base, be provided with pad between harmonic reduction case and the reduction box mounting base, the front end of harmonic reduction case is connected with the rear end of harmonic speed reducer output shaft coupling, inner sleeve and outer sleeve all are arranged on above the front portion of harmonic speed reducer output shaft coupling, inner sleeve is all fixedlyed connected with harmonic speed reducer output shaft coupling by the sleeve hold-down screw with outer sleeve, output bevel gear is fixed on above the front end of harmonic speed reducer output shaft coupling by the bevel gear hold-down screw, output bevel gear is arranged in first frame, described extending exoskeleton mechanism is by input bevel gear, second frame, the 3rd frame, two first connecting plates, two second connecting plates, the finger tip interface, first parallelogram linkage, second parallelogram linkage, the 3rd parallelogram linkage, first wire cable transmission mechanism and second wire cable transmission mechanism are formed, two first connecting plates are separately positioned on the both sides of the 3rd frame, two second connecting plates are separately positioned on the both sides of second frame, described first parallelogram linkage is by first connecting rod, second connecting rod, third connecting rod and the 4th connecting rod are formed, second parallelogram linkage is by a connecting rod, No. two connecting rods, No. three connecting rods and No. four connecting rods are formed, the 3rd parallelogram linkage is by connecting rod one, connecting rod two, connecting rod three and connecting rod four are formed, input bevel gear is arranged in first frame and with output bevel gear and meshes, one end of first connecting rod and the middle part of input bevel gear are affixed, one end of the other end of first connecting rod and second connecting rod is hinged, the center of second connecting rod and the center of third connecting rod are hinged, one end of third connecting rod and the lower hinge of first frame, one end of the other end of second connecting rod and second frame lower is hinged, one end of the other end of third connecting rod and the 4th connecting rod is hinged, and an end of the other end of the 4th connecting rod and second upper rack is hinged; One end of a connecting rod and the other end of second upper rack are hinged, one end of No. three connecting rods and the other end of second frame lower are hinged, one end of No. two connecting rods and the other end of a connecting rod are hinged, the center of the center of No. two connecting rods and No. three connecting rods is hinged, one end of the other end of No. three connecting rods and No. four connecting rods is hinged, one end of the other end of No. four connecting rods and the 3rd upper rack is hinged, and an end of the other end of No. two connecting rods and the 3rd frame lower is hinged; One end of connecting rod one and the other end of the 3rd upper rack are hinged, one end of the other end of connecting rod one and connecting rod two is hinged, one end of connecting rod three and the other end of the 3rd frame lower are hinged, the center of the center of connecting rod two and connecting rod three is hinged, one end of the other end of connecting rod three and connecting rod four is hinged, one side of the other end of connecting rod four and finger tip interface is hinged, and the opposite side of the hinged finger tip interface of the other end of connecting rod two is hinged; Described first wire cable transmission mechanism is taken turns by first line, second line wheel, first steel wire rope, second steel wire rope, first adjusts screw, first adjusts slide block, second adjusts screw, second adjusts slide block, pressing plate and hold-down screw are formed, first line wheel and second line wheel are separately positioned on the both sides of second upper rack, first line wheel is coaxial with an end of the 4th connecting rod, second line wheel is coaxial with an end of a connecting rod, first adjusts slide block is arranged on the 4th connecting rod, first adjusts screw is arranged on the first adjustment slide block, second adjusts screw is arranged on the second adjustment slide block, hold-down screw and pressing plate all are arranged on first line wheel, one end of first steel wire rope is fixedlyed connected with a connecting rod, the other end of first steel wire rope and first is adjusted slide block and is connected, one end of second steel wire rope is connected with pressing plate, the other end of second steel wire rope is arranged on second and adjusts on the slide block, second wire cable transmission mechanism is by three-way the wheel, the 4th line wheel, the 3rd steel wire rope, the 4th steel wire rope, the second fixed guide piece, screw, the 3rd adjusts screw, the first fixed guide piece, first forms with movable slider with movable slider and second, first is arranged on the connecting rod one with movable slider, the 3rd adjustment screw and the first fixed guide piece all are arranged on first with on the movable slider, second is arranged on No. four connecting rods with movable slider, the second fixed guide piece and screw all are arranged on second with on the movable slider, one end of the 4th steel wire rope is fixedlyed connected with No. four connecting rods, the other end of the 4th steel wire rope is connected with the first fixed guide piece, one end of the 3rd steel wire rope is fixedlyed connected with connecting rod one, the other end of the 3rd steel wire rope is connected with screw, the three-way wheel with the 4th line wheel is separately positioned on the both sides of the 3rd upper rack, three-way take turns with No. four connecting rods coaxial, the 4th line wheel and connecting rod four are coaxial, described finger fingertip is by referring to back of the body fixed pedestal, first mounting base, first piezoresistance sensor, first cover layer, second mounting base, second piezoresistance sensor, second cover layer, finger face fixed pedestal mounting screw, position tracking detection component, finger face fixed pedestal, the auxiliary locking cap of finger tip baffle plate and finger tip mounting base is formed, the finger tip baffle plate is fixed on the lateral surface of finger face fixed pedestal one end, second mounting base is fixed on the medial surface of finger face fixed pedestal one end by the auxiliary locking cap of finger tip mounting base, second piezoresistance sensor is fixed on second mounting base, second cover layer is fixed on second piezoresistance sensor, refer to that back of the body fixed pedestal is by referring to that face fixed pedestal mounting screw is fixed on the other end of finger face fixed pedestal, position tracking detection component is arranged on and refers between back of the body fixed pedestal and the finger tip baffle plate, one end of position tracking detection component is hinged with an end that refers to back of the body fixed pedestal, first mounting base is fixed on and refers to that back of the body fixed pedestal is on a side of position tracking detection component, first piezoresistance sensor is fixed on first mounting base, and first cover layer is fixed on first piezoresistance sensor.
Function of the present invention is can coordinate to control controlled position from manipulator, and controlled force-bearing situation from hand finger is carried out the accurate feedback of both direction.Delicate structure, in conjunction with the advantage of exoskeleton mechanism, elongation range is big, selects sensor to make the integrated degree of system very high dexterously, is easy to carry, dynamic response is fast, easy and simple to handle, bearing capacity big, force feedback progress height, strong sense of reality, reliable operation.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention, Fig. 2 is the integrally-built axonometric drawing of the present invention, Fig. 3 is the structural representation of motor driven systems 101, Fig. 4 is the structural representation of extending exoskeleton mechanism 102, Fig. 5 is the axonometric drawing of extending exoskeleton mechanism 102, Fig. 6 is the structural representation of finger fingertip 103, and Fig. 7 is the axonometric drawing of finger fingertip 103, and Fig. 8 is operating mechanism's principle sketch.
The specific embodiment
The specific embodiment one: (referring to Fig. 1 and Fig. 2) present embodiment is made up of motor driven systems 101, extending exoskeleton mechanism 102 and finger fingertip 103, the output of motor driven systems 101 is connected with the input of extending exoskeleton mechanism 102, and the output of extending exoskeleton mechanism 102 is connected with finger fingertip 103.
The specific embodiment two: (referring to the described motor-driven mechanism 101 of present embodiment of Fig. 1～Fig. 3) by dc brushless motor 41, motor hold-down screw 42, motor cabinet 43, motor cabinet mounting screw 44, motor output shaft coupling 45, motor cabinet alignment pin 46, cushion cover 47 is installed, reduction box mounting screw 48, reduction box mounting base 49, pad 50, first frame 51, bevel gear hold-down screw 52, output bevel gear 53, inner sleeve 54, outer sleeve 55, sleeve hold-down screw 56, harmonic speed reducer output shaft coupling 57 and harmonic wave reduction box 58 are formed, dc brushless motor 41 is fixed on the motor cabinet 43 by motor hold-down screw 42, be connected with motor cabinet mounting screw 44 between reduction box mounting base 49 and the motor cabinet 43, the edge of reduction box mounting base 49 rear ends is provided with reduction box mounting screw 48, the rear portion of reduction box mounting base 49 is provided with installs cushion cover 47, motor output shaft coupling 45 is arranged on the rear portion of installation cushion cover 47 and is connected by the rear portion of motor cabinet alignment pin 46 with reduction box mounting base 49, the rear portion of harmonic reduction case 58 is connected with the front portion of reduction box mounting base 49, be provided with pad 50 between harmonic reduction case 58 and the reduction box mounting base 49, the front end of harmonic reduction case 58 is connected with the rear end of harmonic speed reducer output shaft coupling 57, inner sleeve 54 is all fixedlyed connected by sleeve hold-down screw 56 and harmonic speed reducer output shaft coupling 57 with outer sleeve 55 with the anterior top inner sleeve 54 that outer sleeve 55 all is arranged on harmonic speed reducer output shaft coupling 57, output bevel gear 53 is fixed on above the front end of harmonic speed reducer output shaft coupling 57 by bevel gear hold-down screw 52, and output bevel gear 53 is arranged in first frame 51.
The specific embodiment three: (referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 7) the extending exoskeleton mechanism 102 of present embodiment is by input bevel gear 1, second frame 81, the 3rd frame 82, two first connecting plates 18, two second connecting plates 21, finger tip interface 15, first parallelogram linkage 2, second parallelogram linkage 8, the 3rd parallelogram linkage 14, first wire cable transmission mechanism 5 and second wire cable transmission mechanism 11 are formed, two first connecting plates 18 are separately positioned on the both sides of the 3rd frame 82, two second connecting plates 21 are separately positioned on the both sides of second frame 81, described first parallelogram linkage 2 is by first connecting rod 2-1, second connecting rod 2-2, third connecting rod 2-3 and the 4th connecting rod 2-4 form, second parallelogram linkage 8 is by a connecting rod 8-1, No. two connecting rod 8-2, No. three connecting rod 8-3 and No. four connecting rod 8-4 form, the 3rd parallelogram linkage 14 is by connecting rod one 14-1, connecting rod two 14-2, connecting rod three 14-3 and connecting rod four 14-4 form, input bevel gear 1 is arranged in first frame 51 and with output bevel gear 53 and meshes, the end of first connecting rod 2-1 and the middle part of input bevel gear 1 are affixed, the end of the other end of first connecting rod 2-1 and second connecting rod 2-2 is hinged, the center of the center of second connecting rod 2-2 and third connecting rod 2-3 is hinged, the end of third connecting rod 2-3 and the lower hinge of first frame 51, one end of the other end of second connecting rod 2-2 and second frame, 81 bottoms is hinged, the end of the other end of third connecting rod 2-3 and the 4th connecting rod 2-4 is hinged, and an end on the other end of the 4th connecting rod 2-4 and second frame, 81 tops is hinged; The other end on the end of a connecting rod 8-1 and second frame, 81 tops is hinged, the other end of the end of No. three connecting rod 8-3 and second frame, 81 bottoms is hinged, the end of No. two connecting rod 8-2 and the other end of a connecting rod 8-1 are hinged, the center of the center of No. two connecting rod 8-2 and No. three connecting rod 8-3 is hinged, the end of the other end of No. three connecting rod 8-3 and No. four connecting rod 8-4 is hinged, one end on the other end of No. four connecting rod 8-4 and the 3rd frame 82 tops is hinged, and an end of the other end of No. two connecting rod 8-2 and the 3rd frame 82 bottoms is hinged; The other end on the end of connecting rod one 14-1 and the 3rd frame 82 tops is hinged, the end of the other end of connecting rod one 14-1 and connecting rod two 14-2 is hinged, the other end of the end of connecting rod three 14-3 and the 3rd frame 82 bottoms is hinged, the center of the center of connecting rod two 14-2 and connecting rod three 14-3 is hinged, the end of the other end of connecting rod three 14-3 and connecting rod four 14-4 is hinged, the other end of connecting rod four 14-4 and a side of finger tip interface 15 are hinged, and the opposite side of the hinged finger tip interface 15 of the other end of connecting rod two 14-2 is hinged; Described first wire cable transmission mechanism 5 is by first line wheel 5-1, second line wheel 5-2, the first steel wire rope 21-1, the second steel wire rope 21-2, first adjusts screw 3, first adjusts slide block 4, second adjusts screw 7, second adjusts slide block 6, pressing plate 24 and hold-down screw 23 are formed, first line wheel 5-1 and second line wheel 5-2 are separately positioned on the both sides on second frame, 81 tops, 5-1 is coaxial with the end of the 4th connecting rod 2-4 for first line wheel, 5-2 is coaxial with the end of a connecting rod 8-1 for second line wheel, first adjusts slide block 4 is arranged on the 4th connecting rod 2-4, first adjusts screw 3 is arranged on the first adjustment slide block 4, second adjusts screw 7 is arranged on the second adjustment slide block 6, hold-down screw 23 and pressing plate 24 all are arranged on first line wheel 5-1, the end of the first steel wire rope 21-1 is fixedlyed connected with a connecting rod 8-1, the other end of the first steel wire rope 21-1 and first is adjusted slide block 4 and is connected, the end of the second steel wire rope 21-2 is connected with pressing plate 24, the other end of the second steel wire rope 21-2 is arranged on second and adjusts on the slide block 6, second wire cable transmission mechanism 11 is by the three-way 11-1 that takes turns, the 4th line wheel 11-2, the 3rd steel wire rope 19-1, the 4th steel wire rope 19-2, the second fixed guide piece 9, screw 10, the 3rd adjusts screw 12, the first fixed guide piece 13, first forms with movable slider 20 with movable slider 17 and second, first is arranged on connecting rod one 14-1 with movable slider 17, the 3rd adjustment screw 12 and the first fixed guide piece 13 all are arranged on first with on the movable slider 17, second is arranged on No. four connecting rod 8-4 with movable slider 20, the second fixed guide piece 9 and screw 10 all are arranged on second with on the movable slider 20, the end of the 4th steel wire rope 19-2 is fixedlyed connected with No. four connecting rod 8-4, the other end of the 4th steel wire rope 19-2 is connected with the first fixed guide piece 13, the end of the 3rd steel wire rope 19-1 is fixedlyed connected with connecting rod one 14-1, the other end of the 3rd steel wire rope 19-1 is connected with screw 10, three-way 11-1 of wheel and the 4th line wheel 11-2 are separately positioned on the both sides on the 3rd frame 82 tops, the three-way take turns 11-1 and No. four connecting rod 8-4 coaxial, the 4th line wheel 11-2 and connecting rod four 14-1 are coaxial.
First connecting rod 2-1 in first parallelogram linkage 2 when on the first connecting rod 2-1 moment loading being arranged, makes it rotate along axle, and then drives the motion of entire mechanism as the power input bar of entire mechanism.Exoskeleton mechanism depends on the back of the hand and finger of operator, exoskeleton finger rotates with operator's finger, press the elongation of ectoskeleton rule when rotating, frame and connecting plate are remained unchanged with respect to the position of finger, the pivot in each joint of exoskeleton finger is consistent with the pivot that the operator points corresponding joint respectively, and the ectoskeleton arm device accurately follows operator's finger and finger tip is realized envelope movement and any interference is not taken place.The line of centres L1 of axle one 25-5 and axle two 25-7 intersects at MCP (basic joint) joint 34 all the time with the line of centres L2 of axle three 25-1 and axle four 25-2 shown in Fig. 7 (operating mechanism's principle sketch), in like manner line of centres L5 and the line of centres L6 that the line of centres L3 of reference axis and line of centres L4 intersect at reference axis in 35, the three parallelogram linkages 14 of PIP (middle dactylus joint) joint all the time in second parallelogram linkage 8 intersects at DIP (finger tip joint) joint 36 all the time.
The specific embodiment four: the gearratio of described first wire cable transmission mechanism 5 of (referring to Fig. 1, Fig. 2 and Fig. 4) present embodiment is 1: 1.4, and the gearratio of second wire cable transmission mechanism 11 is 1.4: 1.Other is identical with the specific embodiment three.
The specific embodiment five: the material of described second frame 81 of (referring to Fig. 1, Fig. 2 and Fig. 4) present embodiment, the 3rd frame 82, two first connecting plates 18, two second connecting plates 21, finger tip interface 15, first parallelogram linkage 2, second parallelogram linkage 8 and the 3rd parallelogram linkages 14 is LC4.Other is identical with the specific embodiment three.
The specific embodiment six: described first line of (referring to Fig. 1, Fig. 2 and Fig. 4) present embodiment wheel 5-1, second line wheel 5-2, first adjust screw 3, first and adjust slide block 4, second and adjust screw 7, second and adjust that slide block 6, pressing plate 24, hold-down screw 23, the three-way 11-1 of wheel, the 4th line wheel 11-2, the second fixed guide piece 9, screw the 10, the 3rd are adjusted screw 12, the first fixed guide piece 13, first is 11SMnPb30 with the movable slider 17 and second material with movable slider 20.Other is identical with the specific embodiment three.
The specific embodiment seven: the described material that is used for hinged axle of present embodiment is the 45# steel.Other is identical with the specific embodiment three.
The specific embodiment eight: (referring to Fig. 1, Fig. 2, Fig. 5 and Fig. 6) finger fingertip 103 of present embodiment is by referring to back of the body fixed pedestal 62, the first mounting base 63-1, the first piezoresistance sensor 64-1, the first cover layer 65-1, the second mounting base 63-2, the second piezoresistance sensor 64-2, the second cover layer 65-2, finger face fixed pedestal mounting screw 66, position tracking detection component 67, finger face fixed pedestal 68, the auxiliary locking cap 70 of finger tip baffle plate 69 and finger tip mounting base is formed, finger tip baffle plate 69 is fixed on the lateral surface of finger face fixed pedestal 68 1 ends, the second mounting base 63-2 is fixed on the medial surface of finger face fixed pedestal 68 1 ends by the auxiliary locking cap 70 of finger tip mounting base, the second piezoresistance sensor 64-2 is fixed on the second mounting base 63-2, the second cover layer 65-2 is fixed on the second piezoresistance sensor 64-2, refer to that back of the body fixed pedestal 62 is by referring to that face fixed pedestal mounting screw 66 is fixed on the other end of finger face fixed pedestal 68, position tracking detection component 67 is arranged on and refers between back of the body fixed pedestal 62 and the finger tip baffle plate 69, one end of position tracking detection component 67 is hinged with an end that refers to back of the body fixed pedestal 62, the first mounting base 63-1 is fixed on and refers to that back of the body fixed pedestal 62 is on a side of position tracking detection component 67, the first piezoresistance sensor 64-1 is fixed on the first mounting base 63-1, and the first cover layer 65-1 is fixed on the first piezoresistance sensor 64-1.Other is identical with the specific embodiment one.Present embodiment has been formed finger face sensor parts by second mounting base, second piezoresistance sensor and second cover layer, has formed finger back pass inductor components by first mounting base, first piezoresistance sensor and first cover layer.With the staff coordinated movement of various economic factors time, guarantee to refer to face sensor all the time or refer to the back pass sensor and the finger face of staff or refer to that the back of the body contact, produces very real sense of touch and come personally and feel.
The specific embodiment nine: the first cover layer 65-1 and the second cover layer 65-2 of (referring to Fig. 1, Fig. 2, Fig. 5 and Fig. 6) present embodiment are the spherical crown shape.The site of action of the first piezoresistance sensor 64-1 and the second piezoresistance sensor 64-2 is the sensitizing range of self, the stressed of sensitizing range wanted evenly, so the first cover layer 65-1 makes the spherical crown shape in order to guarantee that spherical crown surface contacts well with finger with the second cover layer 65-2.Other is identical with the specific embodiment eight.
The specific embodiment ten: the material of (referring to Fig. 1, Fig. 2, Fig. 5 and Fig. 6) present embodiment first cover layer 65-1 and the second cover layer 65-2 is polytetrafluoroethylmaterial material.The present embodiment first cover layer 65-1 and the second cover layer 65-2 all use polytetrafluoroethylmaterial material, are used for guaranteeing even with contacting of staff finger tip.Other is identical with the specific embodiment eight.
Claims (7)
1. exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function, it is by motor driven systems (101), extending exoskeleton mechanism (102) and finger fingertip (103) are formed, it is characterized in that: the output of motor driven systems (101) is connected with the input of extending exoskeleton mechanism (102), the output of extending exoskeleton mechanism (102) is connected with finger fingertip (103), described motor-driven mechanism (101) is by dc brushless motor (41), motor hold-down screw (42), motor cabinet (43), motor cabinet mounting screw (44), motor output shaft coupling (45), motor cabinet alignment pin (46), cushion cover (47) is installed, reduction box mounting screw (48), reduction box mounting base (49), pad (50), first frame (51), bevel gear hold-down screw (52), output bevel gear (53), inner sleeve (54), outer sleeve (55), sleeve hold-down screw (56), harmonic speed reducer output shaft coupling (57) and harmonic wave reduction box (58) are formed, dc brushless motor (41) is fixed on the motor cabinet (43) by motor hold-down screw (42), be connected with motor cabinet mounting screw (44) between reduction box mounting base (49) and the motor cabinet (43), the edge of reduction box mounting base (49) rear end is provided with reduction box mounting screw (48), the rear portion of reduction box mounting base (49) is provided with installs cushion cover (47), motor output shaft coupling (45) is arranged on the rear portion that cushion cover (47) is installed and is connected by the rear portion of motor cabinet alignment pin (46) with reduction box mounting base (49), the rear portion of harmonic reduction case (58) is connected with the front portion of reduction box mounting base (49), be provided with pad (50) between harmonic reduction case (58) and the reduction box mounting base (49), the front end of harmonic reduction case (58) is connected with the rear end of harmonic speed reducer output shaft coupling (57), inner sleeve (54) and outer sleeve (55) all are arranged on above the front portion of harmonic speed reducer output shaft coupling (57), inner sleeve (54) is all fixedlyed connected with harmonic speed reducer output shaft coupling (57) by sleeve hold-down screw (56) with outer sleeve (55), output bevel gear (53) is fixed on above the front end of harmonic speed reducer output shaft coupling (57) by bevel gear hold-down screw (52), output bevel gear (53) is arranged in first frame (51), described extending exoskeleton mechanism (102) is by input bevel gear (1), second frame (81), the 3rd frame (82), two first connecting plates (18), two second connecting plates (21), finger tip interface (15), first parallelogram linkage (2), second parallelogram linkage (8), the 3rd parallelogram linkage (14), first wire cable transmission mechanism (5) and second wire cable transmission mechanism (11) are formed, two first connecting plates (18) are separately positioned on the both sides of the 3rd frame (82), two second connecting plates (21) are separately positioned on the both sides of second frame (81), described first parallelogram linkage (2) is by first connecting rod (2-1), second connecting rod (2-2), third connecting rod (2-3) and the 4th connecting rod (2-4) are formed, second parallelogram linkage (8) is by a connecting rod (8-1), No. two connecting rods (8-2), No. three connecting rods (8-3) and No. four connecting rods (8-4) are formed, the 3rd parallelogram linkage (14) is by connecting rod one (14-1), connecting rod two (14-2), connecting rod three (14-3) and connecting rod four (14-4) are formed, input bevel gear (1) is arranged in first frame (51) and with output bevel gear (53) and meshes, the middle part of one end of first connecting rod (2-1) and input bevel gear (1) is affixed, one end of the other end of first connecting rod (2-1) and second connecting rod (2-2) is hinged, the center of the center of second connecting rod (2-2) and third connecting rod (2-3) is hinged, the lower hinge of one end of third connecting rod (2-3) and first frame (51), one end of the other end of second connecting rod (2-2) and second frame (81) bottom is hinged, one end of the other end of third connecting rod (2-3) and the 4th connecting rod (2-4) is hinged, and an end on the other end of the 4th connecting rod (2-4) and second frame (81) top is hinged; The other end on one end of a connecting rod (8-1) and second frame (81) top is hinged, the other end of one end of No. three connecting rods (8-3) and second frame (81) bottom is hinged, the other end of one end of No. two connecting rods (8-2) and a connecting rod (8-1) is hinged, the center of the center of No. two connecting rods (8-2) and No. three connecting rods (8-3) is hinged, one end of the other end of No. three connecting rods (8-3) and No. four connecting rods (8-4) is hinged, one end on the other end of No. four connecting rods (8-4) and the 3rd frame (82) top is hinged, and an end of the other end of No. two connecting rods (8-2) and the 3rd frame (82) bottom is hinged; The other end on one end of connecting rod one (14-1) and the 3rd frame (82) top is hinged, one end of the other end of connecting rod one (14-1) and connecting rod two (14-2) is hinged, the other end of one end of connecting rod three (14-3) and the 3rd frame (82) bottom is hinged, the center of the center of connecting rod two (14-2) and connecting rod three (14-3) is hinged, one end of the other end of connecting rod three (14-3) and connecting rod four (14-4) is hinged, one side of the other end of connecting rod four (14-4) and finger tip interface (15) is hinged, and the opposite side of the hinged finger tip interface of the other end of connecting rod two (14-2) (15) is hinged; Described first wire cable transmission mechanism (5) is by first line wheel (5-1), second line wheel (5-2), first steel wire rope (21-1), second steel wire rope (21-2), first adjusts screw (3), first adjusts slide block (4), second adjusts screw (7), second adjusts slide block (6), pressing plate (24) and hold-down screw (23) are formed, first line wheel (5-1) and second line wheel (5-2) are separately positioned on the both sides on second frame (81) top, first line wheel (5-1) is coaxial with an end of the 4th connecting rod (2-4), second line wheel (5-2) is coaxial with an end of a connecting rod (8-1), first adjusts slide block (4) is arranged on the 4th connecting rod (2-4), first adjusts screw (3) is arranged on the first adjustment slide block (4), second adjusts screw (7) is arranged on the second adjustment slide block (6), hold-down screw (23) and pressing plate (24) all are arranged on first line wheel (5-1), one end of first steel wire rope (21-1) is fixedlyed connected with a connecting rod (8-1), the other end of first steel wire rope (21-1) and first is adjusted slide block (4) and is connected, one end of second steel wire rope (21-2) is connected with pressing plate (24), the other end of second steel wire rope (21-2) is arranged on second and adjusts on the slide block (6), second wire cable transmission mechanism (11) is by three-way wheel the (11-1), the 4th line wheel (11-2), the 3rd steel wire rope (19-1), the 4th steel wire rope (19-2), the second fixed guide piece (9), screw (10), the 3rd adjusts screw (12), the first fixed guide piece (13), first forms with movable slider (20) with movable slider (17) and second, first is arranged on the connecting rod one (14-1) with movable slider (17), the 3rd adjustment screw (12) and the first fixed guide piece (13) all are arranged on first with on the movable slider (17), second is arranged on No. four connecting rods (8-4) with movable slider (20), the second fixed guide piece (9) and screw (10) all are arranged on second with on the movable slider (20), one end of the 4th steel wire rope (19-2) is fixedlyed connected with No. four connecting rods (8-4), the other end of the 4th steel wire rope (19-2) is connected with the first fixed guide piece (13), one end of the 3rd steel wire rope (19-1) is fixedlyed connected with connecting rod one (14-1), the other end of the 3rd steel wire rope (19-1) is connected with screw (10), three-way wheel (11-1) and the 4th line wheel (11-2) are separately positioned on the both sides on the 3rd frame (82) top, three-way wheel (11-1) and No. four connecting rods (8-4) are coaxial, the 4th line wheel (11-2) and connecting rod four (14-1) are coaxial, described finger fingertip (103) is by referring to back of the body fixed pedestal (62), first mounting base (63-1), first piezoresistance sensor (64-1), first cover layer (65-1), second mounting base (63-2), second piezoresistance sensor (64-2), second cover layer (65-2), finger face fixed pedestal mounting screw (66), position tracking detection component (67), finger face fixed pedestal (68), the auxiliary locking cap (70) of finger tip baffle plate (69) and finger tip mounting base is formed, finger tip baffle plate (69) is fixed on the lateral surface of finger face fixed pedestal (68) one ends, second mounting base (63-2) is fixed on the medial surface of finger face fixed pedestal (68) one ends by the auxiliary locking cap (70) of finger tip mounting base, second piezoresistance sensor (64-2) is fixed on second mounting base (63-2), second cover layer (65-2) is fixed on second piezoresistance sensor (64-2), refer to that back of the body fixed pedestal (62) is by referring to that face fixed pedestal mounting screw (66) is fixed on the other end of finger face fixed pedestal (68), position tracking detection component (67) is arranged on and refers between back of the body fixed pedestal (62) and the finger tip baffle plate (69), one end of position tracking detection component (67) is hinged with an end that refers to back of the body fixed pedestal (62), first mounting base (63-1) is fixed on and refers to that back of the body fixed pedestal (62) is on a side of position tracking detection component (67), first piezoresistance sensor (64-1) is fixed on first mounting base (63-1), and first cover layer (65-1) is fixed on first piezoresistance sensor (64-1).
2. the exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function according to claim 1, it is characterized in that: the gearratio of described first wire cable transmission mechanism (5) is 1: 1.4, and the gearratio of second wire cable transmission mechanism (11) is 1.4: 1.
3. the exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function according to claim 2 is characterized in that: the material of second frame (81), the 3rd frame (82), two first connecting plates (18), two second connecting plates (21), finger tip interface (15), first parallelogram linkage (2), second parallelogram linkage (8) and the 3rd parallelogram linkage (14) is LC4.
4. the exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function according to claim 3 is characterized in that: first line wheel (5-1), second line wheel (5-2), first adjusts screw (3), first adjusts slide block (4), second adjusts screw (7), second adjusts slide block (6), pressing plate (24), hold-down screw (23), the three-way wheel (11-1), the 4th line wheel (11-2), the second fixed guide piece (9), screw (10), the 3rd adjusts screw (12), the first fixed guide piece (13), first is 11SMnPb30 with the movable slider (17) and second material with movable slider (20).
5. the exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function according to claim 4 is characterized in that: the described material that is used for hinged axle is the 45# steel.
6. the exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function according to claim 1 is characterized in that: first cover layer (65-1) and second cover layer (65-2) are the spherical crown shape.
7. the exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function according to claim 6 is characterized in that: the material of first cover layer (65-1) and second cover layer (65-2) is polytetrafluoroethylmaterial material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008102098422A CN101450484B (en) | 2008-12-30 | 2008-12-30 | Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function |
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| CN2008102098422A CN101450484B (en) | 2008-12-30 | 2008-12-30 | Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function |
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| CN101450484B true CN101450484B (en) | 2010-07-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove two-way force feedback detection driving device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152321B (en) * | 2011-04-08 | 2013-04-24 | 浙江理工大学 | Device for realizing multiple-degree-of-freedom force feedback of fingers |
| CN103902019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove elbow joint detection device |
| CN104552340A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Arm flexion and extension detecting device |
| CN106113018B (en) * | 2016-07-12 | 2018-07-06 | 浙江工业大学 | A kind of flexible ring embracing unit suitable for reducing bar |
| CZ309407B6 (en) | 2020-06-28 | 2022-11-30 | Vysoká Škola Báňská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove two-way force feedback detection driving device |
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