CN103895019A - Data glove two-way force feedback detection driving device - Google Patents
Data glove two-way force feedback detection driving device Download PDFInfo
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- CN103895019A CN103895019A CN201210569895.1A CN201210569895A CN103895019A CN 103895019 A CN103895019 A CN 103895019A CN 201210569895 A CN201210569895 A CN 201210569895A CN 103895019 A CN103895019 A CN 103895019A
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Abstract
The invention relates to a device for detecting movement of hand joints and enabling force fed back by a controlled object to act on the hand joints, in particular to a data glove two-way force feedback detection driving device. The data glove two-way force feedback detection driving device solves the problems that an existing force feedback detection driving device is complex in system, complicated in structure, high in price, difficult to maintain and the like. The force feedback detection driving device is designed in a brand-new mode, a joint detection mechanism and a force feedback driving mechanism are integrated, and the system structure is simplified, so that the movement joints of an operator are kept flexible to the greatest extent, the movement state of the joints is accurately detected, feedback force also accurately act on the corresponding joints of the operator, and the controlled slave hand joints move in cooperation with the corresponding joints of the operator so as to enhance the sense of immediacy of virtual reality or teleoperation.
Description
Technical field
The present invention relates to the device of a kind of masterpiece that detects staff joint motions and control object is fed back for people's swivel of hand.
Background technology
Due to scientific and technical development, robot is used gradually in increasing scope, teleoperation robot is widely used in working in environment various danger, situation complexity, that the mankind cannot arrive as the robot of a kind of dependable performance, technology maturation, what it adopted is very reliable control mode, directly sends instruction by operator and controls.Carrying out along with teleoperation robot of task becomes increasingly complex, make people in pursuing reliability, also its flexibility is had higher requirement, and to implement distant operation to complicated manipulator, control the coordinated movement of various economic factors together of the multiple joints of manipulator, to realize specific function, this just need to use data glove, and the data glove with force feedback function is the manipulator of robot to be implemented to the efficient apparatus of distant operation, it by measure operator on hand each joint positional information as control instruction control manipulator follow the tracks of human hand movement, and each joint of manipulator can be simulated by the stressing conditions in motion process in data glove, act on operator on hand, make operator produce very strong telepresenc.In addition, Virtual Simulation development in recent years, its main interactive device is exactly the data glove with force feedback function, for example, in a scene by computer virtual, control the dismounting of the virtual staff of a pair of or put together machines etc., also having game, 3D cartoon making etc. all to need to use the data glove with force feedback function, but there is in the market the data glove system complex of force feedback function, price is very expensive, makes it cannot popularize in a large number, promote and use.
Summary of the invention
The object of the invention is to detect drive unit system complexity for existing force feedback, structure is too fat to move, expensive, the shortcoming such as difficult in maintenance, force feedback is detected to drive unit and done brand-new design, detection of joints mechanism and force feedback driving mechanism are integrated in one, simplify system architecture, and add clutch, in the time that system has force feedback signal, electric machine rotation, clutch connects motor and train of reduction gears, motor drives the joint of specifying by train of reduction gears, the motion in this joint is applied to the effect of power, in the time that system does not have force feedback signal, motor stops operating, clutch disconnection motor is connected with train of reduction gears, reduce and reduced the resistance of joint motions, make the motion in joint more smooth and easy.The present invention is the equipment that need to detect joint motions and provide bilateral force feedback to export for data glove, data arm etc.; formed by shell, motor, clutch, angular transducer, gear, power transmission shaft; motor is connected with clutch; clutch drives power transmission shaft by the cooperation of train of reduction gears; power transmission shaft is by another group gear drive angular transducer, and shell provides support and protective effect drive disk assembly.The present invention can keep farthest flexibly operator's movable joint, detecting the movement angle in joint is measured by corresponding mathematical algorithm by angular transducer, the power of feedback can accurately act on the corresponding joint of operator, controlled joint that can be corresponding with operator from swivel of hand is harmoniously moved, to strengthen the telepresenc of virtual reality or distant operation, this installation cost is low, uses simply, safeguards easily.
Brief description of the drawings
Fig. 1 is overall shaft side figure of the present invention.
Fig. 2 is structural representation of the present invention.
Fig. 3 is the structural representation of motor 1 and clutch 100.
Detailed description of the invention
100. clutch 1. motor 2. power transmission shafts
3. angular transducer 7. friction plate slide bar 8. clutch friction plates
9. returning pull-spring 10. clutch cases
Detailed description of the invention one: as depicted in figs. 1 and 2, described data glove bilateral force feedback detects drive unit and comprises motor 1, clutch 100, power transmission shaft 2, angular transducer 3, shell 4,5,6.Described motor 1 is connected with clutch 100; described clutch 100 has and switches on and off two kinds of duties that motor 1 is connected with train of reduction gears; clutch 100 drives power transmission shaft 2 by the cooperation of train of reduction gears; power transmission shaft 2 is by another group gear drive angular transducer 3, and 4,5,6 pairs of drive disk assemblies of shell provide support and protective effect.Action implementation process: when joint motions and while driving power transmission shaft 2 to rotate, power transmission shaft 2 drives angular transducer 3 to rotate by meshed gears, make angular transducer 3 can detect angle and the state of operator's joint motions, when control system is during without force feedback signal, motor 1 does not rotate, clutch 100 disconnects being connected of motor 1 and train of reduction gears, operator's joint motions are interference-free, in the time that control system has force feedback signal, motor 1 rotates, clutch 100 connects motor 1 and train of reduction gears, motor 1 drives power transmission shaft 2 to rotate outputting power by the cooperation group of clutch 100 and reduction gearing, in the direction of joint motions, apply one in the same way or reverse driving force, the real-time change of operator's joint motions angle that control system detects according to angular transducer 3 more simultaneously, use corresponding mathematical algorithm to revise constantly the size and Orientation of this driving force, promote or hinder the motion in operator joint, realize the force feedback function of these joint motions.
Detailed description of the invention two: as shown in Figure 3, described clutch 100 comprises friction plate slide bar 7, clutch friction plate 8, returning pull-spring 9, clutch case 10.Described friction plate slide bar 7 is affixed with the axle of motor 1, two slice clutch friction plates 8 are inserted in respectively friction plate slide bar 7 two ends, it between clutch friction plate 8 and friction plate slide bar 7, is sliding-contact, between two slice clutch friction plates 8, be connected with returning pull-spring 9, clutch case 10 is inserted in the axle of motor 1, between the axle of clutch case 10 and motor 1, be sliding-contact, the dead in line of the axis of clutch case 10 and motor 1, clutch case 10 is provided with travelling gear and engages with reduction gearing.Action implementation process: in the time that motor 1 rotates, the pulling force that two slice clutch friction plates 8 overcome returning pull-spring 9 slides and contacts with the inwall of clutch case 10 to the end of friction plate slide bar 7 respectively, and clutch case 10 is produced to frictional force, drives clutch case 10 to rotate; In the time that motor 1 stops operating, two slice clutch friction plates 8 slide to axis direction under the effect of returning pull-spring 9, separate with the inwall of clutch case 10, and cut-out clutch case 10 is connected with motor 1.
As another example of the present invention, also can replace angular transducer with other sensors, can play equally and detect angle and the state that people's swivel of hand moves in three dimensions, realize object of the present invention.
As another example of the present invention, also can replace clutch 100 with the arrangement of clutch that other and clutch 100 have a similar functions, can play equally and connect and disconnect the function that motor is connected with train of reduction gears, realize object of the present invention.
In the situation that not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only as example and illustrated thing, and it can not depart from the scope of the present invention and extensively change, within these all belong to protection of the present invention.
Claims (2)
1. a data glove bilateral force feedback detects drive unit, the equipment that need to detect joint motions and provide bilateral force feedback to export for data glove, data arm etc., by motor (1), clutch (100), power transmission shaft (2), angular transducer (3), shell (4,5,6) composition;
It is characterized in that:
This device is fixed on human motion juxtra-articular, connects and composes a complete system by the human body limb of auxiliary support and transmission mechanism and need detection, for detection of angle and the state of human body joint motion, and the masterpiece of feedback is used on this joint;
Described motor (1) is connected with clutch (100), described clutch (100) has and switches on and off two kinds of duties that motor (1) is connected with train of reduction gears, motor (1) drives power transmission shaft (2) by the cooperation of clutch (100) and train of reduction gears, power transmission shaft (2) is by another group gear drive angular transducer (3), and shell (4,5,6) provides support and protective effect drive disk assembly;
Data glove bilateral force feedback detect drive unit to the detection of operator's joint motions angle and state by angular transducer
(3) measure by corresponding mathematical algorithm.
2. data glove bilateral force feedback according to claim 1 detects drive unit, it is characterized in that: described clutch (100) comprises friction plate slide bar (7), clutch friction plate (8), returning pull-spring (9), clutch case (10), described friction plate slide bar (7) is affixed with the axle of motor (1), two slice clutch friction plates (8) are inserted in respectively friction plate slide bar (7) two ends, it between clutch friction plate (8) and friction plate slide bar (7), is sliding-contact, between two slice clutch friction plates (8), be connected with returning pull-spring (9), clutch case (10) is inserted in the axle of motor (1), it between the axle of clutch case (10) and motor (1), is sliding-contact, the dead in line of the axis of clutch case (10) and motor (1), clutch case (10) is provided with travelling gear and engages with reduction gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210569895.1A CN103895019A (en) | 2012-12-25 | 2012-12-25 | Data glove two-way force feedback detection driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210569895.1A CN103895019A (en) | 2012-12-25 | 2012-12-25 | Data glove two-way force feedback detection driving device |
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| Publication Number | Publication Date |
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| CN103895019A true CN103895019A (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210569895.1A Pending CN103895019A (en) | 2012-12-25 | 2012-12-25 | Data glove two-way force feedback detection driving device |
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| CN (1) | CN103895019A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
| CN106142069A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Rescue robot variable torque generator |
Citations (8)
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|---|---|---|---|---|
| US5516249A (en) * | 1994-05-10 | 1996-05-14 | Technical Research Associates, Inc. | Exoskeleton with kinesthetic feedback and robotic control |
| US6126373A (en) * | 1997-12-19 | 2000-10-03 | Fanuc Usa Corporation | Method and apparatus for realtime remote robotics command |
| JP2003308141A (en) * | 2002-04-17 | 2003-10-31 | Seiko Epson Corp | Inner force sense presenting device |
| CN101450484B (en) * | 2008-12-30 | 2010-07-21 | 哈尔滨工业大学 | Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function |
| CN202021609U (en) * | 2011-04-08 | 2011-11-02 | 浙江理工大学 | Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers |
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| CN203236486U (en) * | 2012-12-25 | 2013-10-16 | 苏茂 | Two-way force feedback detection driving device for data glove |
| CN103831832A (en) * | 2012-11-26 | 2014-06-04 | 苏茂 | Two-way force feedback slave manipulator arm control device |
-
2012
- 2012-12-25 CN CN201210569895.1A patent/CN103895019A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5516249A (en) * | 1994-05-10 | 1996-05-14 | Technical Research Associates, Inc. | Exoskeleton with kinesthetic feedback and robotic control |
| US6126373A (en) * | 1997-12-19 | 2000-10-03 | Fanuc Usa Corporation | Method and apparatus for realtime remote robotics command |
| JP2003308141A (en) * | 2002-04-17 | 2003-10-31 | Seiko Epson Corp | Inner force sense presenting device |
| CN101450484B (en) * | 2008-12-30 | 2010-07-21 | 哈尔滨工业大学 | Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function |
| CN202021609U (en) * | 2011-04-08 | 2011-11-02 | 浙江理工大学 | Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers |
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| CN103831832A (en) * | 2012-11-26 | 2014-06-04 | 苏茂 | Two-way force feedback slave manipulator arm control device |
| CN203236486U (en) * | 2012-12-25 | 2013-10-16 | 苏茂 | Two-way force feedback detection driving device for data glove |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
| CN106142069A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Rescue robot variable torque generator |
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Application publication date: 20140702 |