CN104552336A - Minitype finger joint force feedback unit - Google Patents
Minitype finger joint force feedback unit Download PDFInfo
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- CN104552336A CN104552336A CN201310491748.1A CN201310491748A CN104552336A CN 104552336 A CN104552336 A CN 104552336A CN 201310491748 A CN201310491748 A CN 201310491748A CN 104552336 A CN104552336 A CN 104552336A
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- force feedback
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- finger
- clutch
- friction plate
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Abstract
The invention discloses a minitype finger joint force feedback unit and relates to a device capable of detecting human finger motion states and feeding force applied on the corresponding human finger joints of a manipulator back. In order to solve the problem that a joint measuring mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complicated and bloated in the structure and difficulty to maintain and overcome the defect that bidirectional active driving cannot be realized and price is high, the joint detecting mechanism and the force feedback mechanism are integrated, and joint measuring points are arranged in the unique and ingenious connection mode. Accordingly, when operating the equipment, operators can keep most flexibly use the detected fingers, motion states can be accurately detected, the finger joints of the manipulator can be controlled to be coordinative to the corresponding finger joints of the operators, and stress conditions of the manipulator in the specific operating environment can be fed back to the operators so as to enhance field feeling of virtual or remote operation.
Description
Technical field
The present invention relates to a kind of detection staff finger motion state, and there is the device of the effect of Two-way Feedback power.
Background technology
Due to the development of science and technology, robot is used gradually in increasing scope, teleoperation robot as the robot of a kind of dependable performance, technology maturation be widely used in various danger, situation complexity, work in environment that the mankind cannot arrive, what it adopted is very reliable control mode, is directly sent instruction to control by operator.Performing along with teleoperation robot of task becomes increasingly complex, make people while pursuit reliability, also its flexibility is had higher requirement, and remote operating to be implemented to the manipulator of complexity, control multiple joints coordinated movement of various economic factors together of the multiple finger of manipulator, to realize specific function, this just need use data glove, and the data glove with force feedback function the manipulator of robot is implemented to the most efficient apparatus of remote operating, it points the finger tracking staff finger motion of positional information as control instruction control manipulator of each dactylus by measure operator, and the stressing conditions of each joint of manipulator in motion process can be simulated in data glove, act on operator on hand, operator is made to produce very strong telepresenc.In addition, Virtual Simulation development in recent years, its main interactive device is exactly force feedback data gloves, such as at one by the scene of computer virtual, control the virtual staff dismounting of a pair of or put together machines, also having game, 3D cartoon making etc. all to need to use force feedback data gloves, but force feedback data gloves system complex in the market, 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, system complex expensive for existing force feedback data gloves, the shortcoming such as difficult in maintenance, propose one the two-way active driving device of external angular transducer and joint is combined as a whole, while detecting staff joint motions information, also the power visual information fed back is changed into the method that power or moment directly act on staff, greatly simplify complicated force feedback data gloves system.The present invention be for computer, the interactive device of manipulator, be made up of dactylus pedestal, angular transducer and driver part, this device is fixed on operator's finger, and miniature finger-joint force feedback unit can apply the effect realizable force FEEDBACK CONTROL of power as required while the angle detecting movement of finger joint and state to it.The present invention adds clutch in the driver part in joint, when system force feedback signal, drive motors connects driven joint, and joint is applied to the effect of power, when system does not have force feedback signal, drive motors disconnects by the connection of driving joint, reduces and reduces the resistance of joint motions, make the motion in joint more smooth and easy.The angle that the present invention detects joint motions is measured by corresponding mathematical algorithm by being arranged on corresponding angular transducer on device, detected joint is all provided with independently driver part on the decomposition direction of its direction of motion or compound movement, corresponding on the detected joint again angular transducer cooperating of each driver part forms closed-loop control, improves its accuracy with realizable force FEEDBACK CONTROL.The present invention can detect angle and the state of corresponding movement of finger joint accurately, delicately, and has bidirectional force feedback function to detected joint, uses simple, and it is convenient to dress, and easily safeguards, and greatly can reduce the cost of force feedback data gloves.
Accompanying drawing explanation
Fig. 1 is three-view diagram and the axonometric drawing of miniature finger-joint force feedback unit.。
Fig. 2 is the structural representation of miniature finger-joint force feedback unit.
Fig. 3 is axonometric drawing and the structural representation of driver part 111.
Detailed description of the invention
Detailed description of the invention one: as shown in Figure 3, described miniature finger-joint force feedback unit, comprise driver part 111, described driver part 111 comprises micromachine 40 and clutch, described clutch is by clutch friction plate 41, friction plate slide bar 42, returning pull-spring 43, clutch case 44 forms, friction plate slide bar 42 is affixed with the axle of micromachine 40, two panels clutch friction plate 41 is inserted in friction plate slide bar 42 two ends respectively, returning pull-spring 43 is connected with between two panels clutch friction plate 41, clutch case 44 is inserted in the axle of micromachine 40, for slidingly contacting between the axle of clutch case 44 and micromachine 40, clutch case 44 is provided with travelling gear.Action implementation process: when micromachine 40 rotating speed is higher than certain value, the pulling force that two panels clutch friction plate 41 overcomes returning pull-spring 43 slide respectively to two ends of friction plate slide bar 42 and with the contact internal walls of clutch case 44, frictional force is produced to clutch case 44, drives clutch case 44 to rotate; When micromachine 40 rotating speed is lower than certain value, two panels clutch friction plate 41 slides to axis direction under the effect of returning pull-spring 43, is separated with the inwall of clutch case 44, cuts off the connection of clutch case 44 and micromachine 40.
Detailed description of the invention two: as shown in Figure 1, Figure 2 and Figure 3, described miniature finger-joint force feedback unit comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 51, gear box cover 52 and dactylus pedestal 53.Described dactylus pedestal 53 is provided with the installing hole Q of an a hole seat M and row for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat M of dactylus pedestal 53 by screw 36, axle and the rocking arm 19 of the angular transducer 18 in described hole seat M are affixed by screw 35, the axis coinciding that gear axis on described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gears meshing of driver part 111, described driver part 111 is arranged on dactylus pedestal 53, the affixed bulb 20 of described rocking arm 19 other end, described bulb 20 is connected with corresponding measured parts.Action implementation process: bulb 20 is hinged with the joint component that need detect, dactylus pedestal 53 is fixed on adjacent finger dactylus, when the detected relative dactylus pedestal 53 in joint rotates, rocking arm 19 follows rotation, the angular transducer 18 then linked with rocking arm 19 can measure angle and the state of these joint motions, when control system is without force feedback signal, driver part 111 attonity then on miniature finger-joint force feedback unit, detected articulation is interference-free, when control system force feedback signal, driver part 111 then on miniature finger-joint force feedback unit starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder the motion in detected joint, realize the force feedback function in this joint.
As another example of the present invention, also can replace angular transducer with other sensors, can play equally and detect the angle of movement of finger joint and the object of state, realize object of the present invention.
As another example of the present invention, also the micro-driving motor being connected with travelling gear can be allowed to replace driver part 111, and Direct driver train of reduction gears 60 or joint, save clutch link, the effect of applying power can be played equally to joint, realize object of the present invention.
When not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only that it can not depart from the scope of the present invention and extensively change, and these all belong within protection of the present invention as example and illustrated thing.
Claims (3)
1. a miniature finger-joint force feedback unit, for computer, the interactive device of manipulator, be made up of dactylus pedestal (53), angular transducer (18) and driver part (111);
It is characterized in that:
This device is fixed on operator's finger;
Miniature finger-joint force feedback unit can apply the effect realizable force FEEDBACK CONTROL of power as required while the angle detecting movement of finger joint and state to it.
2. miniature finger-joint force feedback unit according to claim 1, it is characterized in that: described driver part (111) comprises micromachine (40) and clutch, described clutch is by clutch friction plate (41), friction plate slide bar (42), returning pull-spring (43), clutch case (44) forms, friction plate slide bar (42) is affixed with the axle of micromachine (40), two panels clutch friction plate (41) is inserted in friction plate slide bar (42) two ends respectively, returning pull-spring (43) is connected with between two panels clutch friction plate (41), clutch case (44) is inserted in the axle of micromachine (40), for slidingly contacting between the axle of clutch case (44) and micromachine (40), clutch case (44) is provided with travelling gear.
3. miniature finger-joint force feedback unit according to claim 1, it is characterized in that: described dactylus pedestal (53) is provided with a hole seat (M) and row's installing hole (Q), described angular transducer (18) is fixed in the hole seat (M) of dactylus pedestal (53) by screw (36), axle and the rocking arm (19) of the angular transducer (18) in described hole seat (M) are affixed by screw (35), the axis coinciding that gear axis on described rocking arm (19) and rocking arm rotate, the gear of described rocking arm (19) is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), described driver part (111) is arranged on dactylus pedestal (53), the affixed bulb of described rocking arm (19) other end (20), described bulb (20) is connected with corresponding measured parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491748.1A CN104552336A (en) | 2013-10-21 | 2013-10-21 | Minitype finger joint force feedback unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491748.1A CN104552336A (en) | 2013-10-21 | 2013-10-21 | Minitype finger joint force feedback unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552336A true CN104552336A (en) | 2015-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310491748.1A Pending CN104552336A (en) | 2013-10-21 | 2013-10-21 | Minitype finger joint force feedback unit |
Country Status (1)
| Country | Link |
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| CN (1) | CN104552336A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142044A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Staff far refers to joint detection drive mechanism |
| CN115871020A (en) * | 2023-03-08 | 2023-03-31 | 北京工业大学 | Micro robot joint with large load |
-
2013
- 2013-10-21 CN CN201310491748.1A patent/CN104552336A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142044A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Staff far refers to joint detection drive mechanism |
| CN115871020A (en) * | 2023-03-08 | 2023-03-31 | 北京工业大学 | Micro robot joint with large load |
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Application publication date: 20150429 |