CN104635915A - Far knuckle force feedback device - Google Patents
Far knuckle force feedback device Download PDFInfo
- Publication number
- CN104635915A CN104635915A CN201310549821.6A CN201310549821A CN104635915A CN 104635915 A CN104635915 A CN 104635915A CN 201310549821 A CN201310549821 A CN 201310549821A CN 104635915 A CN104635915 A CN 104635915A
- Authority
- CN
- China
- Prior art keywords
- dactylus
- far away
- force feedback
- pedestal
- driving mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/033—Indexing scheme relating to G06F3/033
- G06F2203/0331—Finger worn pointing device
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention relates to a device for detecting the motion state of fingers of a human hand and feeding back stress borne by the corresponding knuckles of the hand, in particular to a far knuckle force feedback device. The far knuckle force feedback device aims at solving the problems that a joint measuring mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complex, the structure is overstaffed, maintenance is difficult, bidirectional active driving cannot be achieved, and the price is high. A joint detecting mechanism and the force feedback mechanism are integrated, and are arranged through a unique connecting mode and ingenious knuckle measuring points, when an operator uses the device, the detected finger can be kept flexible to the maximum degree, the motion state can be precisely detected, the corresponding knuckle of a controlled human hand can move consistent with the corresponding knuckles of the operator in a cooperating mode, and the stressing condition of the hand in the specific work environment can be fed back to the operator so that the sense of immediacy of virtual reality or teleoperation can be enhanced.
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 dirigibility is had higher requirement, and remote operating to be implemented to the mechanical arm of complexity, control multiple joints coordinated movement of various economic factors together of the multiple finger of mechanical arm, to realize specific function, this just need use data glove, and the data glove with force feedback function the mechanical arm of robot is implemented to the most efficient apparatus of remote operating, it points the finger tracking staff finger motion of positional information as steering order control mechanical arm of each dactylus by measure operator, and the stressing conditions of each joint of mechanical arm 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 computing machine, the interactive device of mechanical arm, by dactylus pedestal far away, detection of joints driving mechanism and driver part composition, this device is fixed on operator's finger, and dactylus device for force feedback far away 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 coupling in the driver part in joint, when system force feedback signal, drive motor connects driven joint, and joint is applied to the effect of power, when system does not have force feedback signal, drive motor 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 the axonometric drawing of dactylus device for force feedback far away.。
Fig. 2 is the structural representation of dactylus device for force feedback far away.
Fig. 3 is the axonometric drawing of detection of joints driving mechanism 100.
Fig. 4 is the structural representation of detection of joints driving mechanism 100.
Fig. 5 is the structural representation of driver part 111.
Embodiment
Embodiment one: as shown in Figure 5, described dactylus device for force feedback far away comprises driver part 111, described driver part 111 comprises micromachine 40 and clutch coupling, described clutch coupling is by clutch friction plate 41, friction disc slide bar 42, returning pull-spring 43, clutch case 44 forms, friction disc slide bar 42 is affixed with the axle of micromachine 40, two panels clutch friction plate 41 is inserted in friction disc 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, it is sliding contact between the axle of clutch case 44 and micromachine 40, clutch case 44 is provided with transmission 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 disc slide bar 42 and with the contact internal walls of clutch case 44, friction 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.
Embodiment two: as shown in Figure 3 and Figure 4, described detection of joints driving mechanism 100 comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 57 and dactylus pedestal 58.Described dactylus pedestal 58 is provided with the mounting hole R of an a hole seat P and row for screw 24, described angular transducer 18 is fixed in the hole seat P of dactylus pedestal 58 by screw 36, axle and the rocking arm 19 of the angular transducer 18 in described hole seat P 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 58, the affixed bulb 20 of described rocking arm 19 other end.
Embodiment three: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, described dactylus pedestal 15 far away is fixed on staff dactylus position far away, one end of described dactylus pedestal 15 far away is the cylindricality of surrounding dactylus far away, the other end is semisphere, the longitudinal section of whole pedestal is " U " shape, opening towards DIPJ (DIP), the position being positioned at the dactylus back side far away at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The rocking arm 19 of the detection of joints driving mechanism 110 at described middle finger joint position and dactylus pedestal 15 far away link by bulb 20 and bulb the spherical linkage that bar 2l coordinates and are connected.Action implementation process: when the DIPJ (DIP) of operator does flexion and extension, the dactylus pedestal 15 far away depended on dactylus far away is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the detection of joints driving mechanism 110 at middle finger joint position to rotate, the angle that the DIPJ (DIP) making the angular transducer 18 linked with rocking arm 19 can measure operator bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the detection of joints driving mechanism 110 at then middle finger joint position, the dactylus far away of operator can around DIPJ (DIP) rotate interference-free, when control system force feedback signal, driver part 111 on the detection of joints driving mechanism 110 at then middle finger joint position 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, DIPJ (DIP) motion promoted or hinder, 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 dactylus joint motions far away 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 transmission gear can be allowed to replace driver part 111, and Direct driver train of reduction gears 60 or joint, save clutch coupling 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 embodiment 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 (4)
1. a dactylus device for force feedback far away, for computing machine, the interactive device of mechanical arm, by dactylus pedestal (15) far away, detection of joints driving mechanism (110) and driver part (111) composition;
It is characterized in that:
This device is fixed on operator's finger;
Dactylus device for force feedback far away 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. the dactylus device for force feedback far away according to claim l, it is characterized in that: described driver part (111) comprises micromachine (40) and clutch coupling, described clutch coupling is by clutch friction plate (41), friction disc slide bar (42), returning pull-spring (43), clutch case (44) forms, friction disc slide bar (42) is affixed with the axle of micromachine (40), two panels clutch friction plate (41) is inserted in friction disc 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), it is sliding contact between the axle of clutch case (44) and micromachine (40), clutch case (44) is provided with transmission gear.
3. dactylus device for force feedback far away according to claim 1, is characterized in that: described detection of joints driving mechanism (110) comprises driver part (111), train of reduction gears (60), angular transducer (18), rocking arm (19), screw (35,36), gear box cover (57) and dactylus pedestal (58), dactylus pedestal (58) on described detection of joints driving mechanism (110) is provided with a hole seat (P) and and arranges the mounting hole (R) being used for screw (24), the hole seat (P) that angular transducer (18) is fixed on dactylus pedestal (58) by screw (36) is interior and affixed by screw (35) with rocking arm (19), the axle center that rocking arm (19) cogs and the axis coinciding that rocking arm rotates, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), driver part (111) is arranged on dactylus pedestal (58), the affixed bulb of rocking arm (19) other end (20).
4. dactylus device for force feedback far away according to claim 1, it is characterized in that: the dactylus pedestal (58) on detection of joints driving mechanism (110) is the nearly dactylus of semi-surrounding and middle finger joint respectively, its xsect surrounding junction is " C " shape, opening is towards side, palm front, the connecting rod (38) that metacarpophalangeal joints detect driving mechanism (108) is articulated with mounting hole (R) place by screw (24) and the detection of joints driving mechanism (110) at nearly dactylus position, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat (E) of palm pedestal (102), its outer rim gear (59) is by the cooperation of train of reduction gears (60) and the gears meshing being arranged on the driver part (111) on palm pedestal (102), this driving mechanism is fixed by gear box cover (56), the bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (110) at nearly dactylus position is linked on detection of joints driving mechanism (110) mounting hole (R) at bar (21) and middle finger joint position by bulb is hinged, dactylus pedestal (15) far away is fixed on the dactylus position far away of staff, one end of dactylus pedestal (15) far away is the cylindricality of surrounding dactylus far away, the other end is semisphere, the longitudinal section of whole pedestal is " U " shape, opening towards DIPJ DIP, the position that dactylus pedestal (15) far away is positioned at the dactylus back side far away is provided with a rocking arm, rocking arm is perpendicular to the dactylus back side at place, the rocking arm (19) of the detection of joints driving mechanism (110) at middle finger joint position and dactylus pedestal (15) far away link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310549821.6A CN104635915A (en) | 2013-11-08 | 2013-11-08 | Far knuckle force feedback device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310549821.6A CN104635915A (en) | 2013-11-08 | 2013-11-08 | Far knuckle force feedback device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104635915A true CN104635915A (en) | 2015-05-20 |
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ID=53214767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310549821.6A Pending CN104635915A (en) | 2013-11-08 | 2013-11-08 | Far knuckle force feedback device |
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| Country | Link |
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| CN (1) | CN104635915A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142107A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Staff little finger of toe detection of joints drive mechanism |
| CN106142108A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Mechanical hand force-feedback control device |
| CN107756404A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The remote finger joint driver of thumb |
| CN111318011A (en) * | 2020-02-28 | 2020-06-23 | 歌尔科技有限公司 | Game paddle and rocker feedback force device thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202771366U (en) * | 2011-12-19 | 2013-03-06 | 苏茂 | An outside frame-type bidirectional force feedback data glove |
| CN103158162A (en) * | 2011-12-19 | 2013-06-19 | 苏茂 | External-framework type bidirectional force feedback data glove |
-
2013
- 2013-11-08 CN CN201310549821.6A patent/CN104635915A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202771366U (en) * | 2011-12-19 | 2013-03-06 | 苏茂 | An outside frame-type bidirectional force feedback data glove |
| CN103158162A (en) * | 2011-12-19 | 2013-06-19 | 苏茂 | External-framework type bidirectional force feedback data glove |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142107A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Staff little finger of toe detection of joints drive mechanism |
| CN106142108A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Mechanical hand force-feedback control device |
| CN107756404A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The remote finger joint driver of thumb |
| CN111318011A (en) * | 2020-02-28 | 2020-06-23 | 歌尔科技有限公司 | Game paddle and rocker feedback force device thereof |
| CN111318011B (en) * | 2020-02-28 | 2023-03-21 | 歌尔科技有限公司 | Game paddle and rocker feedback force device thereof |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
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Application publication date: 20150520 |