CN105881541A - Micro torque feedback device - Google Patents
Micro torque feedback device Download PDFInfo
- Publication number
- CN105881541A CN105881541A CN201410687856.0A CN201410687856A CN105881541A CN 105881541 A CN105881541 A CN 105881541A CN 201410687856 A CN201410687856 A CN 201410687856A CN 105881541 A CN105881541 A CN 105881541A
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- China
- Prior art keywords
- joint
- pedestal
- rocking arm
- detection
- drive mechanism
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Abstract
The invention discloses a micro torque feedback device, and relates to a micro device with a function of bidirectional torque feedback. The invention aims at overcoming the defects of separation between a joint measurement mechanism and a force feedback mechanism, a complex system, a clunky structure, difficult maintenance, incapacity of realizing bidirectional active drive, high price and the like, of an existing force feedback device. According to the micro torque feedback device, the joint detection mechanism and the force feedback mechanism are integrated, and a unique connection manner and ingenious joint measurement point distribution are adopted, thus when an operator uses the equipment, detected fingers can keep the maximum flexibility, movement states can be accurately detected, the controlled corresponding finger joints of a slave hand can act with the corresponding finger joints of the operator in a coordination manner, and a stress condition of the slave hand in a specific working environment can be fed back to the operator so as to enhance the presence of virtual reality or teleoperation.
Description
Technical field
The present invention relates to a kind of micro device with double-direction twist moment feedback.
Background technology
Due to the development of science and technology, robot is gradually used in increasing scope, and teleoperation robot is as one
Dependable performance, the robot of technology maturation be widely used in various danger, situation is complicated, in environment that the mankind cannot arrive
Work, it uses control mode very reliably, directly is issued an instruction to control by operator.Along with teleoperation robot
Performing of task becomes increasingly complex so that its motility, while pursuing reliability, is also had higher requirement by people,
And complicated mechanical hand is implemented remote operating, control multiple joints coordination exercise together of the multiple finger of mechanical hand, to realize spy
Determining function, this just need to use data glove, and the data glove with force feedback function is the distant behaviour of enforcement of the mechanical hand to robot
The most effective device made, by measuring operator's finger, each refers to that the positional information of joint controls the hands of mechanical hand as control instruction for it
Refer to follow the tracks of staff finger motion, and each joint of mechanical hand stressing conditions in motor process can be simulated in data glove
Come, act on operator on hand, make operator produce the strongest telepresenc.Additionally, Virtual Simulation is constantly sent out in recent years
Exhibition, its main interactive device is exactly force feedback data gloves, such as, at one by the scene of computer virtual, control a pair of
Virtual staff dismounting or put together machines, also has game, 3D cartoon making etc. to be required for using force feedback data gloves, but mesh
Force feedback data gloves system complex on front market, price is prohibitively expensive so that it is cannot popularize in a large number, promote and use.
Summary of the invention
It is an object of the invention to, system complex expensive for existing force feedback data gloves, the shortcoming such as difficult in maintenance,
Propose a kind of being combined as a whole by two-way to external angular transducer and joint active driving device, in detection staff joint motions
Also the power visual information fed back is changed into power or method that moment directly acts on staff while information, greatly simplify
Complicated force feedback data gloves system.The present invention be for computer, the interactive device of mechanical hand, by far refer to joint
Pedestal, detection of joints drive mechanism and driver part composition, this device is fixed on operator's finger, and miniature torque feedback fills
Put and as required its effect applying power can be realized force feedback control while the angle and state of detection movement of finger joint
System.The present invention adds arrangement of clutch in the driver part in joint, when system force feedback signal, drives motor to connect
Powered joint, and joint is applied the effect of power, when system does not has force feedback signal, drive motor to disconnect and driven
The connection in joint, reduces and reduces the resistance of joint motions, and the motion making joint is more smooth and easy.The present invention detects joint fortune
Dynamic angle is measured by corresponding mathematical algorithm by being arranged on device corresponding angular transducer, and detected joint is at it
The direction of motion or decomposing of compound movement are both provided with independent driver part on direction, and each driver part is again with detected
Joint on corresponding angular transducer cooperating form closed loop control, to realize force-feedback control and to improve its accuracy.
The present invention can detect angle and the state of corresponding movement of finger joint accurately, delicately, and to detected joint tool
Having bidirectional force feedback function, use simple, it is convenient to dress, and easily safeguards, and can greatly reduce the one-tenth of force feedback data gloves
This.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of miniature torque feedback device..
Fig. 2 is the structural representation of detection of joints drive mechanism 100.
Fig. 3 is the structural representation of driver part 111.
Detailed description of the invention
Detailed description of the invention one: as it is shown on figure 3, described miniature torque feedback device includes driver part 111, described drive division
Part 111 includes motor 40 and arrangement of clutch, and described arrangement of clutch is by arrangement of clutch friction plate 41, friction plate slide bar 42, return
Extension spring 43, arrangement of clutch lid 44 form, and friction plate slide bar 42 is affixed with the axle of motor 40, two panels arrangement of clutch friction plate 41
Being inserted in friction plate slide bar 42 two ends respectively, connecting between two panels arrangement of clutch friction plate 41 has returning pull-spring 43, arrangement of clutch lid
44 axles being inserted in motor 40, for sliding contact between the axle of arrangement of clutch lid 44 and motor 40, arrangement of clutch lid 44 is provided with
Travelling gear.Action implementation process: when motor 40 rotating speed is higher than certain value, two panels arrangement of clutch friction plate 41 overcomes return
Clutch to two ends slip the contact internal walls with arrangement of clutch lid 44 of friction plate slide bar 42, is filled by the pulling force of extension spring 43 respectively
Put lid 44 generation frictional force, drive arrangement of clutch lid 44 to rotate；When motor 40 rotating speed is less than certain value, two panels arrangement of clutch
Friction plate 41 slides to axis direction under the effect of returning pull-spring 43, separates with the inwall of arrangement of clutch lid 44, cuts off clutch
Appliance cover 44 and the connection of motor 40.
Detailed description of the invention two: as shown in Figures 2 and 3, described detection of joints drive mechanism 100 include driver part 111,
Angular transducer 18, rocking arm 19, gear box cover 57 and refer to save pedestal 58.Described refer to joint pedestal 58 be provided with a hole seat P and
One row is fixed on, for the installing hole R of screw 24, described angular transducer 18, the hole seat P referring to joint pedestal 58 by screw 36
In, the axle of the angular transducer 18 in described hole seat P and rocking arm 19 are affixed by screw 35, the gear on described rocking arm 19
The axis coinciding that axle center rotates with rocking arm, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and driver part 111
Gear engagement, described driver part 111 be arranged on finger joint pedestal 58 on, the described rocking arm 19 affixed bulb of the other end 20.
Detailed description of the invention three: as shown in Figure 1, Figure 2 and Figure 3, described remote finger joint pedestal 15 is fixed on staff and far refers to save position,
Described remote one end referring to joint pedestal 15 is the cylindricality surrounded and far refer to joint, and the other end is hemispherical, and the longitudinal section of whole pedestal is " U "
Shape, opening towards DIPJ (DIP), this pedestal be positioned at far refer to joint the back side position be provided with a rocking arm, rocking arm hang down
The straight finger joint back side in place.The rocking arm 19 of the detection of joints drive mechanism 110 at described middle finger joint position and far finger joint pedestal 15
The spherical linkage coordinated by bulb 20 and bulb button connecting rod 21 is connected.Action implementation process: close between the far-end of operator refers to
Joint (DIP) is when doing flexion and extension, depends on and far refers to far referring to that joint pedestal 15 is followed and move together on joint, and passes through bulb button and connect
Bar 21 drives the rocking arm 19 in the detection of joints drive mechanism 110 at middle finger joint position to rotate so that with the angle of rocking arm 19 linkage
Sensor 18 can measure angle and the state that the DIPJ (DIP) of operator bends and stretches, when control system is without force feedback
During signal, then driver part 111 attonity in the detection of joints drive mechanism 110 at middle finger joint position, operator far refers to joint
Can around DIPJ (DIP) rotate interference-free, when control system force feedback signal, then the pass at middle finger joint position
Driver part 111 in joint detection drive mechanism 110 starts, and is moved rocking arm 19 at it by the cooperation of train of reduction gears 60
Apply on direction one in the same direction or reverse power, control system detects further according to the angular transducer 18 linked with rocking arm 19 simultaneously
The change of the joint angles arrived, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promotes or hinders
DIPJ (DIP) moves, it is achieved the force feedback function in this joint.
In the case of the principle not making the present invention suffers damage, the details of above-mentioned composition and detailed description of the invention are only as example
Son and the thing of diagram, it extensively can change without departing from the scope of the present invention, within these belong to the protection of the present invention.
Claims (4)
1. a miniature torque feedback device, is used for and computer, the interactive device of mechanical hand, by far referring to joint pedestal (15),
Detection of joints drive mechanism (110) and driver part (111) composition；
It is characterized in that:
This device is fixed on operator's finger；
Miniature torque feedback device can apply power to it while the angle and state of detection movement of finger joint as required
Effect realizes force-feedback control.
Miniature torque feedback device the most according to claim 1, it is characterised in that: described driver part (111) includes
Motor (40) and arrangement of clutch, described arrangement of clutch is drawn by arrangement of clutch friction plate (41), friction plate slide bar (42), return
Spring (43), arrangement of clutch lid (44) form, and friction plate slide bar (42) is affixed with the axle of motor (40), two panels arrangement of clutch
Friction plate (41) is inserted in friction plate slide bar (42) two ends respectively, and connecting between two panels arrangement of clutch friction plate (41) has return
Extension spring (43), arrangement of clutch lid (44) is inserted in the axle of motor (40), the axle of arrangement of clutch lid (44) and motor (40) it
Between for sliding contact, arrangement of clutch lid (44) is provided with travelling gear.
Miniature torque feedback device the most according to claim 1, it is characterised in that: described detection of joints drive mechanism (110)
Including driver part (111), train of reduction gears (60), angular transducer (18), rocking arm (19), screw (35,36),
Gear box cover (57) and finger joint pedestal (58)；Finger joint pedestal (58) on described detection of joints drive mechanism (110) is provided with one
Individual hole seat (P) and a row are used for the installing hole (R) of screw (24), and angular transducer (18) is fixed on by screw (36)
Refer to that the hole seat (P) of joint pedestal (58) is interior and affixed by screw (35) with rocking arm (19), rocking arm (19) gear
The axis coinciding that axle center rotates with rocking arm, the gear of rocking arm (19) passes through cooperation and the driver part of train of reduction gears (60)
(111) gear engagement, driver part (111) is arranged on finger joint pedestal (58), and rocking arm (19) other end is affixed
Bulb (20).
Miniature torque feedback device the most according to claim 1, it is characterised in that: detection of joints drive mechanism (110)
On finger joint pedestal (58) semi-surrounding respectively closely refer to joint and middle finger joint, its surround junction cross section be " C " shape, opening
Towards side, palm front, the connecting rod (38) of metacarpophalangeal joints detection drive mechanism (108) is by screw (24) and closely refers to joint
The detection of joints drive mechanism (110) at position is articulated with installing hole (R) place, metacarpophalangeal joints detection drive mechanism (108) end
The angular transducer (18) in portion is fixed in the hole seat (E) of palm pedestal (102), and its outer rim gear (59) is by subtracting
The cooperation of speed gear train (60) is engaged with the gear of the driver part (111) being arranged on palm pedestal (102), and this drives
Motivation structure is fixed by gear box cover (56)；Closely refer to that the rocking arm (19) of the detection of joints drive mechanism (110) at joint position leads to
Cross bulb button connecting rod (21) and the bulb (20) on detection of joints drive mechanism (110) installing hole (R) at middle finger joint position
Hinged；Far refer to that joint pedestal (15) is fixed on the far finger joint position of staff, far refer to that one end of joint pedestal (15) far refers to for encirclement
Joint cylindricality, the other end is hemispherical, and the longitudinal section of whole pedestal is " u "-shaped, opening towards DIPJ DIP,
Far referring to that the position at the joint back side is provided with a rocking arm far referring to be positioned on joint pedestal (15), rocking arm is perpendicular to the finger joint back side at place,
The rocking arm (19) of the detection of joints drive mechanism (110) at middle finger joint position and far finger joint pedestal (15) are by bulb (20) and bulb
The spherical linkage that button connecting rod (21) coordinates connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410687856.0A CN105881541A (en) | 2014-11-26 | 2014-11-26 | Micro torque feedback device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410687856.0A CN105881541A (en) | 2014-11-26 | 2014-11-26 | Micro torque feedback device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105881541A true CN105881541A (en) | 2016-08-24 |
Family
ID=56698896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410687856.0A Pending CN105881541A (en) | 2014-11-26 | 2014-11-26 | Micro torque feedback device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881541A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
-
2014
- 2014-11-26 CN CN201410687856.0A patent/CN105881541A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160824 |