CN105881560A - Rod type joint detecting device - Google Patents

Abstract

The invention discloses a rod type joint detecting device and relates to a data glove for detecting human hand finger movement states. The device attached to the exterior of a human hand to detect joint movement is designed in order to overcome the defects that an existing data glove sensor is high in price, complex in system, difficult to maintain and the like. A unique connection way and an ingenuous joint measurement point layout are adopted, and obstructions and influences of a detecting mechanism on finger movement of an operator are reduced or eliminated, so that when the operator uses the device, finger movement can keep flexible and dexterous to the greatest degree, all joint movement states can be precisely detected, finger joints of a controlled slave hand and corresponding finger joints of the operator act synergistically and consistently, and multi-degree-of-freedom complex control over the slave hand becomes visual, simple and convenient.

Description

Rod-type detection of joints device

Technical field

The present invention relates to a kind of detect staff movement of finger joint angle and the data glove of state.

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 data glove is the most effective device that remote operating implemented by the mechanical hand to robot, it By measuring operator's finger, each refers to that finger tracking people's hand finger that the positional information of joint controls mechanical hand as control instruction is transported Dynamic.Additionally, Virtual Simulation development in recent years, its main interactive device is exactly data glove, such as one by In the scene of computer virtual, control the virtual staff dismounting of a pair of or put together machines, also having game, 3D cartoon making all to need Data glove to be used.The bend sensor of data glove is the core component of data glove, the most only a few countries Can develop, so the price of data glove is prohibitively expensive, single glove price is up to six or seven ten thousand yuans, and existing number Short according to glove sensor life-time, it is difficult to change, has had a strong impact on the popularizing of data glove, promoted the use of.

Summary of the invention

It is an object of the invention to, system complex expensive for existing data glove, the shortcoming such as difficult in maintenance, it is proposed that The method of a kind of outer sensor detection joint motions, greatly reduces the cost of data glove.The difficult point of the present invention is to depend on In the design of the outside framework of staff, because the volume of outer sensor is relatively big, add the link gear such as rocking arm, connecting rod, meeting The motion of interference finger, but the present invention is by designing the optimization of outside framework, uses the connection of uniqueness between the pedestal of joint Mode, and to the joint measurment ingenious layout of point, reduces or eliminates testing agency to the obstruction of operator's finger motion and impact, Making operator when using this device, the motion of finger-joint can also keep the most flexibly and light and handy.The present invention is to use In with computer, the interactive device of mechanical hand, by angular transducer pedestal, left cap, right cap, linear bearing, Major axis, angular transducer and bulb button composition, this device is arranged on above the staff metacarpophalangeal joints of correspondence；Rod-type detection of joints The hinged place of device is provided with the angular transducer measuring joint action, for detecting angle and the state of metacarpophalangeal joints motion. The present invention uses simply, and it is convenient to dress, and easily safeguards, and can greatly reduce the cost of data glove.

Accompanying drawing explanation

Fig. 1 is three-view diagram and the axonometric drawing of the present invention.

Fig. 2 is the structural representation of the present invention.

Detailed description of the invention

As depicted in figs. 1 and 2, described rod-type detection of joints device includes angular transducer pedestal 1, left cap 2, right cap 3, Linear bearing 4, major axis 5, angular transducer 6, bulb button 7.The axle of described first angular transducer 6 and angular transducer base Passing through screw bottom seat 1 affixed, hole seat and the second angular transducer 6 on described angular transducer pedestal 1 vertical plane pass through spiral shell Following closely affixed, the axle of described second angular transducer 6 and left cap 2 are affixed by screw, and described linear bearing 4 is by left cap 2 Being fixed by screw with right cap 3, described major axis 5 inserts in linear bearing 4, between described major axis 5 and linear bearing 4 is Being slidably connected, described major axis 5 one end is affixed with bulb button 7.Action implementation process: rod-type detection of joints device is installed on staff Above corresponding metacarpophalangeal joints, the first angular transducer 6 is fixed on above metacarpophalangeal joints, and bulb button 7 closely refers to corresponding finger Joint connects, and the motion of staff metacarpophalangeal joints (MP) can be analyzed to the componental movement in both direction, and one is bending on vertical direction Stretch motion, another abduction being horizontally oriented and the motion of interior receipts, when the metacarpophalangeal joints (MP) of operator does flexion and extension, The most closely refer to that joint drives the motion of major axis 5 in the vertical direction, thus drive the axle of second angular transducer 6 affixed with left cap 2 Rotate, make the second angular transducer 6 in the seat of hole can measure angle and the state that operator's metacarpophalangeal joints (MP) bends and stretches；When When operator's metacarpophalangeal joints (MP) does abduction and the motion of interior receipts, the most closely refer to that joint drives major axis 5 to move in the horizontal direction, at this In direction of action, major axis 5 is rigidly connected with angular transducer pedestal 1, so closely referring to that joint directly drives the first angle sensor The axle of device 6 rotates so that the first angular transducer 6 can measure operator's metacarpophalangeal joints (MP) abduction and interior receipts angle and State.

Claims (2)

1. a rod-type detection of joints device, is used for and computer, the interactive device of mechanical hand, by angular transducer pedestal (1), left cap (2), right cap (3), linear bearing (4), major axis (5), angular transducer (6), bulb button (7) Composition；

It is characterized in that:

This device is arranged on above the staff metacarpophalangeal joints of correspondence；

The hinged place of rod-type detection of joints device is provided with the angular transducer (6) measuring joint action, is used for detecting metacarpophalangeal joints The angle of motion and state.

Rod-type detection of joints device the most according to claim 1, it is characterised in that: described first angular transducer (6) Axle and angular transducer pedestal (1) bottom affixed by screw, hole seat on described angular transducer pedestal (1) vertical plane Affixed by screw with the second angular transducer (6), the axle of described second angular transducer (6) and left cap (2) pass through spiral shell Following closely affixed, described linear bearing (4) is fixed by screw by left cap (2) and right cap (3), and described major axis (5) is inserted Enter in linear bearing (4), for being slidably connected between described major axis (5) and linear bearing (4), described major axis (5) one end Affixed with bulb button (7).