CN106142108A - Mechanical hand force-feedback control device - Google Patents

Abstract

Mechanical hand force-feedback control device, it relate to a kind of micro device with double-direction twist moment feedback.The present invention is to separate with force feedback mechanism to solve existing device for force feedback joint measurment mechanism, system complex structure is too fat to move, difficult in maintenance, and two-way active drive and the shortcoming such as expensive can not be realized, detection of joints mechanism and force feedback mechanism are integrated in one, and use connected mode and the joint measurment point layout cleverly of uniqueness, make operator when using this equipment, detected finger can keep the most flexibly, and kinestate can be accurately detected, make the controlled harmonious action of finger-joint that can be corresponding with operator from the corresponding finger-joint of hands, and can will feed back to operator from hands stressing conditions in concrete working environment, to strengthen virtual reality or the telepresenc of remote operating.

Description

Mechanical hand force-feedback control device

Technical field

The present invention relates to a kind of micro device with double-direction twist moment feedback, be mainly used in the control of apery hands mechanical hand.

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 potentiometer and joint active driving device, in detection staff joint motions information While also the power visual information fed back is changed into power or method that moment directly acts on staff, greatly simplify complexity 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 device is in inspection As required its effect applying power can be realized force-feedback control while the angle of survey movement of finger joint and state.This Bright in the driver part in joint, add arrangement of clutch, when system force feedback signal, drive 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 diarthrodial company Connecing, reduce and reduce the resistance of joint motions, the motion making joint is more smooth and easy.The present invention detects the angle of joint motions Being measured by corresponding mathematical algorithm by being arranged on device corresponding potentiometer, detected joint is in its direction of motion or multiple Decomposing of miscellaneous motion is both provided with independent driver part on direction, and each driver part is corresponding on detected joint again Potentiometer cooperating formed closed loop control, to realize force-feedback control and to improve its accuracy.The present invention can accurately, Detect angle and the state of corresponding movement of finger joint delicately, and detected joint had bidirectional force feedback function, Using simple, it is convenient to dress, and easily safeguards, and can greatly reduce the cost of force feedback data gloves.

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, Potentiometer 18, rocking arm 19, gear box cover 57 and refer to save pedestal 58.Described finger joint pedestal 58 is provided with a hole seat P and a row For the installing hole R of screw 24, described potentiometer 18 is fixed on by screw 36 in the hole seat P referring to joint pedestal 58, described The axle of the potentiometer 18 in the seat P of hole and rocking arm 19 are affixed by screw 35, and the gear axis on described rocking arm 19 turns with rocking arm Dynamic axis coinciding, the gear of described rocking arm 19 is engaged with the gear of driver part 111 by the cooperation of train of reduction gears 60, Described driver part 111 is arranged on finger joint pedestal 58, 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 current potential of rocking arm 19 linkage Device 18 can measure angle and the state that the DIPJ (DIP) of operator bends and stretches, when control system is without force feedback signal Time, then driver part 111 attonity in the detection of joints drive mechanism 110 at middle finger joint position, operator far refers to that joint can be around DIPJ (DIP) rotate interference-free, when control system force feedback signal, then the joint inspection at middle finger joint position The driver part 111 surveyed in drive mechanism 110 starts, by the cooperation of train of reduction gears 60 to rocking arm 19 in its direction of motion Upper applying one in the same direction or reverse power, the joint that control system detects further according to the potentiometer 18 linked with rocking arm 19 simultaneously The change of angle, uses corresponding mathematical algorithm to export constantly and revises the size of driving force, promotes or between the far-end that hinders refers to Move in joint (DIP), 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 mechanical hand force-feedback control device, is used for and computer, the interactive device of mechanical hand, by far referring to joint base Seat (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；

It can be applied while the angle and state of detection movement of finger joint by mechanical hand force-feedback control device as required The effect of power realizes force-feedback control.

Mechanical hand force-feedback control device the most according to claim 1, it is characterised in that: described driver part (111) Including motor (40) and arrangement of clutch, described arrangement of clutch by arrangement of clutch friction plate (41), friction plate slide bar (42), return Position extension spring (43), arrangement of clutch lid (44) composition, friction plate slide bar (42) is affixed with the axle of motor (40), two panels clutch Device 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 Returning pull-spring (43), arrangement of clutch lid (44) is inserted in the axle of motor (40), arrangement of clutch lid (44) and motor (40) For sliding contact between axle, arrangement of clutch lid (44) is provided with travelling gear.

Mechanical hand force-feedback control device the most according to claim 1, it is characterised in that: described detection of joints drives machine Structure (110) include driver part (111), train of reduction gears (60), potentiometer (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) Being provided with a hole seat (P) and the row installing hole (R) for screw (24), potentiometer (18) is fixed by screw (36) Refer to joint pedestal (58) hole seat (P) in and with rocking arm (19) pass through screw (35) affixed, rocking arm (19) gear The axis coinciding that rotates of axle center and rocking arm, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and drive division The gear engagement of part (111), driver part (111) is arranged on finger joint pedestal (58), and rocking arm (19) other end is solid Receive head (20).

Mechanical hand force-feedback control 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 potentiometer (18) in portion is fixed in the hole seat (E) of palm pedestal (102), and its outer rim gear (59) passes through reducing gear The cooperation of wheels (60) is engaged with the gear of the driver part (111) being arranged on palm pedestal (102), this driving machine 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 passes through ball Head button connecting rod (21) and bulb (20) hinge on detection of joints drive mechanism (110) installing hole (R) at middle finger joint position Connect；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 joint for encirclement 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.