CN106914908A - Staff thumb device for force feedback - Google Patents
Staff thumb device for force feedback Download PDFInfo
- Publication number
- CN106914908A CN106914908A CN201510980167.3A CN201510980167A CN106914908A CN 106914908 A CN106914908 A CN 106914908A CN 201510980167 A CN201510980167 A CN 201510980167A CN 106914908 A CN106914908 A CN 106914908A
- Authority
- CN
- China
- Prior art keywords
- thumb
- finger joint
- pedestal
- staff
- force feedback
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
Abstract
Staff thumb device for force feedback, it relate to a kind of device for detecting the nearly finger joint motion state of staff thumb and having power of the feedback suffered by the hand nearly finger joint of corresponding thumb.The present invention is separated with force feedback mechanism to solve existing device for force feedback joint measurment mechanism, system complex structure is too fat to move, it is difficult in maintenance, and can not realize two-way active drive and it is expensive the shortcomings of, detection of joints mechanism and force feedback mechanism are integrated in one, and using unique connected mode and cleverly joint measurment point is laid out, make operator using the equipment when, detected finger can keep farthest flexibly, and motion state can be accurately detected, enable controlled harmoniously to be acted from the corresponding finger-joint of hand finger-joint corresponding with operator, and the stressing conditions from hand in specific working environment can be fed back to operator, to strengthen the telepresenc of virtual reality or remote operating.
Description
Technical field
The present invention relates to one kind detection staff thumb movement state, and with Two-way Feedback power effect data glove part.
Background technology
Because the development of science and technology, robot are gradually used in increasing scope, teleoperation robot is used as one kind
Dependable performance, the robot of technology maturation be widely used in various danger, situation is complicated, in the environment that the mankind cannot reach
Work, it uses very reliable control mode, directly issues an instruction to control by operator.With teleoperation robot
The task of execution becomes increasingly complex so that people also propose requirement higher while reliability is pursued to its flexibility,
And to implement remote operating to complicated manipulator, multiple joints coordinated movement of various economic factors together of control machinery hand multiple finger, to realize spy
Determine function, this just needs to use data glove, and it is to implement distant behaviour to the manipulator of robot to have the data glove of force feedback function
The most effective device made, it is by measuring the positional information of operator's finger each finger joint as the hand of control instruction control machinery hand
Refer to tracking staff finger motion, and stressing conditions that can be by each joint of manipulator in motion process are simulated in data glove
Come, act on operator on hand, operator is produced very strong telepresenc.Additionally, Virtual Simulation is constantly sent out in recent years
Exhibition, its main interactive device is exactly force feedback data gloves, such as in a scene by computer virtual, control a pair of
Virtual staff is dismantled or put together machines, and also game, 3D cartoon making etc. is required for using force feedback data gloves, but mesh
The force feedback data gloves system complex of preceding in the market, price is prohibitively expensive, it largely popularized, promote and is used.
The content of the invention
The purpose of the present invention be directed to expensive existing force feedback data gloves, system complex, it is difficult in maintenance the shortcomings of,
Propose one kind the two-way active driving device of external potentiometer and joint is combined as a whole, in detection staff joint motions information
While the power that will also feed back feel that information changes into the method that power or torque directly act on staff, greatly simplify complexity
Force feedback data gloves system.The present invention be for computer, the interactive device of manipulator, by thumb metacarpophalangeal section
The nearly finger joint pedestal of pedestal, thumb and driver part are constituted；The device is fixed on operator on hand by way of wearing；Thumb
Metacarpophalangeal section pedestal is fixed on the thumb metacarpophalangeal section position of staff, the nearly finger joint position of thumb that the nearly finger joint pedestal of thumb is fixed on staff,
, by rod hinge connection, hinged place is provided with driver part for thumb metacarpophalangeal section pedestal and the nearly finger joint pedestal of thumb；Staff thumb power
Feedback device detect movement of finger joint angle and state while can be as needed to its applying power effect realize that power is anti-
Feedback control.The present invention adds arrangement of clutch in the driver part in joint, when system force feedback signal, motor
Powered joint is connected, and to the effect of joint applying power, when system does not have force feedback signal, motor disconnects quilt
Diarthrodial connection is driven, the resistance of joint motions is reduced and reduce, makes the motion in joint more smooth.Present invention detection is closed
The angle for saving motion is measured by being arranged on device corresponding potentiometer by corresponding mathematical algorithm, and detected joint is at it
Be both provided with independent driver part on the decomposition direction of the direction of motion or compound movement, each driver part again be detected
Joint on corresponding potentiometer cooperating form closed-loop control, to realize force-feedback control and improve its accuracy.This hair
The bright angle and state that can accurately, delicately detect corresponding movement of finger joint, and have to detected joint double
It is easy to wear using simple to force feedback function, easily safeguard, and can greatly reduce the cost of force feedback data gloves.
Brief description of the drawings
Fig. 1 is the shaft side figure of staff thumb device for force feedback.
Fig. 2 is the structural representation of staff thumb device for force feedback.
Fig. 3 is the axonometric drawing and structural representation of driver part 111.
Specific embodiment
Specific embodiment one：Shown in Fig. 3, the staff thumb device for force feedback, including driver part 111, the drive
Dynamic component 111 include motor 40 and arrangement of clutch, the arrangement of clutch by arrangement of clutch friction plate 41, friction plate slide bar 42,
Returning pull-spring 43, arrangement of clutch lid 44 are constituted, and friction plate slide bar 42 is affixed with the axle of motor 40, the friction of two panels arrangement of clutch
Piece 41 is inserted in the two ends of friction plate slide bar 42 respectively, and returning pull-spring 43, clutch are connected between two panels arrangement of clutch friction plate 41
Appliance cover 44 is inserted in the axle of motor 40, is sliding contact, arrangement of clutch lid 44 between arrangement of clutch lid 44 and the axle of motor 40
It is provided with travelling gear.Action implementation process：When the rotating speed of motor 40 is higher than certain value, 41 grams of two panels arrangement of clutch friction plate
The pulling force for taking returning pull-spring 43 is slided to two ends of friction plate slide bar 42 and contacted with the inwall of arrangement of clutch lid 44 respectively, right
Arrangement of clutch lid 44 produces frictional force, drives arrangement of clutch lid 44 to rotate；When the rotating speed of motor 40 be less than certain value when, two panels from
Attach together and put friction plate 41 in the presence of returning pull-spring 43 to axis direction slip, the inwall with arrangement of clutch lid 44 is separated, cut
The connection of disconnected arrangement of clutch lid 44 and motor 40.
Specific embodiment two：As shown in Figure 1, Figure 2 and Figure 3, the nearly finger joint pedestal 4 of the thumb is fixed on the thumb of staff
Nearly finger joint position, the nearly nearly finger joint of semi-surrounding thumb of finger joint pedestal 4 of thumb, the cross section that it surrounds junction is " C " shape, opening
Towards palm front side, the position for being located at the nearly finger joint lateral surface of thumb in the pedestal is provided with two hole seat H and K, two hole seats
Position correspond respectively to the metacarpophalangeal joints (MP) and interphalangeal joint (DIP) of thumb.The nearly finger joint pedestal 4 of thumb and thumb metacarpophalangeal
Section pedestal 5 is hinged by rocking arm 28, connecting rod 26, rocking arm 27, the bottom of the rocking arm 28 (embedded bearing 23) and potentiometer
18 axle is affixed by screw 36, and the potentiometer 18 is fixed on the nearly finger joint pedestal of thumb by gear-box base 22 and screw 35
In 4 hole H, the axis coinciding that the gear axis on the rocking arm 28 are rotated with rocking arm, the gear of the rocking arm 28 passes through
The cooperation of train of reduction gears 60 is engaged with the gear of driver part 111, and the driver part 111 is arranged on the nearly finger joint pedestal of thumb
On 4, the drive mechanism is fixed by gear box cover 47 and gear box cover 48.The rocking arm 28 passes through spiral shell with the one end of connecting rod 26
Nail 24 is hinged, and the other end of the connecting rod 26 is hinged with rocking arm 27 by screw 24, the rocking arm 27 (embedding bearing 23) and
The axle of potentiometer 18 is affixed by screw 36, and the potentiometer 18 is fixed on the hole of thumb metacarpophalangeal section pedestal 5 by screw 35
In seat G, the axis coinciding that the gear axis on the rocking arm 27 are rotated with rocking arm, the gear of the rocking arm 27 passes through reducing gear
The cooperation of wheel group 60 is engaged with the gear of driver part 111, and the driver part 111 is arranged on thumb metacarpophalangeal section pedestal 5,
The drive mechanism is fixed by gear box cover 46.Action implementation process：The nearly finger joint of staff thumb can turn around metacarpophalangeal joints (MP)
It is dynamic, can be broken down into the componental movement in both direction, a flexion and extension for being parallel to the nearly finger joint side of thumb, another
Abduction or interior the receipts motion at the nearly finger joint back side of thumb are parallel to, when the metacarpophalangeal joints (MP) of operator's thumb do flexion and extension,
Depend on the nearly finger joint pedestal 4 of the thumb in the nearly finger joint of thumb and follow and move together, and by rocking arm 28 and connecting rod 26 with motion rocker arm
27 are rotated so that the metacarpophalangeal joints (MP) that the hole interior potentiometers 18 with the linkage of rocking arm 27 of seat G can measure operator's thumb are bent
The angle and state stretched, when control system is without force feedback signal, then the driver part 111 on thumb metacarpophalangeal section pedestal 5 is without dynamic
Make, rocking arm 27 is acted without interruption, when control system force feedback signal, then the driver part on thumb metacarpophalangeal section pedestal 5
111 start, and a power in the same direction or reverse is applied in its direction of motion to rocking arm 27 by the cooperation of train of reduction gears 60,
The change of the joint angles that control system is detected further according to the potentiometer 18 in the G of hole, holds with corresponding mathematical algorithm simultaneously
The size of driving force is exported and corrected continuously, metacarpophalangeal joints (MP) flexion and extension of thumb is promoted or hinder, and realizes the joint
Force feedback function；When the metacarpophalangeal joints (MP) of operator's thumb do abduction or interior receipts are moved, in the direction of action, thumb
Metacarpophalangeal section pedestal 5 is rigidly connected with rocking arm 27, connecting rod 26, rocking arm 28, so depending on the thumb in the nearly finger joint of thumb
Nearly finger joint pedestal 4 directly drives the potentiometer 18 in the H of hole to rotate so that the potentiometer 18 in the H of hole can measure operation
Metacarpophalangeal joints (MP) abduction or the angle and state of interior receipts of person's thumb, when control system is without force feedback signal, then thumb is near
The attonity of driver part 111 on finger joint pedestal 4, rocking arm 28 is acted without interruption, when control system force feedback signal,
Then the driver part 111 on the nearly finger joint pedestal 4 of thumb starts, and rocking arm 28 is moved at it by the cooperation of train of reduction gears 60
Apply a power in the same direction or reverse on direction, while the joint angle that control system is detected further according to the potentiometer 18 in the H of hole
The change of degree, constantly exports and corrects the size of driving force with corresponding mathematical algorithm, promotes or hinder the metacarpophalangeal of thumb to close
Section (MP) abduction or the motion of interior receipts, realize the force feedback function in the joint.
In the case where not making principle of the invention suffer damage, the details and specific embodiment of above-mentioned composition are only as example
The thing of son and diagram, it can not depart from the scope of the present invention and change extensively, and these are belonged within protection of the invention.
Claims (3)
1. a kind of staff thumb device for force feedback, for computer, the interactive device of apery hand manipulator, by thumb
The nearly finger joint pedestal (4) of metacarpophalangeal section pedestal (5), thumb and driver part (111) are constituted；
It is characterized in that：
The device is fixed on operator on hand by way of wearing；
Thumb metacarpophalangeal section pedestal (5) is fixed on the thumb metacarpophalangeal section position of staff, and the nearly finger joint pedestal (4) of thumb is fixed on staff
The nearly finger joint position of thumb, thumb metacarpophalangeal section pedestal (5) and the nearly finger joint pedestal (4) of thumb are by rod hinge connection, hinged place peace
Equipped with driver part (111)；
Staff thumb device for force feedback can as needed to its applying power while the angle and state of movement of finger joint is detected
Effect realize force-feedback control.
2. staff thumb device for force feedback according to claim 1, it is characterised in that：The driver part (111)
Including motor (40) and arrangement of clutch, the 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) are 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, is connected between two panels arrangement of clutch friction plate (41)
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)
It is sliding contact between axle, arrangement of clutch lid (44) is provided with travelling gear.
3. staff thumb device for force feedback according to claim 1, it is characterised in that：The nearly finger joint pedestal of thumb
(4) the nearly finger joint position of thumb of staff, and the nearly finger joint of semi-surrounding thumb are fixed on, the cross section that it surrounds junction is " C "
Shape, towards palm front side, the position for being located at the nearly finger joint lateral surface of thumb in the pedestal is provided with two holes seat (H, K) for opening,
The position of two hole seats corresponds respectively to the metacarpophalangeal joints MP and interphalangeal joint DIP of thumb, and potentiometer (18) is by gear-box base
(22) and screw (35) is fixed in the hole of thumb nearly finger joint pedestal (4) seat (H), the axle of the potentiometer (18) leads to
Rocking arm (28) bottom that screw (36) is fixed in embedded bearing (23) is crossed, the gear on rocking arm (28) passes through train of reduction gears (60)
Cooperation engage with the gear of the driver part (111) on the nearly finger joint pedestal (4) of thumb, the drive mechanism is by tooth
Wheel case lid (47,48) is fixed, and the rocking arm (28) is hinged with connecting rod (26) one end by screw (24), and connecting rod (26) is another
One end is connect with rocking arm (27) by screw (24) dumpling, and the embedded bearing (23) of rocking arm (27) simultaneously passes through with the axle of potentiometer (18)
Screw (36) is affixed, and the potentiometer (18) is fixed in the hole of thumb metacarpophalangeal section pedestal (5) seat (G), the rocking arm
(27) cooperation of Rui's wheel by train of reduction gears (60) on and the driver part (111) on thumb metacarpophalangeal section pedestal (5)
Gear engagement, the drive mechanism by gear box cover (46) fixation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980167.3A CN106914908A (en) | 2015-12-25 | 2015-12-25 | Staff thumb device for force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980167.3A CN106914908A (en) | 2015-12-25 | 2015-12-25 | Staff thumb device for force feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106914908A true CN106914908A (en) | 2017-07-04 |
Family
ID=59459967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510980167.3A Pending CN106914908A (en) | 2015-12-25 | 2015-12-25 | Staff thumb device for force feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106914908A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080262634A1 (en) * | 2005-12-20 | 2008-10-23 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand Prosthesis Comprising Two Drive Devices |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104626159A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Thumb near-knuckle force feedback detection driving device |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
-
2015
- 2015-12-25 CN CN201510980167.3A patent/CN106914908A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080262634A1 (en) * | 2005-12-20 | 2008-10-23 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand Prosthesis Comprising Two Drive Devices |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104626159A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Thumb near-knuckle force feedback detection driving device |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170704 |