CN107378920A - A kind of outer skeleton precision data gloves - Google Patents
A kind of outer skeleton precision data gloves Download PDFInfo
- Publication number
- CN107378920A CN107378920A CN201710798385.4A CN201710798385A CN107378920A CN 107378920 A CN107378920 A CN 107378920A CN 201710798385 A CN201710798385 A CN 201710798385A CN 107378920 A CN107378920 A CN 107378920A
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- Prior art keywords
- finger
- angle
- middle finger
- iii
- lead screw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
Abstract
The present invention relates to a kind of data glove, specifically a kind of outer skeleton precision data gloves for virtual reality human-computer interaction.The data glove includes main finger structure, forefinger structure, middle finger structure, nameless structure, little finger of toe structure, lateral shift angle meter part and the back of the hand substrate；Wherein described forefinger structure, middle finger structure, nameless structure, the structure of little finger of toe structure are identical；Described main finger structure, forefinger structure, middle finger structure, nameless structure, one end of little finger of toe structure are each attached on the back of the hand substrate；Described forefinger structure, middle finger structure, nameless structure, lateral shift angle meter part is provided with little finger of toe structure.The present invention is a kind of angle of bend that finger-joint is accurately measured by tertiary gear, lateral shift angle is converted into for abduction, the outer skeleton precision data gloves accurately measured by the way of rack-and-pinion, solves the problems, such as the not up to high-precision requirement of available data gloves.
Description
Technical field
The present invention relates to a kind of data glove, specifically a kind of outer skeleton for virtual reality human-computer interaction is accurate
Data glove.
Background technology
With the development of science and technology remote control robot is possibly realized for dangerous, inaccessible environmental work, wherein distant
It is high to control operation difficulty so that flexibility is more valued.The appearance of data glove, the related data of hand joint can be provided,
So as to the movement of remote control of machine hand.The data glove of Today, most is entered using bend sensor or three axle accelerators
The measurement of row hand joint, precision is low, is not suitable for using in important environment, such as space flight and aviation, long-range bomb disposal important events.When
So also there are some investigators to improve measurement accuracy by way of ectoskeleton, but be still not up to high-precision requirement.
The content of the invention
The invention provides a kind of angle of bend that finger-joint is accurately measured by tertiary gear, it is converted into for abduction
Lateral shift angle, the outer skeleton precision data gloves accurately measured by the way of rack-and-pinion, solves available data hand
The above-mentioned deficiency of set.
Technical solution of the present invention is described with reference to the drawings as follows：
A kind of outer skeleton precision data gloves, the data glove include main finger structure 1, forefinger structure 2, middle finger structure 3, nothing
Name refers to structure 4, little finger of toe structure 5, lateral shift angle meter part 6 and the back of the hand substrate 46；Wherein described forefinger structure 2, in
It is identical to refer to structure 3, nameless structure 4, the structure of little finger of toe structure 5；Described main finger structure 1, forefinger structure 2, middle finger structure 3,
Nameless structure 4, one end of little finger of toe structure 5 are each attached on the back of the hand substrate 46；Described forefinger structure 2, middle finger structure 3, nothing
Name refers to structure 4, is provided with lateral shift angle meter part 6 in little finger of toe structure 5.
Described main finger structure 1 include it is main finger fingerstall combination 7, main finger I 8, precision lead screw I 9, main finger II 10,
Angle of bend measuring and calculating part I 11, precision lead screw II 12, main finger III 13, angle of bend measuring and calculating part II 14 and arcuation are coupled
Part 15；Described main finger I 8 is provided with the groove equipped with precision lead screw I 9 and inside is equipped with the first motor；Described first
The output end of motor is connected by shaft coupling with one end of precision lead screw I 9, the other end of precision lead screw I 9 and main finger II 10
Threaded connection, and one end of main finger II 10 and one end of main finger I 8 are slidably matched；Described main finger II 10
On be provided with angle of bend measuring and calculating and part I 11 and be connected thereto by one-stage gear circular shaft；Described main finger III 13 is provided with
Groove equipped with precision lead screw II 12 and internal second motor is housed；The other end of described main finger II 10 and accurate silk
The threaded one end connection of thick stick II 12, and be slidably matched with main finger III 13；The other end of described precision lead screw II 12 leads to
The output end that shaft coupling is crossed with the second motor is connected；Angle of bend measuring and calculating part II 14 is provided with described main finger III 13
And it is connected thereto by one-stage gear circular shaft；Described angle of bend measuring and calculating part II 14 is connected by circular shaft and arcuation connecting piece 15
Connect；Described arcuation connecting piece 15 is fixed on the back of the hand substrate 46, is provided with potentiometer 47, described potentiometer 47 and electricity
Source is connected；Described main finger I 8 and the lower end of main finger II 10 are provided with main finger fingerstall combination 7；Described main finger
Infrared sensor I 16 is provided with I 8, and is connected with the first motor；It is provided with described angle of bend measuring and calculating part I 11
Infrared sensor II 17, and be connected with the second motor.
Described middle finger structure 3 includes middle finger I 19, precision lead screw III 20, middle finger II 21, angle of bend measurement
Part III 22, precision lead screw IV 23, middle finger III 24, angle of bend measuring and calculating part IV 25, precision lead screw V 26, middle finger
IV 27, angle of bend measuring and calculating part V 28 and middle finger substrate 29；Described middle finger I 19 is provided with equipped with precision lead screw III 20
Groove and internal 3rd motor is housed；One end that the output end of the 3rd described motor passes through shaft coupling and precision lead screw III 20
Connection, the other end of precision lead screw III 20 is threadedly coupled with middle finger II 21, and one end of middle finger II 21 and middle finger
One end of part I 19 is slidably matched；Angle of bend measuring part III 22 is provided with described middle finger II 21 and by one
Level gear circular shaft is connected thereto；Described middle finger III 24 is provided with the groove equipped with precision lead screw IV 23 and internal equipped with the
Four motors；The other end of described middle finger II 21 is connected with the threaded one end of precision lead screw IV 23, and with middle finger
III 24 are slidably matched；The other end of described precision lead screw IV 23 is connected by shaft coupling with the output end of the 4th motor；It is described
Middle finger III 24 on be provided with angle of bend measuring and calculating and part IV 25 and be connected thereto by one-stage gear circular shaft 48；Described
Middle finger IV 27 is provided with the groove equipped with precision lead screw V 26 and inside is equipped with the 5th motor；The 5th described motor it is defeated
Go out end to be connected with one end of precision lead screw V 26 by shaft coupling, the other end of precision lead screw V 26 and the middle screw thread of finger III 24
Connection, and one end of middle finger III 24 and one end of middle finger IV 27 are slidably matched；In described middle finger IV 27
It is provided with angle of bend measuring and calculating part V 28 and is connected thereto by one-stage gear circular shaft 48；Described angle of bend measuring and calculating part
V 28 are fixedly connected with middle finger substrate 29；The lower end of described middle finger I 19, middle finger II 21 and middle finger III 24 is set
It is equipped with middle finger fingerstall combination 18；Be provided with infrared sensor III 30 in described middle finger I 19, and with the 3rd motor phase
Even；Infrared sensor IV 31 is provided with described angle of bend measuring part III 22, and is connected with the 4th motor；Described
Infrared sensor V 32 is provided with angle of bend measuring and calculating part IV 25, and is connected with the 5th motor.
Described middle finger substrate 29 is connected by axle with gear 36；Described gear 36 and the tooth on angular transition part 35
Bar 33 is engaged, and slide rheostat is provided with described angular transition part 35, and described slide rheostat is connected with power supply.
Described angle of bend measuring and calculating part I 11, angle of bend measuring and calculating part II 14, angle of bend measuring part III 22,
Angle of bend measuring and calculating part IV 25, angle of bend measuring and calculating part V 28 are that structure identical angle of bend calculates part 40；It is described
Angle of bend measuring and calculating part 40 include housing, one-level potentiometer 37, two level potentiometer 38, three-level potentiometer 39, the small tooth of three-level
Wheel 41, two level little gear 42, two level gear wheel 43, one-level gear wheel 44 and two rotatable parts 45；Two described to be set respectively
It is connected in the both sides of one-level gear wheel 44 and with one-level gear wheel 44 by one-stage gear circular shaft 48；Described one-stage gear circle
The both ends of axle 48 are separately fixed on the inwall of housing both sides, and wherein one end is provided with one-level potentiometer 37；Described angle of bend
Secondary gear circular shaft 49 and tertiary gear circular shaft 50, secondary gear circular shaft 49 and tertiary gear are additionally provided with degree measuring and calculating part 40
The both ends of circular shaft 50 are each attached on the inwall of housing both sides, and secondary gear circular shaft 49 and tertiary gear circular shaft 50 are set respectively
There are two level potentiometer 38 and three-level potentiometer 39；Described two level little gear 42 passes through secondary gear circular shaft with two level gear wheel 43
49 connections；Described three-level little gear 41 is arranged on tertiary gear circular shaft 50；Described one-level gear wheel 44 and the small tooth of two level
Wheel 42 is meshed；Described two level gear wheel 43 is meshed with three-level little gear 41；Described one, two, three potentiometer 37,
38、39。
Beneficial effects of the present invention are：Finger-joint can accurately be measured by infrared sensor and precision lead screw nut
Length, and pass through bend measuring and calculating part and lateral shift angle meter part accurate measure finger bending and lateral shift angle
Degree, it is compact-sized, reliability is high so as to obtain the motion state of finger.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the main finger overall structure diagram of the present invention；
Fig. 3 is the main finger left view of the present invention；
Fig. 4 is the main finger top view of the present invention；
Fig. 5 is the middle finger overall structure diagram of the present invention；
Fig. 6 is the middle finger left view of the present invention；
Fig. 7 is the middle finger top view of the present invention；
Fig. 8 is the lateral shift angle meter component diagram of the present invention；
The angle of bend measuring and calculating components interior figure of present invention during Fig. 9；
Figure 10 is the hand model dimensional drawing of the measurement of the present invention；
Figure 11 is the hand joint point free degree figure of the present invention.
In figure：1st, main finger structure；2nd, forefinger structure；3rd, middle finger structure；4th, nameless structure；5th, little finger of toe structure；6th, laterally
Deviation angle calculates part；7th, main finger fingerstall combination；8th, main finger I；9th, precision lead screw I；10th, main finger II；11st, bend
Angle meter part I；12nd, precision lead screw II；13rd, main finger III；14th, angle of bend measuring and calculating part II；15th, arcuation is coupled
Part；16th, infrared sensor I；17th, infrared sensor II；18th, middle finger fingerstall combines；19th, middle finger I；20th, precision lead screw III；
21st, middle finger II；22nd, angle of bend measuring and calculating part III；23rd, precision lead screw IV；24th, middle finger III；25th, angle of bend is surveyed
Calculate part IV；26th, precision lead screw V；27th, middle finger IV；28th, angle of bend measuring and calculating part V；29th, middle finger substrate；30th, it is red
Outer sensor III；31st, infrared sensor IV；32nd, infrared sensor V；33rd, rack；34th, finger substrate；35th, angular transition portion
Part；36th, gear；37th, one-level potentiometer；38th, two level potentiometer；39th, three-level potentiometer；40th, angle of bend measuring and calculating part；41、
Three-level little gear；42nd, two level little gear；43rd, two level gear wheel；44th, one-level gear wheel；45th, rotatable parts；46th, the back of the hand substrate；
47th, potentiometer；48th, one-stage gear circular shaft；49th, one-stage gear circular shaft；50th, one-stage gear circular shaft.
Embodiment
Refering to Fig. 1, a kind of outer skeleton precision data gloves, the data glove includes main finger structure 1, forefinger structure 2, middle finger
Structure 3, nameless structure 4, little finger of toe structure 5, lateral shift angle meter part 6 and the back of the hand substrate 46；Wherein described forefinger
Structure 2, middle finger structure 3, nameless structure 4, the structure of little finger of toe structure 5 are identical, and size is different；Described main finger structure 1, forefinger
Structure 2, middle finger structure 3, nameless structure 4, one end of little finger of toe structure 5 are each attached on the back of the hand substrate 46；Described forefinger knot
Structure 2, middle finger structure 3, nameless structure 4, lateral shift angle meter part 6 is provided with little finger of toe structure 5.
Refering to Fig. 2,3,4, described main finger structure 1 includes main finger fingerstall combination 7, main finger I 8, precision lead screw I 9, master
Finger II 10, angle of bend measuring and calculating part I 11, precision lead screw II 12, main finger III 13, angle of bend measuring and calculating part II 14
With arcuation connecting piece 15；Described main finger I 8 is provided with the groove equipped with precision lead screw I 9 and inside is equipped with the first motor；
The output end of the first described motor is connected by shaft coupling with one end of precision lead screw I 9, the other end of precision lead screw I 9 and master
Finger II 10 is threadedly coupled, and one end of main finger II 10 and one end of main finger I 8 are slidably matched；Described master
There is nut to be connected with the one-stage gear circular shaft 48 inside angle of bend measuring and calculating part I 11 in finger II 10, described angle of bend
The degree measuring and calculating tail end built-in nut of part I 11, couples main finger III 13 by feed screw nut；Described main finger III 13 is provided with
Groove equipped with precision lead screw II 12 and internal second motor is housed；The other end of described main finger II 10 and accurate silk
The threaded one end connection of thick stick II 12, and be slidably matched with main finger III 13；The other end of described precision lead screw II 12 leads to
The output end that shaft coupling is crossed with the second motor is connected；Angle of bend measuring and calculating part II 14 is provided with described main finger III 13
And it is connected thereto by one-stage gear circular shaft；Described angle of bend measuring and calculating part II 14 is connected by circular shaft and arcuation connecting piece 15
Connect, angle changing is measured by potentiometer 47；Described arcuation connecting piece 15 is fixed on the back of the hand substrate 46；Described main finger portion
The lower end of part I 8 and main finger II 10 is provided with main finger fingerstall combination 7, and main finger fingerstall combination 7 can be used for placing finger；It is described
Main finger I 8 on be provided with infrared sensor I 16, and be connected with the first motor；Described angle of bend measuring and calculating part I
Infrared sensor II 17 is provided with 11, and is connected with the second motor.First motor can transmit according to infrared sensor I 16
Signal rotation precision lead screw I 9 regulation with the main spacing of finger II 10, so as to adjust it is main finger finger tip spacing.Main finger III 13
The signal transmitted according to infrared sensor II 17, the regulation of precision lead screw II 12 is rotated by built-in second motor and surveyed with angle of bend
Calculate the spacing of part I 11.The identification principle of wherein infrared sensor is first to identify main finger length by infrared sensor I, and then adjust
Save length；The signal that infrared sensor II transmits according to infrared sensor I, is screened, and length not enough directly controls main finger portion
Part III lengthens distance, apart from long then according to the spacing adjustable range after digital flexion with finger.
Refering to Fig. 5,6,7, described middle finger structure 3 include middle finger I 19, precision lead screw III 20, middle finger II 21,
Angle of bend measuring part III 22, precision lead screw IV 23, middle finger III 24, angle of bend measuring and calculating part IV 25, precision lead screw
V 26, middle finger IV 27, angle of bend measuring and calculating part V 28 and middle finger substrate 29；Described middle finger I 19, which is provided with, to be equipped with
The groove of precision lead screw III 20 and internal 3rd motor is housed；The output end of the 3rd described motor passes through shaft coupling and precision
One end connection of leading screw III 20, the other end of precision lead screw III 20 is threadedly coupled with middle finger II 21, and middle finger II
21 one end and one end of middle finger I 19 are slidably matched；Angle of bend measurement portion is provided with described middle finger II 21
Part III 22 is simultaneously connected thereto by one-stage gear circular shaft 48, and the revolute of main finger II 10 retains two frees degree, can be achieved
Bending motion；Described middle finger III 24 is provided with the groove equipped with precision lead screw IV 23 and inside is equipped with the 4th motor；Institute
The other end for the middle finger II 21 stated is connected with the threaded one end of precision lead screw IV 23, and is slided and matched somebody with somebody with middle finger III 24
Close；The other end of described precision lead screw IV 23 is connected by shaft coupling with the output end of the 4th motor；Described middle finger
Angle of bend measuring and calculating part IV 25 is provided with III 24 and is connected thereto by one-stage gear circular shaft；Described middle finger IV 27
It is provided with the groove equipped with precision lead screw V 26 and inside is equipped with the 5th motor；The output end of the 5th described motor passes through shaft coupling
Device is connected with one end of precision lead screw V 26, and the other end of precision lead screw V 26 is threadedly coupled with middle finger III 24, and in
One end of finger III 24 and one end of middle finger IV 27 are slidably matched；Angle of bend is provided with described middle finger IV 27
Degree measuring and calculating part V 28 is simultaneously connected thereto by one-stage gear circular shaft 48；Described angle of bend measuring and calculating part V 28 and middle finger base
Plate 29 is fixedly connected；The lower end of described middle finger I 19, middle finger II 21 and middle finger III 24 is provided with middle finger fingerstall
Combination 18；Infrared sensor III 30 is provided with described middle finger I 19, and is connected with the 3rd motor；Described bending
Infrared sensor IV 31 is provided with angle measurement component III 22, and is connected with the 4th motor；Described angle of bend measuring and calculating
Infrared sensor V 32 is provided with part IV 25, and is connected with the 5th motor.3rd motor can be according to infrared sensor III
The regulation of signal rotation precision lead screw III 20 and the middle spacing of finger II 21 of 30 transmission.Middle finger III 24 is according to infrared sensor
The signal of IV 31 transmission, rotated by built-in 4th motor between the regulation of precision lead screw IV 23 and angle of bend measuring and calculating part III 22
Away from.The signal that middle finger IV 27 is transmitted according to infrared sensor V 32, precision lead screw V 26 is rotated by built-in 5th motor
Regulation and the spacing of angle of bend measuring and calculating part IV 25.Infrared sensor III 30, infrared sensor IV 31 and infrared sensor V
32 sensing order and main finger are basically identical, and the infrared sensor V added is identified after infrared sensor IV.
Refering to Fig. 8, it is hand that described middle finger substrate 29, forefinger substrate, nameless substrate are identical with little finger of toe basic structure
Refer to substrate 34；Described finger substrate 34 is connected by axle with gear 36；On described gear 36 and angular transition part 35
Rack 33 is engaged, and slide rheostat is provided with described angular transition part 35, and described slide rheostat is connected with power supply,
Angle changing is calculated by curent change.Finger substrate 34 is connected with gear 36 to be positioned on unified axle, the transverse shifting of finger
It can be rotated with moving gear, so as to be moved left and right with carry-over bar 33, so as to drive the slide rheostat in angular transition part 35 to become
Resistance value is changed, electric signal is changed into and obtains horizontal corner.
Refering to Fig. 9, described angle of bend measuring and calculating part I 11, angle of bend measuring and calculating part II 14, angle of bend measurement portion
Part III 22, angle of bend measuring and calculating part IV 25, angle of bend measuring and calculating part V 28 are that structure identical angle of bend calculates part
40；Described angle of bend measuring and calculating part 40 includes housing, one-level potentiometer 37, two level potentiometer 38, three-level potentiometer 39, three
Level little gear 41, two level little gear 42, two level gear wheel 43, one-level gear wheel 44 and two rotatable parts 45；Described in two
Rotatable parts 45 are separately positioned on the both sides of one-level gear wheel 44 and connected with one-level gear wheel 44 by one-stage gear circular shaft 48
Connect；The both ends of described one-stage gear circular shaft 48 are separately fixed on the inwall of housing both sides, and wherein one end is provided with one-level electricity
Position device 37；Secondary gear circular shaft 49 and tertiary gear circular shaft 50, two level are additionally provided with described angle of bend measuring and calculating part 40
The both ends of gear circular shaft 49 and tertiary gear circular shaft 50 are each attached on the inwall of housing both sides, and secondary gear circular shaft 49 and three
One end of level gear circular shaft 50 is respectively arranged with two level potentiometer 38 and three-level potentiometer 39；Described two level little gear 42 and two
Level gear wheel 43 is connected by secondary gear circular shaft 49；Described three-level little gear 41 is arranged on tertiary gear circular shaft 50；Institute
The one-level gear wheel 44 stated is meshed with two level little gear 42；Described two level gear wheel 43 is meshed with three-level little gear 41.
One, two, three described potentiometer 37,38,39 is connected with power supply.Rotatable parts 45 drive one-level gear wheel 44 by rotating
Rotate, and drive one-level potentiometer 37 to rotate, one-level rotational angle is exported by resistance change, unit is degree.One-level canine tooth
Wheel 44, which rotates, drives two level little gear 42, and so as to drive two level potentiometer 38 to rotate, now the angular unit of two level potentiometer leads to
Cross after reducing is point.Two level little gear 42, which rotates, causes two level gear wheel 43 and then to rotate, so as to drive 41 turns of three-level little gear
Dynamic, three-level potentiometer 39 moves with axle, and three-level potentiometer unit is the second.
Refering to Figure 10, the length in each joint of hand can accurately be known by rotating end product by the motor in all parts,
So as to obtain l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11、l12、l13、l14；Wherein, the free degree in each joint such as Figure 11 institutes
Show, A1、A2、A3、A4、A5、A6、A7、A8、A9For 2DOF artis, B1、B2、B3、B4、B5For 4DOF artis；2DOF
The angle (can optionally use the unspecified angle in three-level angle) that artis calculates component feedback by angle of bend can be also
Former motion state, 4DOF artis need the angle and lateral shift angle meter part of angle of bend measuring and calculating component feedback
The angle of feedback can obtain motion state by synthesis, finally can be by whole hand with reference to joint length and movement angle
Motion state is accurately presented.
Claims (5)
1. a kind of outer skeleton precision data gloves, it is characterised in that the data glove includes main finger structure (1), forefinger structure
(2), middle finger structure (3), nameless structure (4), little finger of toe structure (5), lateral shift angle meter part (6) and the back of the hand substrate
(46)；Wherein described forefinger structure (2), middle finger structure (3), nameless structure (4), the structure of little finger of toe structure (5) are identical；Institute
The main finger structure (1) stated, forefinger structure (2), middle finger structure (3), nameless structure (4), one end of little finger of toe structure (5) are fixed
On the back of the hand substrate (46)；Described forefinger structure (2), middle finger structure (3), nameless structure (4), little finger of toe structure are set on (5)
It is equipped with lateral shift angle meter part (6).
A kind of 2. outer skeleton precision data gloves according to claim 1, it is characterised in that described main finger structure (1)
Including main finger fingerstall combination (7), main finger I (8), precision lead screw I (9), main finger II (10), angle of bend measuring and calculating part
I (11), precision lead screw II (12), main finger III (13), angle of bend measuring and calculating part II (14) and arcuation connecting piece (15)；Institute
The main finger I (8) stated is provided with the groove equipped with precision lead screw I (9) and inside is equipped with the first motor；The first described motor
Output end be connected by shaft coupling with one end of precision lead screw I (9), the other end of precision lead screw I (9) and main finger II
(10) it is threadedly coupled, and one end of main finger II (10) and one end of main finger I (8) are slidably matched；Described main finger
Angle of bend measuring and calculating part I (11) is provided with part II (10) and is connected thereto by one-stage gear circular shaft；Described main finger
Part III (13) is provided with the groove equipped with precision lead screw II (12) and inside is equipped with the second motor；Described main finger II
(10) the other end is connected with the threaded one end of precision lead screw II (12), and is slidably matched with main finger III (13)；It is described
The other end of precision lead screw II (12) be connected by shaft coupling with the output end of the second motor；Described main finger III (13)
On be provided with angle of bend measuring and calculating part II and (14) and be connected thereto by circular shaft；Described angle of bend measuring and calculating part II (14)
It is connected by circular shaft with arcuation connecting piece (15), is provided with potentiometer (47), described potentiometer (47) is connected with power supply；
Described arcuation connecting piece (15) is fixed on the back of the hand substrate (46)；Described main finger I (8) and main finger II (10)
Lower end is provided with main finger fingerstall combination (7)；It is provided with infrared sensor I (16) in described main finger I (8), and with
One motor is connected；Is provided with infrared sensor II (17) on described angle of bend measuring and calculating part I (11), and with the second motor
It is connected.
A kind of 3. outer skeleton precision data gloves according to claim 2, it is characterised in that described middle finger structure (3)
Including middle finger I (19), precision lead screw III (20), middle finger II (21), angle of bend measuring part III (22), accurate silk
Thick stick IV (23), middle finger III (24), angle of bend measuring and calculating part IV (25), precision lead screw V (26), middle finger IV (27),
Angle of bend measuring and calculating part V (28) and middle finger substrate (29)；Described middle finger I (19) is provided with equipped with precision lead screw III
(20) groove and inside is equipped with the 3rd motor；The output end of the 3rd described motor passes through shaft coupling and precision lead screw III
(20) one end connection, the other end of precision lead screw III (20) is threadedly coupled with middle finger II (21), and middle finger II
(21) one end and one end of middle finger I (19) are slidably matched；Angle of bend is provided with described middle finger II (21)
Measuring part III (22) is simultaneously connected thereto by one-stage gear circular shaft；Described middle finger III (24) is provided with equipped with precision lead screw
The groove of IV (23) and internal 4th motor is housed；The other end of described middle finger II (21) and precision lead screw IV (23)
Threaded one end connection, and be slidably matched with middle finger III (24)；The other end of described precision lead screw IV (23) passes through
Shaft coupling is connected with the output end of the 4th motor；Angle of bend measuring and calculating part IV is provided with described middle finger III (24)
(25) and by one-stage gear circular shaft it is connected thereto；Described middle finger IV (27) is provided with equipped with the recessed of precision lead screw V (26)
Groove and internal 5th motor is housed；One end that the output end of the 5th described motor passes through shaft coupling and precision lead screw V (26)
Connection, the other end of precision lead screw V (26) is threadedly coupled with middle finger III (24), and one end of middle finger III (24)
It is slidably matched with one end of middle finger IV (27)；Angle of bend measuring and calculating part V is provided with described middle finger IV (27)
(28) and by one-stage gear circular shaft it is connected thereto；Described angle of bend measuring and calculating part V (28) and middle finger substrate (29) are fixed
Connection；The lower end of described middle finger I (19), middle finger II (21) and middle finger III (24) is provided with middle finger fingerstall group
Close (18)；Infrared sensor III (30) is provided with described middle finger I (19), and is connected with the 3rd motor；Described
Infrared sensor IV (31) is provided with angle of bend measuring part III (22), and is connected with the 4th motor；Described bending
Infrared sensor V (32) is provided with angle meter part IV (25), and is connected with the 5th motor.
A kind of 4. outer skeleton precision data gloves according to claim 3, it is characterised in that described middle finger substrate (29)
It is connected by axle with gear (36)；Described gear (36) engages with the rack (33) on angular transition part (35), described
Slide rheostat is provided with angular transition part (35), described slide rheostat is connected with power supply.
A kind of 5. outer skeleton precision data gloves according to claim 4, it is characterised in that described angle of bend measuring and calculating
Part I (11), angle of bend measuring and calculating part II (14), angle of bend measuring part III (22), angle of bend measuring and calculating part IV
(25), angle of bend measuring and calculating part V (28) is that structure identical angle of bend calculates part (40)；Described angle of bend is surveyed
Calculating part (40) includes housing, one-level potentiometer (37), two level potentiometer (38), three-level potentiometer (39), three-level little gear
(41), two level little gear (42), two level gear wheel (43), one-level gear wheel (44) and two rotatable parts (45)；Described in two
Rotatable parts (45) be separately positioned on the both sides of one-level gear wheel (44) and pass through one-stage gear with one-level gear wheel (44)
Circular shaft (48) connects；The both ends of described one-stage gear circular shaft (48) are separately fixed on the inwall of housing both sides, wherein one end
It is provided with one-level potentiometer (37)；Secondary gear circular shaft (49) and three are additionally provided with described angle of bend measuring and calculating part (40)
The both ends of level gear circular shaft (50), secondary gear circular shaft (49) and tertiary gear circular shaft (50) are each attached to the inwall of housing both sides
On, and one end of secondary gear circular shaft (49) and tertiary gear circular shaft (50) is respectively arranged with two level potentiometer (38) and three-level electricity
Position device (39)；Described two level little gear (42) is connected with two level gear wheel (43) by secondary gear circular shaft (49)；Described
Three-level little gear (41) is arranged on tertiary gear circular shaft (50)；Described one-level gear wheel (44) and two level little gear (42) phase
Engagement；Described two level gear wheel (43) is meshed with three-level little gear (41)；Described one, two, three potentiometer (37,38,
39) it is connected with power supply.
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| CN201710798385.4A CN107378920B (en) | 2017-09-07 | 2017-09-07 | A kind of outer skeleton precision data gloves |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710798385.4A CN107378920B (en) | 2017-09-07 | 2017-09-07 | A kind of outer skeleton precision data gloves |
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| CN107378920A true CN107378920A (en) | 2017-11-24 |
| CN107378920B CN107378920B (en) | 2018-09-07 |
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| CN201710798385.4A Expired - Fee Related CN107378920B (en) | 2017-09-07 | 2017-09-07 | A kind of outer skeleton precision data gloves |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108654081A (en) * | 2018-05-18 | 2018-10-16 | 大唐广电科技（武汉）有限公司 | A kind of VR gloves apparatus based on gear braking |
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| JP2002113681A (en) * | 2000-08-04 | 2002-04-16 | Thk Co Ltd | Robot joint structure |
| US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108654081B (en) * | 2018-05-18 | 2021-07-13 | 大唐广电科技（武汉）有限公司 | VR gloves device based on gear braking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107378920B (en) | 2018-09-07 |
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