CN107378920B - A kind of outer skeleton precision data gloves - Google Patents
A kind of outer skeleton precision data gloves Download PDFInfo
- Publication number
- CN107378920B CN107378920B CN201710798385.4A CN201710798385A CN107378920B CN 107378920 B CN107378920 B CN 107378920B CN 201710798385 A CN201710798385 A CN 201710798385A CN 107378920 B CN107378920 B CN 107378920B
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- China
- Prior art keywords
- finger
- middle finger
- bending angle
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- iii
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Classifications
-
- 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, index finger structure, middle finger structure, nameless structure, little finger of toe structure, lateral shift angle meter component and the back of the hand substrate；Wherein the index finger structure, middle finger structure, nameless structure, the structure of little finger of toe structure are identical；The main finger structure, index finger structure, middle finger structure, nameless structure, little finger of toe structure one end be each attached on the back of the hand substrate；The index finger structure, nameless structure, is provided with lateral shift angle meter component in little finger of toe structure at middle finger structure.The present invention is a kind of bending angle accurately measuring finger-joint 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 solve 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 can provide the related data of hand joint,
To the movement of remote control of machine hand.The data glove of Today, most be all made of bending sensor or three axis accelerators into
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 is still not up to high-precision requirement.
Invention content
The present invention provides a kind of bending angle accurately measuring finger-joint by tertiary gear, and abduction is converted into
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, index finger structure 2, middle finger structure 3, nothing
Name refers to structure 4, little finger of toe structure 5, lateral shift angle meter component 6 and the back of the hand substrate 46；Wherein described index finger structure 2, in
It is identical to refer to structure 3, nameless structure 4, the structure of little finger of toe structure 5；The main finger structure 1, index finger structure 2, middle finger structure 3,
Nameless structure 4, little finger of toe structure 5 one end be each attached on the back of the hand substrate 46；The index finger structure 2, middle finger structure 3, nothing
Name refers to structure 4, is provided with lateral shift angle meter component 6 in little finger of toe structure 5.
The main finger structure 1 include main fingers fingerstall combine 7, main finger I 8, precision lead screw I 9, main finger II 10,
Bending angle is calculated component I 11, precision lead screw II 12, main finger III 13, bending angle measuring and calculating component II 14 and arcuation and is coupled
Part 15；The main finger I 8 is provided with the groove equipped with precision lead screw I 9 and inside is equipped with first motor；Described first
The output end of motor is connect 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；The main finger II 10
On be provided with bending angle measuring and calculating and component I 11 and be connected thereto by one-stage gear circular shaft 48；The main finger III 13 is opened
There is the groove equipped with precision lead screw II 12 and internal equipped with the second motor；The other end of the main finger II 10 and precision
The threaded one end of leading screw II 12 connects, and is slidably matched with main finger III 13；The other end of the precision lead screw II 12
It is connect with the output end of the second motor by shaft coupling；Bending angle measuring and calculating component II is provided in the main finger III 13
It 14 and is connected thereto by one-stage gear circular shaft 48；The bending angle measuring and calculating component II 14 passes through circular shaft and arcuation connecting piece
15 connections；The arcuation connecting piece 15 is fixed on the back of the hand substrate 46, is provided with potentiometer 47, the potentiometer 47
It is connected with power supply；The lower end of the main finger I 8 and main finger II 10 is provided with main finger fingerstall combination 7；The main finger
It is provided with infrared sensor I 16 on component I 8, and is connected with first motor；It is set on the bending angle measuring and calculating component I 11
It is equipped with infrared sensor II 17, and is connected with the second motor.
The middle finger structure 3 includes middle finger I 19, precision lead screw III 20, middle finger II 21, bending angle measuring and calculating
Component III 22, precision lead screw IV 23, middle finger III 24, bending angle measuring and calculating component IV 25, precision lead screw V 26, middle finger
IV 27, bending angle measuring and calculating component V 28, middle finger substrate 29 and angular transition component 35；The middle finger I 19 is provided with dress
There is the groove of precision lead screw III 20 and internal equipped with third motor；The output end of the third motor passes through shaft coupling and essence
One end of close leading screw III 20 connects, and 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；Bending angle measuring and calculating is provided in the middle finger II 21
Component III 22 is simultaneously connected thereto by one-stage gear circular shaft；The middle finger III 24 is provided with equipped with the recessed of precision lead screw IV 23
Slot and internal 4th motor is housed；The other end of the middle finger II 21 connects with the threaded one end of precision lead screw IV 23
It connects, and is slidably matched with middle finger III 24；The other end of the precision lead screw IV 23 passes through shaft coupling and the 4th motor
Output end connection；Bending angle measuring and calculating component IV 25 is provided in the middle finger III 24 and by one-stage gear circular shaft
48 are connected thereto；The 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 output end of 5th motor is connect by shaft coupling with one end of precision lead screw V 26, the other end of precision lead screw V 26
It is threadedly coupled with middle finger III 24, and one end of middle finger III 24 and one end of middle finger IV 27 are slidably matched；Institute
It is provided with bending angle measuring and calculating component V 28 in the middle finger IV 27 stated and is connected thereto by one-stage gear circular shaft 48；It is described
Bending angle measuring and calculating component V 28 be fixedly connected with middle finger substrate 29；The middle finger I 19, middle finger II 21 and in
The lower end of finger III 24 is provided with middle finger fingerstall combination 18；It is provided with infrared sensor III 30 in the middle finger I 19,
And it is connected with third motor；Is provided with infrared sensor IV 31 on the described bending angle measuring and calculating component III 22, and with the
Four motors are connected；Is provided with infrared sensor V 32 on the described bending angle measuring and calculating component IV 25, and with the 5th motor phase
Even.
The middle finger substrate 29 is connect by axis with gear 36；The gear 36 and the tooth on angular transition component 35
Item 33 engages, and is provided with slide rheostat in the angular transition component 35, the slide rheostat is connect with power supply.
The bending angle calculates component I 11, bending angle calculates component II 14, bending angle calculates component III 22,
Bending angle calculates component IV 25, bending angle measuring and calculating component V 28 is that the identical bending angle of structure calculates component 40；It is described
Bending angle measuring and calculating component 40 include shell, level-one potentiometer 37, two level potentiometer 38, three-level potentiometer 39, the small tooth of three-level
Wheel 41, two level pinion gear 42, two level gear wheel 43, level-one gear wheel 44 and two rotatable parts 45；It is respectively set described in two
It is connect by one-stage gear circular shaft 48 in the both sides of level-one gear wheel 44 and with level-one gear wheel 44；The one-stage gear circle
The both ends of axis 48 are separately fixed on the inner wall of shell both sides, and wherein one end is provided with level-one potentiometer 37；The bending angle
It is additionally provided with secondary gear circular shaft 49 and tertiary gear circular shaft 50, secondary gear circular shaft 49 and tertiary gear in degree measuring and calculating component 40
The both ends of circular shaft 50 are each attached on the inner wall of shell both sides, and secondary gear circular shaft 49 and tertiary gear circular shaft 50 are respectively set
There are two level potentiometer 38 and three-level potentiometer 39；The two level pinion gear 42 passes through secondary gear circular shaft with two level gear wheel 43
49 connections；The three-level pinion gear 41 is arranged on tertiary gear circular shaft 50；The level-one gear wheel 44 and the small tooth of two level
Wheel 42 is meshed；The two level gear wheel 43 is meshed with three-level pinion gear 41；The level-one potentiometer 37, two level current potential
Device 38, three-level potentiometer 39 are connected with power supply.
Beneficial effects of the present invention are：Finger-joint can be accurately measured by infrared sensor and precision lead screw nut
Length, and pass through bending calculate component and lateral shift angle meter component accurate measure finger bending and lateral shift angle
Degree, it is compact-sized, reliability is high to obtain the motion state of finger.
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 vertical 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 vertical view of the present invention；
Fig. 8 is the lateral shift angle meter component diagram of the present invention；
The bending angle of the present invention calculates components interior figure when Fig. 9；
Figure 10 is the hand model dimensional drawing of the measurement of the present invention；
Figure 11 is the hand joint point degree of freedom figure of the present invention.
In figure：1, main finger structure；2, index finger structure；3, middle finger structure；4, nameless structure；5, little finger of toe structure；6, laterally
Deviation angle calculates component；7, main finger fingerstall combination；8, main finger I；9, precision lead screw I；10, main finger II；11, it is bent
Angle meter component I；12, precision lead screw II；13, main finger III；14, bending angle calculates component II；15, arcuation is coupled
Part；16, infrared sensor I；17, infrared sensor II；18, middle finger fingerstall combines；19, middle finger I；20, precision lead screw III；
21, middle finger II；22, bending angle calculates component III；23, precision lead screw IV；24, middle finger III；25, bending angle is surveyed
Calculate component IV；26, precision lead screw V；27, middle finger IV；28, bending angle calculates component V；29, middle finger substrate；30, red
Outer sensor III；31, infrared sensor IV；32, infrared sensor V；33, rack；34, finger substrate；35, angular transition portion
Part；36, gear；37, level-one potentiometer；38, two level potentiometer；39, three-level potentiometer；40, bending angle calculates component；41、
Three-level pinion gear；42, two level pinion gear；43, two level gear wheel；44, level-one gear wheel；45, rotatable parts；46, the back of the hand substrate；
47, potentiometer；48, one-stage gear circular shaft；49, secondary gear circular shaft；50, tertiary gear circular shaft.
Specific implementation mode
Refering to fig. 1, a kind of outer skeleton precision data gloves, the data glove include main finger structure 1, index finger structure 2, middle finger
Structure 3, nameless structure 4, little finger of toe structure 5, lateral shift angle meter component 6 and the back of the hand substrate 46；The wherein index finger
Structure 2, middle finger structure 3, nameless structure 4, the structure of little finger of toe structure 5 are identical, and size is different；The main finger structure 1, index finger
Structure 2, middle finger structure 3, nameless structure 4, little finger of toe structure 5 one end be each attached on the back of the hand substrate 46；The index finger knot
Structure 2, nameless structure 4, is provided with lateral shift angle meter component 6 in little finger of toe structure 5 at middle finger structure 3.
Refering to Fig. 2,3,4, the main finger structure 1 includes main finger fingerstall combination 7, main finger I 8, precision lead screw I 9, master
Finger II 10, bending angle measuring and calculating component I 11, precision lead screw II 12, main finger III 13, bending angle calculate component II 14
With arcuation connecting piece 15；The main finger I 8 is provided with the groove equipped with precision lead screw I 9 and inside is equipped with first motor；
The output end of the first motor is connect 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；The master
There is nut to be connect with the one-stage gear circular shaft 48 inside bending angle measuring and calculating component I 11 in finger II 10, the bending angle
Degree measuring and calculating I 11 tail end built-in nut of component, couples main finger III 13 by feed screw nut；The 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 the main finger II 10 and accurate silk
The threaded one end of thick stick II 12 connects, and is slidably matched with main finger III 13；The other end of the precision lead screw II 12 is logical
Shaft coupling is crossed to connect with the output end of the second motor；Bending angle measuring and calculating component II 14 is provided in the main finger III 13
And it is connected thereto by one-stage gear circular shaft 48；The bending angle measuring and calculating component II 14 passes through circular shaft and arcuation connecting piece 15
Connection measures angle changing by potentiometer 47；The arcuation connecting piece 15 is fixed on the back of the hand substrate 46；The main finger
The lower end of component 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；Institute
It is provided with infrared sensor I 16 in the main finger I 8 stated, and is connected with first motor；The bending angle calculates component
It is provided with infrared sensor II 17 on I 11, and is connected with the second motor.First motor can be passed according to infrared sensor I 16
Defeated signal rotation precision lead screw I 9 adjusts and II 10 spacing of main finger, to adjust main finger finger tip spacing.Main finger III
13 signals transmitted according to infrared sensor II 17 rotate the adjusting of precision lead screw II 12 and bending angle by built-in second motor
Calculate the spacing of component I 11.The identification principle of wherein infrared sensor is first to identify main finger length by infrared sensor I, in turn
Adjustment length；The signal that infrared sensor II is transmitted according to infrared sensor I, is screened, and length not enough directly controls main finger
Component III lengthens distance, apart from long then according to the spacing adjustable range with finger after digital flexion.
Refering to Fig. 5,6,7, the middle finger structure 3 include middle finger I 19, precision lead screw III 20, middle finger II 21,
Bending angle calculates component III 22, precision lead screw IV 23, middle finger III 24, bending angle measuring and calculating component IV 25, precision lead screw
V 26, middle finger IV 27, bending angle measuring and calculating component V 28, middle finger substrate 29 and angular transition component 35；The middle finger
Component I 19 is provided with the groove equipped with precision lead screw III 20 and inside is equipped with third motor；The output end of the third motor
It is connect with one end of precision lead screw III 20 by shaft coupling, the other end of precision lead screw III 20 connects with II 21 screw thread of middle finger
It connects, and one end of middle finger II 21 and one end of middle finger I 19 are slidably matched；It is arranged in the middle finger II 21
There is bending angle measuring and calculating component III 22 and be connected thereto by one-stage gear circular shaft 48, the revolute of main finger II 10 retains two
A degree of freedom is, it can be achieved that bending motion；The middle finger III 24 is provided with the groove equipped with precision lead screw IV 23 and inside
Equipped with the 4th motor；The other end of the middle finger II 21 is connect with the threaded one end of precision lead screw IV 23, and in
Finger III 24 is slidably matched；The other end of the precision lead screw IV 23 is connected by the output end of shaft coupling and the 4th motor
It connects；It is provided with bending angle measuring and calculating component IV 25 in the middle finger III 24 and is connected thereto by one-stage gear circular shaft；
The middle finger IV 27 is provided with the groove equipped with precision lead screw V 26 and inside is equipped with the 5th motor；5th electricity
The output end of machine is connect by shaft coupling with one end of precision lead screw V 26, the other end of precision lead screw V 26 and middle finger III
24 are threadedly coupled, and one end of middle finger III 24 and one end of middle finger IV 27 are slidably matched；The middle finger
It is provided with bending angle measuring and calculating component V 28 on IV 27 and is connected thereto by one-stage gear circular shaft 48；The bending angle is surveyed
Component V 28 is calculated to be fixedly connected with middle finger substrate 29；The middle finger I 19, middle finger II 21 and middle finger III 24
Lower end is provided with middle finger fingerstall combination 18；Infrared sensor III 30 is provided in the middle finger I 19, and electric with third
Machine is connected；It is provided with infrared sensor IV 31 on the bending angle measuring and calculating component III 22, and is connected with the 4th motor；Institute
It is provided with infrared sensor V 32 on the bending angle measuring and calculating component IV 25 stated, and is connected with the 5th motor.Third motor can
It is adjusted and II 21 spacing of middle finger according to the signal rotation precision lead screw III 20 that infrared sensor III 30 transmits.Middle finger III
24 signals transmitted according to infrared sensor IV 31 rotate the adjusting of precision lead screw IV 23 and bending angle by built-in 4th motor
Calculate the spacing of component III 22.The signal that middle finger IV 27 is transmitted according to infrared sensor V 32 passes through built-in 5th motor
It rotates precision lead screw V 26 and adjusts the spacing for calculating component IV 25 with bending angle.Infrared sensor III 30, infrared sensor IV
31 and infrared sensor V 32 sensing sequence and it is main refer to it is almost the same, the infrared sensor V added infrared sensor IV it
After be identified.
Refering to Fig. 8, the middle finger substrate 29, index finger substrate, nameless substrate identical with little finger of toe basic structure are hand
Refer to substrate 34；The finger substrate 34 is connect by axis with gear 36；On the gear 36 and angular transition component 35
Rack 33 engages, and slide rheostat is provided in the angular transition component 35, and the slide rheostat is connect with power supply,
Calculate angle changing by curent change.Finger substrate 34 is connect with gear 36 to be positioned on unified axis, the transverse shifting of finger
It can be rotated with moving gear, to be moved left and right with carry-over bar 33, to drive the slide rheostat in angular transition component 35 to become
Resistance value is changed, electric signal is changed into and obtains lateral corner.
Refering to Fig. 9, the bending angle calculates component I 11, bending angle measuring and calculating component II 14, bending angle measuring and calculating portion
Part III 22, bending angle measuring and calculating component IV 25, bending angle measuring and calculating component V 28 are that the identical bending angle of structure calculates component
40；The bending angle measuring and calculating component 40 includes shell, level-one potentiometer 37, two level potentiometer 38, three-level potentiometer 39, three
Grade pinion gear 41, two level pinion gear 42, two level gear wheel 43, level-one gear wheel 44 and two rotatable parts 45；Described in two
Rotatable parts 45 are separately positioned on the both sides of level-one gear wheel 44 and are connected by one-stage gear circular shaft 48 with level-one gear wheel 44
It connects；The both ends of the one-stage gear circular shaft 48 are separately fixed on the inner wall of shell both sides, and wherein one end is provided with level-one electricity
Position device 37；It is additionally provided with secondary gear circular shaft 49 and tertiary gear circular shaft 50, two level in the bending angle measuring and calculating component 40
The both ends of gear circular shaft 49 and tertiary gear circular shaft 50 are each attached on the inner wall of shell both sides, and secondary gear circular shaft 49 and three
One end of grade gear circular shaft 50 is respectively arranged with two level potentiometer 38 and three-level potentiometer 39；The two level pinion gear 42 and two
Grade gear wheel 43 is connected by secondary gear circular shaft 49；The three-level pinion gear 41 is arranged on tertiary gear circular shaft 50；Institute
The level-one gear wheel 44 stated is meshed with two level pinion gear 42；The two level gear wheel 43 is meshed with three-level pinion gear 41.
The level-one potentiometer 37, two level potentiometer 38, three-level potentiometer 39 are connected with power supply.Rotatable parts 45 pass through rotation, band
Dynamic level-one gear wheel 44 rotates, and level-one potentiometer 37 is driven to rotate, and level-one rotational angle, unit are exported by resistance change
For degree.The rotation of level-one gear wheel 44 drives two level pinion gear 42, to drive two level potentiometer 38 to rotate, two level potentiometer at this time
Angular unit by after diminution for point.Two level pinion gear 42 rotates so that two level gear wheel 43 and then rotates, to drive three
Grade pinion gear 41 rotates, and three-level potentiometer 39 is moved with axis, and three-level potentiometer unit is the second.
Refering to fig. 10, the length in each joint of hand can accurately be known by rotating final result by the motor in all parts,
To obtain l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11、l12、l13、l14；Wherein, the degree of freedom 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 bending angle can be also
Former motion state, 4DOF artis need the angle and lateral shift angle meter component of bending angle measuring and calculating component feedback
The angle of feedback can be obtained motion state by synthesis, finally combine joint length and movement angle can be by entire hand
Motion state is accurately presented.
Claims (3)
1. a kind of outer skeleton precision data gloves, which is characterized in that the data glove includes main finger structure (1), index finger structure
(2), middle finger structure (3), nameless structure (4), little finger of toe structure (5), lateral shift angle meter component (6) and the back of the hand substrate
(46)；Wherein the index finger 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, index finger 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)；The index finger 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 component (6)；The main finger structure (1) includes main finger fingerstall combination (7), main finger I
(8), precision lead screw I (9), main finger II (10), bending angle measuring and calculating component I (11), precision lead screw II (12), main finger
III (13), bending angle measuring and calculating component II (14) and arcuation connecting piece (15)；The main finger I (8) is provided with equipped with precision
The groove of leading screw I (9) and internal first motor is housed；The output end of the first motor passes through shaft coupling and precision lead screw
One end of I (9) connects, and the other end of precision lead screw I (9) is threadedly coupled with main finger II (10), and main finger II
(10) one end and one end of main finger I (8) are slidably matched；Bending angle survey is provided in the main finger II (10)
It calculates component I (11) and is connected thereto by one-stage gear circular shaft (48)；The main finger III (13) is provided with equipped with accurate silk
The groove of thick stick II (12) and internal second motor is housed；The other end of the main finger II (10) and precision lead screw II
(12) threaded one end connection, and be slidably matched with main finger III (13)；The other end of the precision lead screw II (12)
It is connect with the output end of the second motor by shaft coupling；Bending angle measuring and calculating component is provided in the main finger III (13)
II (14) are simultaneously connected thereto by one-stage gear circular shaft (48)；The bending angle measuring and calculating component II (14) passes through circular shaft and arc
Shape connecting piece (15) connects, and potentiometer (47), the potentiometer (47) and electricity are provided on the arcuation connecting piece (15)
Source is connected；The arcuation connecting piece (15) is fixed on the back of the hand substrate (46)；The main finger I (8) and main finger
The lower end of II (10) is provided with main finger fingerstall combination (7)；It is provided with infrared sensor I (16) in the main finger I (8),
And it is connected with first motor；The bending angle, which is calculated, is provided with infrared sensor II (17) on component I (11), and with
Second motor is connected；The middle finger structure (3) includes bending angle measuring and calculating component III (22), bending angle measuring and calculating component IV
(25), bending angle measuring and calculating component V (28), middle finger substrate (29) and angular transition component (35)；The bending angle measuring and calculating
Component I (11), bending angle measuring and calculating component II (14), bending angle measuring and calculating component III (22), bending angle calculate component IV
(25), bending angle measuring and calculating component V (28) is that the identical bending angle of structure calculates component (40)；The bending angle is surveyed
It includes shell, level-one potentiometer (37), two level potentiometer (38), three-level potentiometer (39), three-level pinion gear to calculate component (40)
(41), two level pinion gear (42), two level gear wheel (43), level-one gear wheel (44) and two rotatable parts (45)；Described in two
Rotatable parts (45) be separately positioned on the both sides of level-one gear wheel (44) and pass through one-stage gear with level-one gear wheel (44)
Circular shaft (48) connects；The both ends of the one-stage gear circular shaft (48) are separately fixed on the inner wall of shell both sides, wherein one end
It is provided with level-one potentiometer (37)；It is additionally provided with secondary gear circular shaft (49) and three in the bending angle measuring and calculating component (40)
The both ends of grade gear circular shaft (50), secondary gear circular shaft (49) and tertiary gear circular shaft (50) are each attached to the inner wall of shell 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)；The two level pinion gear (42) is connect with two level gear wheel (43) by secondary gear circular shaft (49)；Described
Three-level pinion gear (41) is arranged on tertiary gear circular shaft (50)；The level-one gear wheel (44) and two level pinion gear (42) phase
Engagement；The two level gear wheel (43) is meshed with three-level pinion gear (41)；The level-one potentiometer (37), two level current potential
Device (38), three-level potentiometer (39) are connected with power supply.
2. a kind of outer skeleton precision data gloves according to claim 1, which is characterized in that the middle finger structure (3)
Further include middle finger I (19), precision lead screw III (20), middle finger II (21), precision lead screw IV (23), middle finger III
(24), precision lead screw V (26) and middle finger IV (27)；The middle finger I (19) is provided with equipped with precision lead screw III (20)
Groove and internal third motor is housed；The output end of the third motor passes through shaft coupling and precision lead screw III (20)
One end connects, and 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；Bending angle measuring and calculating portion is provided in the middle finger II (21)
Part III (22) is simultaneously connected thereto by one-stage gear circular shaft；The middle finger III (24) is provided with equipped with precision lead screw IV (23)
Groove and internal 4th motor is housed；One end of the other end and precision lead screw IV (23) of the middle finger II (21)
It is threadedly coupled, and is slidably matched with middle finger III (24)；The other end of the precision lead screw IV (23) passes through shaft coupling
It is connect with the output end of the 4th motor；It is provided with bending angle measuring and calculating component IV (25) in the middle finger III (24) and leads to
One-stage gear circular shaft is crossed to be connected thereto；The middle finger IV (27) is provided with the groove equipped with precision lead screw V (26) and interior
Portion is equipped with the 5th motor；The output end of 5th motor is connect by shaft coupling with one end of precision lead screw V (26), essence
The other end of close leading screw V (26) is threadedly coupled with middle finger III (24), and one end of middle finger III (24) and middle finger portion
One end of part IV (27) is slidably matched；It is provided with bending angle measuring and calculating component V (28) in the middle finger IV (27) and leads to
One-stage gear circular shaft is crossed to be connected thereto；The bending angle measuring and calculating component V (28) is fixedly connected with middle finger substrate (29)；Institute
The lower end of middle finger I (19), middle finger II (21) and the middle finger III (24) stated is provided with middle finger fingerstall combination (18)；
It is provided with infrared sensor III (30) in the middle finger I (19), and is connected with third motor；The bending angle
It is provided with infrared sensor IV (31) on measuring and calculating component III (22), and is connected with the 4th motor；The bending angle measuring and calculating
It is provided with infrared sensor V (32) on component IV (25), and is connected with the 5th motor.
3. a kind of outer skeleton precision data gloves according to claim 1, which is characterized in that the middle finger substrate (29)
It is connect with gear (36) by axis；The gear (36) is engaged with the rack (33) on angular transition component (35), described
It is provided with slide rheostat in angular transition component (35), the slide rheostat is connect with power supply.
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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 |
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| CN1792329A (en) * | 2005-11-02 | 2006-06-28 | 哈尔滨工业大学 | Force feedback data gloves based on pneumatic artificial muscle |
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| CN202045638U (en) * | 2011-05-13 | 2011-11-23 | 苏茂 | External framework type data glove |
| CN103692454A (en) * | 2013-12-12 | 2014-04-02 | 浙江理工大学 | Exoskeleton wearable data glove |
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| CN207206411U (en) * | 2017-09-07 | 2018-04-10 | 吉林大学 | A kind of outer skeleton precision data gloves |
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| JP2002113681A (en) * | 2000-08-04 | 2002-04-16 | Thk Co Ltd | Robot joint structure |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
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|---|---|---|---|---|
| CN1792329A (en) * | 2005-11-02 | 2006-06-28 | 哈尔滨工业大学 | Force feedback data gloves based on pneumatic artificial muscle |
| CN101354609A (en) * | 2008-09-18 | 2009-01-28 | 北京理工大学 | Novel data gloves based on CCD sensor |
| CN101422906A (en) * | 2008-12-12 | 2009-05-06 | 清华大学 | Displacement under-actuated two-articulated robot finger device based on flexible piece |
| CN202045638U (en) * | 2011-05-13 | 2011-11-23 | 苏茂 | External framework type data glove |
| CN103692454A (en) * | 2013-12-12 | 2014-04-02 | 浙江理工大学 | Exoskeleton wearable data glove |
| CN105881566A (en) * | 2016-05-30 | 2016-08-24 | 北京理工大学 | Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism |
| CN207206411U (en) * | 2017-09-07 | 2018-04-10 | 吉林大学 | A kind of outer skeleton precision data gloves |
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