CN107756439A - The remote finger joint driver of forefinger - Google Patents
The remote finger joint driver of forefinger Download PDFInfo
- Publication number
- CN107756439A CN107756439A CN201610679173.XA CN201610679173A CN107756439A CN 107756439 A CN107756439 A CN 107756439A CN 201610679173 A CN201610679173 A CN 201610679173A CN 107756439 A CN107756439 A CN 107756439A
- Authority
- CN
- China
- Prior art keywords
- finger joint
- joint
- arrangement
- clutch
- remote
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The remote finger joint driver of forefinger, it relate to a kind of remote finger joint motion state of detection human hand and the device with feedback from the power suffered by the remote finger joint joint of hand.The present invention is to be separated to solve existing device for force feedback joint measurment mechanism with force feedback 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 use unique connected mode and cleverly joint measurment point layout, make operator when using the equipment, detected finger can be kept farthest flexibly, and motion state can be accurately detected, enable controlled harmoniously to act from the remote finger joint joint of the hand remote finger joint joint of finger 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 to detect the remote finger joint motion state of human hand, and has the function that the device of Two-way Feedback power.
Background technology
Due to the development of science and technology, robot is gradually used in increasing scope, and teleoperation robot is made
For a kind of dependable performance, technology maturation robot be widely used in various dangerous, situations it is complicated, the mankind can not reach
Worked in environment, it directly is issued an instruction to control using very reliable control mode by operator.With remote operating
The task that robot performs becomes increasingly complex so that people also propose higher while reliability is pursued to its flexibility
Requirement, and will to complexity manipulator implement remote operating, multiple joints coordinated movement of various economic factors together of the multiple fingers of control machinery hand,
To realize specific function, this just needs to use data glove, and the data glove with force feedback function is the machinery to robot
Hand implements the most effective device of remote operating, and it is used as control instruction control by measuring the positional information of each finger joint of operator's finger
The finger tracking human hand finger motion of manipulator processed, and can be by stressing conditions of each joint of manipulator in motion process in number
Come according to being simulated on gloves, act on operator on hand, operator is produced very strong telepresenc.It is in addition, virtual in recent years
Emulation technology continues to develop, and its main interactive device is exactly force feedback data gloves, such as at one by computer virtual
In scene, the virtual human hand dismounting of control a pair of or put together machines, also game, 3D cartoon making etc. is required for using power anti-
Data glove, but force feedback data gloves system complex in the market are presented, price is prohibitively expensive, makes it largely general
And, promote and use.
The content of the invention
The purpose of the present invention is to be directed to expensive existing force feedback data gloves, system complex, difficult in maintenance etc. to lack
Point, it is proposed that the two-way active driving device of external angular transducer and joint is combined as a whole by one kind, in detection people's swivel of hand
The power fed back feel information is also changed into the method that power or torque directly act on human hand while movable information, greatly letter
The force feedback data gloves system of complexity is changed.The present invention be used for computer, the interactive device of manipulator, by finger joint
Pedestal, angular transducer and driving part composition, the device are fixed on operator's finger, and the remote finger joint driver of forefinger is detecting
Force-feedback control is realized in effect that can be as needed to its applying power while the angle and state of movement of finger joint.The present invention
Arrangement of clutch is added in the driving part in joint, when system force feedback signal, motor connects powered pass
Section, and to the effect of joint applying power, when system does not have force feedback signal, motor, which disconnects, is driven diarthrodial connection,
The resistance of joint motions is reduced and reduced, makes the motion in joint more smooth.The angle of present invention detection joint motions is by setting
Put the corresponding angular transducer on device to measure by corresponding mathematical algorithm, detected joint is in its direction of motion or multiple
Independent driving part is both provided with the decomposition direction of miscellaneous motion, each driving part is again corresponding on detected joint
Angular transducer cooperating formed closed-loop control, to realize force-feedback control and improve its accuracy.The present invention can essence
Really, the angle and state of corresponding movement of finger joint are delicately detected, and there is bilateral force feedback to detected joint
Function, use simple, easy to wear, easily maintenance, and can greatly reduce the cost of force feedback data gloves.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the remote finger joint driver of forefinger.
Fig. 2 is the structural representation of the remote finger joint driver of forefinger.
Fig. 3 is the axonometric drawing and structural representation of driving part 111.
Embodiment
Embodiment one：As shown in figure 3, the remote finger joint driver of forefinger, including driving part 111, the drive
Dynamic component 111 includes micromachine 40 and arrangement of clutch, and the arrangement of clutch is by arrangement of clutch friction plate 41, friction plate slide bar
42nd, returning pull-spring 43, arrangement of clutch lid 44 form, and the axle of friction plate slide bar 42 and micromachine 40 is affixed, two panels arrangement of clutch
Friction plate 41 is inserted in the both ends of friction plate slide bar 42 respectively, and returning pull-spring 43 is connected between two panels arrangement of clutch friction plate 41, from
Close appliance cover 44 and be inserted in the axle of micromachine 40, be sliding contact between arrangement of clutch lid 44 and the axle of micromachine 40, clutch
Appliance cover 44 is provided with travelling gear.Act implementation process：When the rotating speed of micromachine 40 is higher than certain value, two panels arrangement of clutch
Friction plate 41 overcome the pulling force of returning pull-spring 43 slided respectively to two ends of friction plate slide bar 42 and with arrangement of clutch lid 44
Inwall contacts, and produces frictional force to arrangement of clutch lid 44, drives arrangement of clutch lid 44 to rotate；When the rotating speed of micromachine 40 is less than one
During definite value, two panels arrangement of clutch friction plate 41 slides in the presence of returning pull-spring 43 to axis direction, with arrangement of clutch lid 44
Inwall separation, the connection of cut-out arrangement of clutch lid 44 and micromachine 40.
Embodiment two：As shown in Figure 1, Figure 2 and Figure 3, the remote finger joint driver of the forefinger includes driving part
111st, angular transducer 18, rocking arm 19, gear box cover 57 and finger joint pedestal 58.The finger joint pedestal 58 be provided with hole seat P and
One row is used for the mounting hole R of bulb 20 or screw 24, and the angular transducer 18 is fixed on finger joint pedestal 58 by screw 36
In hole seat P, the axle and rocking arm 19 of the angular transducer 18 in the hole seat P are affixed by screw 35, the tooth on the rocking arm 19
Take turns the axis coinciding that axle center and rocking arm rotate, the cooperation and driving part of the gear of the rocking arm 19 by train of reduction gears 60
111 gear engagement, the driving part 111 are arranged on finger joint pedestal 58, the affixed bulb 20 of the other end of rocking arm 19, institute
Bulb 20 is stated to connect with the corresponding part that is measured.Act implementation process：Bulb 20 is hinged with the joint component that need to be detected, finger joint
Pedestal 58 is fixed in adjacent finger finger joint, when detected joint rotates with respect to finger joint pedestal 58, rocking arm 19 with
With rotation, then the angular transducer 18 to be linked with rocking arm 19 can measure the angle and state of the joint motions, work as control system
During without force feedback signal, then the attonity of driving part 111 on the remote finger joint driver of forefinger, detected articulation is not by dry
Disturb, when control system force feedback signal, then the driving part 111 on the remote finger joint driver of forefinger starts, and passes through reducing gear
The cooperation of wheel group 60 applies a power in the same direction or reverse to rocking arm 19 in its direction of motion, at the same control system further according to
The change of joint angles that the angular transducer 18 that rocking arm 19 links detects, constantly exported with corresponding mathematical algorithm and
The size of driving force is corrected, promotes or hinders to be detected the motion in joint, realize the force feedback function in the joint.
In the case where not making principle of the invention suffer damage, the details and embodiment of above-mentioned composition are only
As example and the thing of diagram, it can not depart from the scope of the present invention and change extensively, and these belong to the guarantor of the present invention
Within shield.
Claims (3)
1. a kind of remote finger joint driver of forefinger, for computer, the interactive device of manipulator, by finger joint pedestal (58),
Angular transducer (18) and driving part (111) composition；
It is characterized in that：
The device is fixed on operator's finger；
The remote finger joint driver of forefinger can be as needed to its applying power while the angle and state of movement of finger joint is detected
Effect realize force-feedback control.
2. the remote finger joint driver of forefinger according to claim 1, it is characterised in that：The driving part (111) includes micro-
Type motor (40) and arrangement of clutch, the arrangement of clutch is by arrangement of clutch friction plate (41), friction plate slide bar (42), returning pull-spring
(43), arrangement of clutch lid (44) forms, and the axle of friction plate slide bar (42) and micromachine (40) is affixed, two panels arrangement of clutch friction
Piece (41) is inserted in friction plate slide bar (42) both ends respectively, and returning pull-spring is connected between two panels arrangement of clutch friction plate (41)
(43), arrangement of clutch lid (44) is inserted in the axle of micromachine (40), between arrangement of clutch lid (44) and the axle of micromachine (40)
For sliding contact, arrangement of clutch lid (44) is provided with travelling gear.
3. the remote finger joint driver of forefinger according to claim 1, it is characterised in that：The finger joint pedestal (58) is provided with one
Hole seat (P) and row's mounting hole (R), the angular transducer (18) are fixed on the hole seat of finger joint pedestal (58) by screw (36)
(P) in, the axle of the angular transducer (18) in the hole seat (P) and rocking arm (19) affixed, the rocking arm by screw (35)
(19) axis coinciding that the gear axis on rotate with rocking arm, gear the matching somebody with somebody by train of reduction gears (60) of the rocking arm (19)
Conjunction is engaged with the gear of driving part (111), and the driving part (111) is arranged on finger joint pedestal (58), the rocking arm
(19) the affixed bulb of the other end (20), the bulb (20) connect with the corresponding part that is measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679173.XA CN107756439A (en) | 2016-08-17 | 2016-08-17 | The remote finger joint driver of forefinger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679173.XA CN107756439A (en) | 2016-08-17 | 2016-08-17 | The remote finger joint driver of forefinger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756439A true CN107756439A (en) | 2018-03-06 |
Family
ID=61260133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610679173.XA Pending CN107756439A (en) | 2016-08-17 | 2016-08-17 | The remote finger joint driver of forefinger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756439A (en) |
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 |
| CN104742129A (en) * | 2013-12-26 | 2015-07-01 | 苏茂 | Stress feedback unit for joints of third finger and middle finger |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
-
2016
- 2016-08-17 CN CN201610679173.XA patent/CN107756439A/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 |
| CN104742129A (en) * | 2013-12-26 | 2015-07-01 | 苏茂 | Stress feedback unit for joints of third finger and middle finger |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
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Legal Events
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180306 |