CN108453762B - Glove for virtual reality control and tension mechanism thereof - Google Patents
Glove for virtual reality control and tension mechanism thereof Download PDFInfo
- Publication number
- CN108453762B CN108453762B CN201810415828.1A CN201810415828A CN108453762B CN 108453762 B CN108453762 B CN 108453762B CN 201810415828 A CN201810415828 A CN 201810415828A CN 108453762 B CN108453762 B CN 108453762B
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- China
- Prior art keywords
- glove
- virtual reality
- piston rod
- oil
- force control
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- 230000007246 mechanism Effects 0.000 title claims abstract description 72
- 238000007789 sealing Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 210000000245 forearm Anatomy 0.000 claims description 6
- 239000003921 oil Substances 0.000 abstract description 56
- 239000010720 hydraulic oil Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 52
- 230000009471 action Effects 0.000 description 2
- 210000004932 little finger Anatomy 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
-
- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
Abstract
The invention relates to a glove for controlling virtual reality force and a tension mechanism thereof, wherein the tension mechanism comprises: the device comprises a position output mechanism, a traction piece, an oil storage bin, a sliding block, an oil cylinder, an oil pipe and a piston rod. The sliding block is slidably arranged in the oil storage bin and is in sealing fit with the oil storage bin. The oil cylinder is communicated with the oil storage bin through an oil pipe. The piston rod is movably arranged in the oil cylinder, one end of the piston rod is provided with a piston head which is in sealing fit with the oil cylinder, and the other end of the piston rod is in transmission connection with the fingerstall. According to the tension mechanism for the virtual reality force control glove, when the position output mechanism rotates to wind the traction piece, the traction piece drives the sliding block in the oil storage bin to move, hydraulic oil in the oil cylinder is pumped into the oil storage bin through the oil pipe in the sliding block moving process, the piston rod is enabled to contract, the piston rod correspondingly pulls the fingerstall, the fingerstall acts on the finger to simulate the stress condition of the finger in the virtual environment, and the fingerstall is not required to be connected to the air source device through a pipeline, so that the glove can be convenient to move and walk.
Description
Technical Field
The invention relates to a glove, in particular to a glove for controlling virtual reality force and a tension mechanism thereof.
Background
Conventional glove for virtual reality force control generally adopts a micro cylinder to drive a finger stall to act, so that the stress condition of fingers in a virtual environment is simulated. When the miniature air cylinder is used for driving the fingerstall, the air cylinder needs to be connected to an air source through a pipeline, so that the moving of the glove can be limited by the pipeline when the glove is controlled by the virtual reality force to move, and the moving and the walking are inconvenient.
Disclosure of Invention
Based on this, it is necessary to overcome the drawbacks of the prior art and to provide a glove for virtual reality force control and a pulling mechanism thereof, which can be easily worn and walked.
The technical scheme is as follows: a tension mechanism for a virtual reality force control glove, comprising: the device comprises a position output mechanism, a traction piece, an oil storage bin and a sliding block, wherein the position output mechanism is connected with the traction piece, the traction piece is connected with the sliding block, the sliding block is slidably arranged in the oil storage bin, and the sliding block is in sealing fit with the oil storage bin; the oil cylinder is communicated with the oil storage bin through the oil pipe, the piston rod is movably arranged in the oil cylinder, one end of the piston rod is provided with a piston head in sealing fit with the oil cylinder, and the other end of the piston rod is in transmission connection with the fingerstall.
The glove for controlling virtual reality force comprises a finger stall and the tension mechanism, wherein the piston rod is in transmission connection with the finger stall.
According to the tension mechanism for the virtual reality force control glove, when the position output mechanism rotates to wind the traction piece or pulls, the traction piece drives the sliding block in the oil storage bin to move, hydraulic oil in the oil cylinder is pumped into the oil storage bin through the oil pipe in the sliding block moving process, the piston rod is enabled to shrink, the piston rod correspondingly pulls the fingerstall, and the fingerstall acts on the finger to simulate the stress condition of the finger in the virtual environment. Therefore, the tension mechanism for the virtual reality force control glove does not need to be connected to the air source device by a pipeline, and can be convenient for moving and walking.
Further, the position output mechanism is a motor or a steering engine; the traction piece is an elastic traction piece.
Further, the traction piece comprises an elastic piece and two pull ropes respectively connected with two ends of the elastic piece, wherein one pull rope is connected with the position output mechanism, and the other pull rope is connected with the sliding block.
Further, the tension mechanism for the virtual reality force control glove further comprises more than two valves and more than two branch pipes, the number of the oil cylinders is more than two, the branch pipes and the valves are respectively arranged in one-to-one correspondence with the oil cylinders, the oil pipe is connected with the oil cylinders through the branch pipes, and the valves are arranged on the branch pipes.
Further, the glove for controlling virtual reality force further comprises an exoskeleton glove and a connecting rod mechanism, wherein the tension mechanism is arranged on the exoskeleton glove, the connecting rod mechanism is rotatably connected with the exoskeleton glove and the piston rod respectively, and the connecting rod mechanism is further connected with the fingerstall.
Further, the exoskeleton glove comprises a sleeve body and a guide plate, one end of the sleeve body is connected with the guide plate, the other end of the sleeve body is rotatably connected with the connecting rod mechanism, and the sleeve body is used for being sleeved on the forearm.
Further, the connecting rod mechanism comprises a plurality of first connecting rods and second connecting rods which are connected in a head-to-tail rotating mode in sequence; one of the first connecting rods is rotatably connected with the exoskeleton glove and the piston rod respectively, the other first connecting rod is rotatably connected with the second connecting rod and the fingerstall respectively, and the second connecting rod is rotatably connected with the fingerstall.
Further, the glove for controlling virtual reality force further comprises a vibration generator, and the vibration generator is arranged on the fingerstall.
Further, the glove for controlling virtual reality force further comprises a force sensor, wherein the force sensor is arranged on the inner side wall of the fingerstall.
Drawings
FIG. 1 is a schematic view of a linkage mechanism and a finger cuff for a virtual reality force control glove according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a tension mechanism for a virtual reality force control glove according to an embodiment of the invention;
FIG. 3 is a schematic cross-sectional view of a tension mechanism for use in a virtual reality force control glove according to an embodiment of this invention;
FIG. 4 is a schematic view of a virtual reality control glove according to an embodiment of the invention when not worn;
FIG. 5 is a schematic view of a virtual reality force control glove according to an embodiment of the invention;
FIG. 6 is a bottom view of a glove for virtual reality force control according to an embodiment of this invention;
FIG. 7 is a cross-sectional view of a linkage and finger cuff for use in a virtual reality force control glove according to an embodiment of this invention;
FIG. 8 is a schematic view of a linkage and finger cuff for a virtual reality force control glove according to another embodiment of the invention;
FIG. 9 is a cross-sectional view of a linkage and finger cuff for use in a virtual reality force control glove according to another embodiment of this invention;
fig. 10 is a schematic view of a tension mechanism for a virtual reality force control glove according to another embodiment of the invention mounted on an exoskeleton glove.
Reference numerals:
100. the device comprises a tension mechanism, 110, a position output mechanism, 120, a traction piece, 121, an elastic piece, 122, a pull rope, 130, an oil storage bin, 140, a sliding block, 150, an oil cylinder, 160, an oil pipe, 170, a piston rod, 171, a piston head, 180, a valve, 190, a branch pipe, 200, a finger sleeve, 300, an exoskeleton glove, 310, a sleeve body, 320, a guide plate, 330, a fixed pulley, 400, a connecting rod mechanism, 410, a first connecting rod, 420, a second connecting rod, 500, a vibration generator, 600, a force sensor, 700, an inertial navigator, 800, a gyroscope sensor, 900 and a controller.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present.
In one embodiment, referring to fig. 1, 2, 3, 8 and 10, a pull mechanism 100 for a virtual reality force control glove, comprising: the device comprises a position output mechanism 110, a traction piece 120, an oil storage bin 130, a sliding block 140, an oil cylinder 150, an oil pipe 160 and a piston rod 170.
The position output mechanism 110 is connected to the pulling member 120, and specifically, the position output mechanism 110 is a motor, a steering engine, or a linear movement mechanism. The pulling member 120 is connected to the slider 140, and in particular, the pulling member 120 is an elastic pulling member 120. The sliding block 140 is slidably arranged in the oil storage bin 130, and the sliding block 140 is in sealing fit with the oil storage bin 130. The cylinder 150 communicates with the reservoir 130 through the oil line 160. The piston rod 170 is movably arranged in the oil cylinder 150, one end of the piston rod 170 is provided with a piston head 171 in sealing fit with the oil cylinder 150, and the other end of the piston rod 170 is in transmission connection with the fingerstall 200.
When the pulling mechanism 100 for the glove with virtual reality force is used for rotationally winding or pulling the pulling member 120 by the position output mechanism 110, the pulling member 120 drives the sliding block 140 in the oil storage bin 130 to move, hydraulic oil in the oil cylinder 150 is pumped into the oil storage bin 130 through the oil pipe 160 in the moving process of the sliding block 140, the piston rod 170 is contracted by the hydraulic oil, the finger stall 200 is correspondingly pulled by the piston rod 170, and the finger stall 200 acts on a finger to simulate the stress condition of the finger in the virtual environment. As can be seen, the tension mechanism 100 for the virtual reality force control glove described above does not require a pipe to be connected to an air source device, which can facilitate movement and walking.
Furthermore, the pulling member 120 includes an elastic member 121 and two pulling ropes 122 respectively connected to two ends of the elastic member 121. One of the pull cords 122 is coupled to the position output mechanism 110 and the other pull cord 122 is coupled to the slider 140. Specifically, the elastic member 121 is a spring or an elastic cord. In one embodiment, the pull 120 may also be integrally formed as an elastic cord. In this way, when the slider 140 is in a fixed state, the pulling member 120 can elastically stretch, so that the position output mechanism 110 can continuously rotate to stretch the pulling member 120, thereby realizing regulation and control of the internal pressure of the oil storage bin 130, and being capable of matching with different forces under the specific gesture of the finger.
Further, the tension mechanism 100 for a virtual reality force control glove further includes two or more valves 180 and two or more manifold 190. The number of the oil cylinders 150 is more than two. The branch pipes 190 and the valves 180 are respectively arranged in one-to-one correspondence with the oil cylinders 150. The oil pipe 160 is connected with the oil cylinder 150 through the branch pipe 190, and the valve 180 is arranged on the branch pipe 190. In this way, the two or more cylinders 150 can be respectively connected with the two or more finger stalls 200 in a transmission manner, and can drive the two or more finger stalls 200 to act, so that two or more sets of position output mechanisms 110 and oil storage bins 130 are not required, thereby simplifying the structure and saving electric power. In addition, the opening of the valve 180 is adjusted to adjust the flow rate of hydraulic oil entering the oil cylinder 150, so that the stress of fingers is independently controlled through the corresponding valve 180, and the stress conditions of different fingers are different, so that the stress conditions of the fingers under various postures can be simulated. Specifically, the valve 180 is an electrically controlled valve. The number of the cylinders 150, the valves 180 and the branch pipes 190 can be set to be 5 according to the number of fingers, so that the tension mechanism 100 for the virtual reality force control glove can synchronously control and simulate the stress condition of 5 fingers. In addition, the number of the cylinders 150, the valves 180 and the branch pipes 190 may be 3, so that the tension mechanism 100 for the virtual reality force control glove can synchronously control and simulate the stress condition of 3 fingers.
In one embodiment, referring to fig. 4-6, a glove for virtual reality force control comprises the tension mechanism 100, wherein the piston rod 170 is in driving connection with the finger cuff 200.
The above-mentioned glove for controlling virtual reality force, because of comprising the above-mentioned tension mechanism 100, has the beneficial effects of the tension mechanism 100, and will not be described herein.
Further, the glove for virtual reality force control further comprises an exoskeleton glove 300 and a linkage 400. The tension mechanism 100 is mounted on the exoskeleton glove 300. The link mechanism 400 is rotatably connected with the exoskeleton glove 300 and the piston rod 170, respectively, and the link mechanism 400 is also connected with the finger cuff 200. In this way, when the piston rod 170 acts, the linkage 400 is driven to rotate relative to the exoskeleton glove 300, so that the linkage 400 correspondingly pulls the finger cuff 200 to simulate the force of the finger in the virtual environment.
In one embodiment, the exoskeleton glove 300 is sleeved on the forearm, and the exoskeleton glove 300 is sleeved on the forearm instead of the back of the hand, so that the fingers can transmit the supporting force to the forearm instead of the back of the hand when performing the gripping action, and thus the back of the hand does not need to be subjected to the action force which is inconsistent with the actual situation. Optionally, exoskeleton glove 300 can also be placed over the back of the hand. Alternatively, the tension mechanism 100 may be attached to the game wear without the exo-skeletal glove 300.
Further, the exo-skeletal glove 300 includes a sleeve 310 and a guide plate 320. One end of the sleeve body 310 is connected with the guide plate 320, the other end of the sleeve body 310 is rotatably connected with the link mechanism 400, and the sleeve body 310 is used for being sleeved on the forearm. Thus, the guide plate 320 guides the hand to be conveniently inserted into the sleeve body 310, and the wearing is convenient. The position output mechanism 110, the pulling member 120, the oil reservoir 130, the oil pipe 160, the branch pipe 190, and the valve 180 may be attached to the plate surface of the guide plate 320, and the oil cylinder 150 may be provided above the upper surface of the housing 310. In order to save the space of the guide plate 320, a fixed pulley 330 may be disposed on the plate surface of the guide plate 320, and the pulling member 120 bypasses the fixed pulley 330 and then connects the position output mechanism 110 and the slider 140.
In one embodiment, referring to fig. 7 to 10, the linkage 400 includes a plurality of first links 410 and second links 420 connected in turn end to end. One of the first connecting rods 410 is rotatably connected with the exoskeleton glove 300 and the piston rod 170, the other first connecting rod 410 is rotatably connected with the second connecting rod 420 and the finger cuff 200, and the second connecting rod 420 is rotatably connected with the finger cuff 200.
Wherein, the number of finger cuffs 200 may be two or three, and two or three finger cuffs 200 are sequentially rotatably connected, a first link 410 is rotatably connected with one of the finger cuffs 200, and a second link 420 is rotatably connected with the other finger cuff 200.
In addition, the thumb, index finger, middle finger, ring finger, and little finger may be provided with the link mechanism 400 and the finger stall 200, respectively. Namely, the link mechanism 400 and the finger stall 200 are respectively and correspondingly arranged with the 5 oil cylinders 150 one by one, so that the stress conditions of the thumb, the index finger, the middle finger, the ring finger and the little finger can be respectively simulated.
Further, the glove for virtual reality force control further comprises a vibration generator 500. The vibration generator 500 is provided on the finger cuff 200. Thus, the finger touch can be simulated by adjusting the vibration frequency and the vibration intensity.
Further, the glove for virtual reality force control also includes force sensors 600. The force sensor 600 is disposed on the inside wall of the finger cuff 200. In this manner, the force of the finger can be sensed by the force sensor 600.
In addition, referring to fig. 5, 6 and 8, the glove for controlling virtual reality force further includes an inertial navigator 700 and a plurality of gyro sensors 800. The inertial navigator 700 and the gyro sensors 800 may be respectively disposed on the finger stall 200, the link mechanism 400, and the exoskeleton glove 300, so that the spatial position of the glove for virtual reality force control may be detected by the inertial navigator 700, and the finger gesture information and the finger position information may be obtained by the inertial navigator 700 and the gyro sensors 800, so as to perform real-time feedback on the finger gesture and the finger position, thereby realizing the position full-closed loop control.
In addition, the glove for virtual reality force control further includes a controller 900. The controller 900 is electrically connected to the position output mechanism 110, the valve 180, the vibration generator 500, the force sensor 600, the inertial navigator 700, and the gyro sensor 800, respectively. The controller 900 is in communication connection with the upper computer through a data transceiver.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A tension mechanism for a virtual reality force control glove, comprising:
the device comprises a position output mechanism, a traction piece, an oil storage bin and a sliding block, wherein the position output mechanism is connected with the traction piece, the traction piece is connected with the sliding block, the sliding block is slidably arranged in the oil storage bin and is in sealing fit with the oil storage bin, the position output mechanism is a motor or a steering engine, and the traction piece is an elastic traction piece;
the oil cylinder is communicated with the oil storage bin through the oil pipe, the piston rod is movably arranged in the oil cylinder, one end of the piston rod is provided with a piston head in sealing fit with the oil cylinder, and the other end of the piston rod is in transmission connection with the fingerstall;
the oil pipe is connected with the oil cylinder through the branch pipes, and the valves are arranged on the branch pipes.
2. The tension mechanism for a virtual reality force control glove of claim 1, wherein the entirety of the pulling member is an elastic cord.
3. The tension mechanism for a virtual reality force control glove according to claim 1, wherein the pulling member comprises an elastic member and two pull ropes respectively connected to two ends of the elastic member, one of the pull ropes is connected to the position output mechanism, and the other pull rope is connected to the slider.
4. The pull mechanism for a virtual reality force control glove of claim 1, wherein the valve is an electronically controlled valve.
5. A glove for virtual reality control comprising a finger cuff and a tension mechanism as claimed in any one of claims 1 to 4, the piston rod being drivingly connected to the finger cuff.
6. The glove for virtual reality force control of claim 5, further comprising an exoskeleton glove and a linkage, the tension mechanism being mounted on the exoskeleton glove, the linkage being rotatably coupled to the exoskeleton glove and the piston rod, respectively, the linkage also being coupled to the finger cuff.
7. The glove for virtual reality force control of claim 6, wherein the exoskeleton glove comprises a sleeve and a guide plate, one end of the sleeve is connected to the guide plate, the other end of the sleeve is rotatably connected to the linkage mechanism, and the sleeve is configured to be sleeved on the forearm.
8. The glove for virtual reality force control of claim 6, wherein the linkage mechanism comprises a plurality of first links and second links connected in turn end to end; one of the first connecting rods is rotatably connected with the exoskeleton glove and the piston rod respectively, the other first connecting rod is rotatably connected with the second connecting rod and the fingerstall respectively, and the second connecting rod is rotatably connected with the fingerstall.
9. The glove for virtual reality force control of claim 6, further comprising a vibration generator disposed on the fingerstall.
10. The glove for virtual reality force control of claim 6, further comprising a force sensor disposed on an inside wall of the finger cuff.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415828.1A CN108453762B (en) | 2018-05-03 | 2018-05-03 | Glove for virtual reality control and tension mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415828.1A CN108453762B (en) | 2018-05-03 | 2018-05-03 | Glove for virtual reality control and tension mechanism thereof |
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| Publication Number | Publication Date |
|---|---|
| CN108453762A CN108453762A (en) | 2018-08-28 |
| CN108453762B true CN108453762B (en) | 2023-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810415828.1A Active CN108453762B (en) | 2018-05-03 | 2018-05-03 | Glove for virtual reality control and tension mechanism thereof |
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| CN (1) | CN108453762B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110957160B (en) * | 2019-12-17 | 2021-12-24 | 上海摩勤智能技术有限公司 | Mounting structure of terminal side button |
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| Publication number | Publication date |
|---|---|
| CN108453762A (en) | 2018-08-28 |
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