CN111329489B

CN111329489B - Angle acquisition device, exoskeleton device of glove and glove

Info

Publication number: CN111329489B
Application number: CN202010156112.1A
Authority: CN
Inventors: 程二亭; 姚秀军; 桂晨光
Original assignee: Jingdong Technology Information Technology Co Ltd
Current assignee: Jingdong Technology Information Technology Co Ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2023-04-07
Anticipated expiration: 2040-03-09
Also published as: CN111329489A

Abstract

Embodiments of the present disclosure disclose an angle acquisition device, an exoskeleton device for a glove, and a glove. One specific embodiment of the angle acquisition device comprises: the magnetic circuit board comprises a circuit board, a rotating frame, a magnet and a support, wherein the rotating frame is hinged with the support; the magnet is fixed on the rotating frame; the circuit board is fixedly connected with the support and comprises a chip, and the chip and the magnet are arranged oppositely and used for responding to the magnetic field change of the magnet caused by the rotation of the rotating frame and acquiring an electric signal generated by the magnetic field change. This embodiment contributes to reducing the space consumption of the angle acquisition device as a whole.

Description

Angle acquisition device, exoskeleton device of glove and glove

Technical Field

The embodiment of the disclosure relates to the technical field of robots, in particular to an angle acquisition device, an exoskeleton device of gloves and the gloves.

Background

In practice, there are many scenarios that require collecting angles, for example, when the exoskeleton glove is used to treat finger motor dysfunction, it is necessary to collect the angles of fingers bending and stretching when the exoskeleton glove performs grabbing, holding, and other actions.

In the related art, the angle of the flexion and extension actions is generally acquired by using an integral encoder.

Disclosure of Invention

Embodiments of the present disclosure provide an angle acquisition device, an exoskeleton device of a glove, and a glove.

In a first aspect, an embodiment of the present disclosure provides an angle acquisition apparatus, including: the magnetic circuit board comprises a circuit board, a rotating frame, a magnet and a support, wherein the rotating frame is hinged with the support; the magnet is fixed on the rotating frame; the circuit board is fixedly connected with the support and comprises a chip, and the chip and the magnet are arranged oppositely and used for responding to the magnetic field change of the magnet caused by the rotation of the rotating frame and acquiring an electric signal generated due to the magnetic field change.

In some embodiments, the angle acquisition device further comprises: a bearing; and the support comprises a cavity, the bearing is fixed in the cavity, and the bearing is used for connecting the rotating frame and the support.

In some embodiments, the rotating frame is an interference fit with the bearing.

In some embodiments, the angle acquisition device further comprises: the device comprises a heightening column and a screw, wherein the heightening column is arranged between a support and a circuit board; the screw passes circuit board and bed hedgehopping post for fixed circuit board and support.

In some embodiments, the rotating frame includes mounting holes for mounting magnets, the magnets having an interference fit with the mounting holes.

In some embodiments, there is a spacing between the opposing surfaces of the magnet and the chip that is greater than or equal to 0.5 millimeters and less than or equal to 1 millimeter.

In some embodiments, the rotating frame is provided with a longitudinal pin shaft hole; and the angle acquisition device further comprises: the movable rod and the longitudinal pin shaft penetrate through the longitudinal pin shaft hole and are connected with the movable rod and the rotating frame, and the longitudinal pin shaft is used for responding to the movement of the movable rod and driving the rotating frame to rotate.

In some embodiments, the angle acquisition device further comprises: and the signal receiving board is electrically connected with the circuit board and is used for receiving the electric signal acquired by the chip of the circuit board and converting the electric signal into an angle.

In a second aspect, embodiments of the present disclosure provide an exoskeleton device for a glove including an angle acquisition device as described in any one of the embodiments of the first aspect above.

In a third aspect, embodiments of the present disclosure provide a glove comprising an exoskeleton device as in the second aspect above.

The exoskeleton device of the angle acquisition device and the glove provided by the embodiment of the disclosure comprise: the magnetic circuit board comprises a circuit board, a rotating frame, a magnet and a support, wherein the rotating frame is hinged with the support, so that the rotating frame can rotate relative to the support; the magnet is fixed on the rotating frame, and then the magnet can rotate along with the rotation of the rotating frame; circuit board and support fixed connection, the circuit board includes the chip, the chip sets up with magnet relatively, be used for responding to the rotatory magnetic field change that arouses magnet of swivel mount, acquire the signal of telecommunication that produces because magnetic field changes, wherein, the signal of telecommunication that obtains can be used for the rotatory angle of sign swivel mount, thereby the rotatory angle information of swivel mount can be gathered through magnet and circuit board to the angle collection device of this disclosure, compare in the scheme of gathering the angle through the encoder among the prior art, this disclosed angle collection device simple structure, magnet, the volume of structures such as circuit board is little, and then help reducing the holistic space consumption of angle collection device.

Drawings

Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1A shows a schematic structural diagram of one embodiment of an angle acquisition device according to the present disclosure;

FIG. 1B is a cross-sectional view of a partial structure of one embodiment of an angle acquisition device according to the present disclosure;

FIG. 1C is a schematic structural diagram of one embodiment of a circuit board in an angle acquisition device according to the present disclosure;

FIG. 2 is a schematic view of a partial structure of another embodiment of an angle acquisition device according to the present disclosure;

FIG. 3 illustrates a schematic structural view of one embodiment of an exoskeleton device for a glove according to the present disclosure;

FIG. 4 shows a schematic structural view of one embodiment of a glove according to the present disclosure.

Detailed Description

The present disclosure is described in further detail below with reference to the figures and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that, in the present disclosure, the embodiments and the features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1A shows a schematic structural diagram of one embodiment of an angle acquisition device according to the present disclosure. As shown in fig. 1A, the angle acquisition apparatus 100 may include a circuit board 101, a rotating frame 102, a magnet 103, and a support 104.

In this embodiment, the support 104 may be connected to the circuit board 101 and the rotating frame 102, respectively, for providing support for the circuit board 101 and the rotating frame 102.

In this embodiment, the rotating frame 102 may be hinged to the support 104, and the rotating frame 102 may rotate around the support 104.

Specifically, the rotating frame 102 may include a hinge portion 1021 for being hinged with the support 104 and a force receiving portion 1022 for receiving a rotating power. In practice, the rotating frame 102 can rotate about the base 104 by applying power at the position of the rotating portion 1022.

In this embodiment, the rotating frame 102 may be hinged to the support 104 in various ways. For example, the swivel 102 and the support 104 may be hinged by a hinge.

In some optional implementations of the present embodiment, the angle acquiring apparatus 100 may further include: a bearing 105, as shown in FIG. 1B; and the support 104 may include a cavity, the bearing 105 may be fixed in the cavity, and at the same time, the bearing 105 may be fixedly connected to the rotating frame 102, and thus, the rotating frame 102 and the support 104 may be hinged through the bearing 105.

In some alternative implementations of the present embodiment, the rotating frame 102 may have an interference fit with the

bearing

105, 105. Thereby, the bearing 102 and the rotating frame 102 can be tightly connected, and the stability of the angle acquisition apparatus 100 can be improved.

In addition, optionally, the support 104 may also be in interference fit with the bearing 105 to achieve tight connection between the support 104 and the bearing 105.

In this embodiment, the magnet 103 may be fixed to the rotating frame 102. Specifically, the magnet 103 may be fixed at any position of the rotating frame 102, and it is only necessary to ensure that the magnet 103 can be opposite to the circuit board 101 in the present embodiment. For example, as shown in fig. 1, the magnet 103 may be fixed in a circular hole included in the rotating frame 102 disposed opposite to the circuit board 101.

In this embodiment, the magnet 103 may be fixed to the rotating frame 102 in various manners, for example, the magnet 103 may be fixed to the rotating frame 102 using glue or the like.

In some optional implementations of the present embodiment, the rotating frame 102 may include a mounting hole for mounting the magnet 103, as shown in fig. 1, and the magnet 103 may be disposed in the mounting hole of the rotating frame 102 and be in interference fit with the mounting hole.

In this embodiment, the circuit board 101 may be fixedly connected to the support 104, and further, when the rotating frame 102 rotates relative to the support 104, the rotating frame 102 may also rotate relative to the circuit board 101. Here, the circuit board 101 may include a chip 1011.

Specifically, to more clearly characterize the structure of the circuit board 101 in the present embodiment, please refer to fig. 1C, fig. 1C is a schematic structural diagram of an embodiment of the circuit board in the angle acquisition apparatus according to the present disclosure, as shown in fig. 1C, the circuit board 101 may include a chip 1011. In addition, the circuit board 101 may include a threaded hole 1012 for fixing with the support 104.

Returning to fig. 1A, as shown in fig. 1A, the circuit board 101 in this embodiment may include a chip 1011 disposed opposite to the magnet 103, and further, the chip 1011 may sense the magnetic field change of the magnet 103 and generate an electrical signal. In the embodiment, since the magnet 103 may rotate along with the rotating frame 102, and the rotation of the magnet 103 may change the magnetic field of the magnet 103, the chip 1011 may be configured to obtain the electrical signal generated by the change of the magnetic field in response to the change of the magnetic field of the magnet 103 caused by the rotation of the rotating frame 102.

It is understood that the electrical signal is generated by the rotation of the magnet 103, and the electrical signal may correspond to the rotation angle of the magnet 103, i.e. the rotation angle of the rotating frame 102. Therefore, the electrical signal acquired by the chip 1011 can be used to represent the rotation angle of the rotating frame 102, and the electrical signal, that is, the angle information corresponding to the rotation angle of the rotating frame 102, is acquired.

It should be noted that, in order to prevent the magnet 103 from contacting the chip 1011 to cause abrasion when the rotating frame 102 rotates, in the present embodiment, a gap may exist between the surfaces of the magnet 103 opposite to the chip 1011. Here, the specific setting of the pitch may be preset by a technician.

In some optional implementations of this embodiment, the distance is greater than or equal to 0.5 mm and less than or equal to 1 mm. This range of pitches may be a range of pitches obtained by a skilled person through experimentation. In practice, by arranging the chip 1011 and the magnet 103 at an interval within the interval range, the chip 1011 can acquire an electric signal, and the overall space consumption of the angle acquisition apparatus 100 can be reduced.

It should be noted that in this embodiment, the relative position between the circuit board 101 and the rotating frame 102 may be any, for example, as shown in fig. 1, the circuit board 101 may be located above the rotating frame 102, and in addition, the circuit board 101 may also be located below the rotating frame 102, which is not limited in this disclosure, and only the magnet 103 on the rotating frame 102 and the chip 1011 included in the circuit board 101 need to be ensured to be arranged oppositely.

Specifically, the circuit board 101 may be fixedly connected to the support 104 in various manners. For example, a support plate may be provided on the support 104, and the circuit board 101 may be fixed on the support plate to achieve a fixed connection between the circuit board 101 and the support 104.

In some optional implementations of this embodiment, the angle capturing apparatus 100 may further include: a raised post 106 and a screw 107, as shown in fig. 1. Wherein the raised columns 106 may be disposed between the support 104 and the circuit board 101. Screws 107 may be passed through the circuit board 101 and the standoff 106 for securing the circuit board 101 and the standoff 104.

In this implementation, the number of the padding columns 106 and the number of the screws 107 may be arbitrary, and this implementation is not limited to this.

In some optional implementations of this embodiment, the angle capturing apparatus 100 may further include: a signal receiving board (not shown) that can be electrically connected (e.g., by wires) to the circuit board 101. The signal receiving board may be configured to receive the electrical signal acquired by the chip 1011 of the circuit board 101, and analyze and process the electrical signal to convert the electrical signal into an angle.

In practice, the correspondence between the angle and the electrical signal may be: the 1 degree is equal to two pulse signals, and then, based on the corresponding relation, the signal receiving board can convert the received electric signals into angles.

The angle acquisition apparatus 100 disclosed in the above embodiment of the present application includes: the magnetic circuit board comprises a circuit board, a rotating frame, a magnet and a support, wherein the rotating frame is hinged with the support, so that the rotating frame can rotate relative to the support; the magnet is fixed on the rotating frame, and then the magnet can rotate along with the rotation of the rotating frame; circuit board and support fixed connection, the circuit board includes the chip, the chip sets up with magnet relatively, be used for responding to the rotatory magnetic field change that arouses magnet of swivel mount, acquire the signal of telecommunication that produces because magnetic field changes, wherein, the signal of telecommunication that obtains can be used for the rotatory angle of sign swivel mount, thereby the rotatory angle information of swivel mount can be gathered through magnet and circuit board to the angle collection device of this disclosure, compare in the scheme of gathering the angle through the encoder among the prior art, this disclosed angle collection device simple structure, magnet, the volume of structures such as circuit board is little, and then help reducing the holistic space consumption of angle collection device.

Next, please continue to refer to fig. 2, which shows a schematic structural diagram 200 of a partial structure of another embodiment of the angle capturing apparatus according to the present disclosure. In this embodiment, the angle-acquiring device 200 may include a circuit board, a rotating frame, a magnet, a holder, a moving bar, and a longitudinal pin. It should be noted that, the implementation of the circuit board and the magnet in the embodiment corresponding to fig. 2 may refer to the embodiment corresponding to fig. 1. For clarity and specifically illustrating the added structure compared to the corresponding embodiment of fig. 1, only the rotating frame 201, the support 202, the moving rod 203 and the longitudinal pin 204 are shown in fig. 2, and the circuit board and the magnet are omitted.

In this embodiment, the rotating frame 201 may be provided with a longitudinal pin hole 2011, as shown in fig. 2, the longitudinal pin hole 2011 may rotate on the rotating plane along with the rotating frame 201. A longitudinal pin 204 may pass through a longitudinal pin hole 2011 in the rotating frame 201, connecting the moving bar 203 and the rotating frame 201, as shown in fig. 2. Therefore, if the moving rod 203 moves in the direction of the arrow shown in fig. 2, the linking longitudinal pin 204 can move in the longitudinal pin hole 2011, so as to rotate the rotating frame 201 in the rotating plane. It should be noted that the axial extension direction of the longitudinal pin 204 may be perpendicular to the rotation plane.

It should be noted that the pin may be a standardized fastener, and is mainly used at the hinge joint of two parts to form a hinge joint. The pin can play a role of relative movement with the connected piece. It is understood that in the present embodiment, the longitudinal pin 204 moves relative to the rotating frame 201.

In this embodiment, the connection manner between the rotating frame 201 and the support 202 can refer to the corresponding embodiment in fig. 1, and is not described herein again.

Compared with the angle acquisition device 100 corresponding to fig. 1, the angle acquisition device 200 provided by the above embodiment of the present application has the advantages that the two structures of the moving rod and the longitudinal pin shaft are added to the angle acquisition device 200 in the present embodiment, and the angle acquisition device in the present embodiment can be applied to acquisition of moving information by adding the two structures. Specifically, it can be understood that the movement of the moving rod in this embodiment corresponds to the rotation of the rotating frame, and further the movement distance of the moving rod corresponds to the rotation angle of the rotating frame, so the rotation angle can be used for representing the movement distance of the moving rod, and collecting the rotation angle of the rotating frame is equivalent to collecting the movement distance of the moving rod, and further, for a scene where the movement distance of the moving rod is inconvenient to collect, the movement information of the moving rod can be collected through the angle collecting device of this embodiment.

The application also discloses an exoskeleton device of a glove, as shown in fig. 3. Wherein, the exoskeleton device of the glove can comprise the angle acquisition device. Specifically, the angle acquisition device in the exoskeleton device 300 of the glove is a structure which can be circled by a dotted line in fig. 3.

It should be noted that the exoskeleton device of the glove may further comprise other known structures, such as a frame plate, an exoskeleton and the like, besides the angle acquisition device. Such well-known structures will not be further described in order not to obscure the focus of the present application.

The application also discloses a glove, as shown in fig. 4. Glove 400 may include, among other things, an exoskeleton device as the glove above. It will be appreciated by those skilled in the art that the glove may comprise, in addition to the exoskeleton device, other known structures such as sensors, a wearable portion corresponding to the wrist. Such well-known structures will not be further described in order not to obscure the focus of the present application.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) the features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. An angle acquisition device comprising: circuit board, swivel mount, magnet and support, wherein,

the rotating frame is hinged with the support;

the magnet is fixed on the rotating frame;

the circuit board is fixedly connected with the support and comprises a chip, and the chip is arranged opposite to the magnet and used for responding to the change of the magnetic field of the magnet caused by the rotation of the rotating frame and acquiring an electric signal generated by the change of the magnetic field.

2. The angle acquisition apparatus according to claim 1, wherein the angle acquisition apparatus further comprises: a bearing; and

the support comprises a cavity, the bearing is fixed in the cavity, and the bearing is used for connecting the rotating frame and the support.

3. The angle acquisition device of claim 2, wherein the rotating frame is an interference fit with the bearing.

4. The angle acquisition apparatus according to claim 1, wherein the angle acquisition apparatus further comprises: a heightening column and a screw, wherein,

the heightening column is arranged between the support and the circuit board;

the screw penetrates through the circuit board and the heightening column and is used for fixing the circuit board and the support.

5. The angle acquisition device of claim 1, wherein the rotating frame comprises a mounting hole for mounting the magnet, and the magnet is in interference fit with the mounting hole.

6. The angle acquisition apparatus according to claim 1, wherein a space exists between two opposing surfaces of the magnet and the chip, the space being greater than or equal to 0.5 mm and less than or equal to 1 mm.

7. The angle acquisition device according to claim 1, wherein a longitudinal pin hole is provided on the rotating frame; and

the angle acquisition device further comprises: a movable rod and a longitudinal pin, wherein,

the longitudinal pin shaft penetrates through the longitudinal pin shaft hole and is connected with the moving rod and the rotating frame, and the longitudinal pin shaft is used for responding to the movement of the moving rod and driving the rotating frame to rotate.

8. The angle acquisition apparatus according to one of claims 1 to 7, wherein the angle acquisition apparatus further comprises: and the signal receiving board is electrically connected with the circuit board and is used for receiving the electric signals acquired by the chip of the circuit board and converting the electric signals into angles.

9. An exoskeleton device for a glove comprising an angle acquisition device as claimed in any one of claims 1 to 8.

10. A glove comprising the exoskeleton device of the glove of claim 9.