CN202895235U - Subordinate hand arm control device with bi-directional force feedback - Google Patents

Subordinate hand arm control device with bi-directional force feedback Download PDF

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Publication number
CN202895235U
CN202895235U CN 201220627918 CN201220627918U CN202895235U CN 202895235 U CN202895235 U CN 202895235U CN 201220627918 CN201220627918 CN 201220627918 CN 201220627918 U CN201220627918 U CN 201220627918U CN 202895235 U CN202895235 U CN 202895235U
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CN
China
Prior art keywords
arm
forearm
retainer ring
fixed
joint
Prior art date
Application number
CN 201220627918
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Chinese (zh)
Inventor
苏茂
Original Assignee
苏茂
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Application filed by 苏茂 filed Critical 苏茂
Priority to CN 201220627918 priority Critical patent/CN202895235U/en
Application granted granted Critical
Publication of CN202895235U publication Critical patent/CN202895235U/en

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Abstract

The utility model discloses a subordinate hand arm control device with bi-directional force feedback, and relates to a force feedback subordinate hand arm control device which is used for detecting the motion state of a hand arm and has subordinate hand stress bi-directional initiative driving feedback. The subordinate hand arm control device with the bi-directional force feedback aims to overcome the defects that an existing mechanical arm or a dummy arm is complex in control system, bloated in structure, hard to maintain, and high in price, and can not achieve bi-directional imitative driving and the like. The subordinate hand arm control device with the bi-directional force feedback combines a joint detecting mechanism and a force feedback mechanism into a whole, a unique connection mode and an ingenious joint measurement point distribution are adopted, and when an operator uses the device, the arms of the operator can maintain maximum flexibility, motion states of each joint of the arm can all be accurately detected, each arm joint of the controlled subordinate hand is enabled to move collaboratively and congruously with the corresponding arm of the operator, and the stress situations of the subordinate hand in specific working environment are enabled to be fed back to the operator so as to enhance the sense of immediacy of a virtual reality operation or a remote operation.

Description

Bilateral force feedback is from hand arm control device
Technical field
The utility model relates to a kind of detection staff arm motion state, and the force feedback function with two-way active drive is from hand arm control device.
Background technology
Because the development of science and technology, robot is used in increasing scope gradually, teleoperation robot is widely used in working in the environment various danger, the situation complexity, that the mankind can't arrive as the robot of a kind of dependable performance, technology maturation, what it adopted is very reliable control mode, directly sends instruction by the operator and controls.Carrying out along with teleoperation robot of task becomes increasingly complex, so that people are when pursuing reliability, also its flexibility is had higher requirement, and to implement distant operation to the manipulator of complexity, the control together coordinated movement of various economic factors of a plurality of joints of manipulator arm, to realize specific function, this just need to use the manipulator arm control device, and what have force feedback function is the efficient apparatus of the manipulator of robot being implemented distant operation from hand arm control device, it follows the tracks of the staff arm motion by the positional information in each joint of measure operator arm as the arm of control instruction control manipulator, and the stressing conditions of each joint of manipulator arm in motion process can simulated from hand arm control device, act on operator's the arm, make the operator produce very strong telepresenc.In addition, virtual reality interaction technique development in recent years, bilateral force feedback can be used as a kind of main interactive device from hand arm control device, participate in the structure of virtual reality interactive system, for example in a scene by computer virtual, the operator from the virtual staff dismounting of hand arm control device control a pair of or put together machines etc., also has remote operation, game, 3D cartoon making etc. to need to use bilateral force feedback from hand arm control device by bilateral force feedback.Force feedback arm control system in the market is complicated, and is bulky, and price is very expensive, makes it can't popularize in a large number, promote and use.
Summary of the invention
The purpose of this utility model is, system complex expensive from hand arm control device for existing force feedback, the shortcoming such as bulky, difficult in maintenance, a kind of external framework type structure has been proposed, angular transducer and joint active driving device are combined as a whole, when detecting staff arm joint movable information, also the power visual information that feeds back is changed into the method that power or moment directly act on the staff arm, greatly simplified complicated force feedback from hand arm control system.The utility model be for computer, the interactive equipment such as manipulator, by the gloves pedestal, wrist and forearm motion detection driving mechanism, ancon and humeral movement detect driving mechanism, head movement detects driving mechanism and forms, the gloves pedestal is fixed on the staff palm part, wrist and forearm motion detection driving mechanism are fixed on the position of close wrist joint on the forearm, ancon and humeral movement detect the position that driving mechanism is fixed on close arm ancon joint on the upper arm, head movement detects driving mechanism and is fixed on shoulder joint position corresponding to human body back, and the mechanism between each position is hinged by the connecting rod order.The utility model uses the fixedly detection of joints driving mechanism on upper arm and the forearm of airing form, makes its wearing and fixes conveniently, and it is more accurate to measure.The utility model has added arrangement of clutch in the driver part in joint, when there is force feedback signal in system, electric machine rotation also connects arrangement of clutch and drives driven joint, the motion in this joint is applied the effect of power, when system does not have force feedback signal, motor stops operating and being connected of disconnection and arrangement of clutch, and has reduced and reduced the resistance of joint motions, makes the motion in joint more smooth and easy.Bilateral force feedback detects each joint of arm from hand arm control device movement angle is measured by corresponding mathematical algorithm by being arranged on the device corresponding angular transducer, all joints all are provided with independently driver part on the decomposition direction of its direction of motion or compound movement, each driver part again with driven joint on corresponding angular transducer cooperating form closed-loop control, with the realizable force FEEDBACK CONTROL and improve its accuracy.The motion, forearm that the utility model can detect staff wrist joint in three dimensions accurately, delicately is around the motion in the rotatablely moving of its axis, ancon joint, the upper arm motion around the rotatablely moving of its axis, shoulder joint, and the force feedback function that each joint is had two-way active drive, this installation cost is low, use simple, it is convenient to dress, and easily safeguards.
Description of drawings
Fig. 1 is the integrally-built shaft side figure of the utility model.
Fig. 2 is the integrally-built lower view of the utility model
Fig. 3 is the structural representation that device fixed mechanism 100 and head movement detect driving mechanism 101.
Fig. 4 is the structural representation of detection of joints driver part 105-1,105-2,105-3,105-4,105-5,105-6.
Fig. 5 is the shaft side figure that ancon and humeral movement detect driving mechanism 102.
Fig. 6 is the structural representation that ancon and humeral movement detect driving mechanism 102.
Fig. 7 is the shaft side figure of upper arm retainer ring 106.
Fig. 8 is the axonometric drawing of wrist and forearm motion detection driving mechanism 103.
Fig. 9 is the structural representation of wrist and forearm motion detection driving mechanism 103.
Figure 10 is the structural representation that wrist joint detects driver part 108-1,108-2.
Figure 11 is the shaft side figure of forearm retainer ring 107.
Figure 12 is the structural representation of gloves pedestal 104.
The specific embodiment
The utility model main parts size:
100. device fixed mechanism 101. head movements detect driving mechanism 102. ancons and humeral movement detects driving mechanism
103. wrist and forearm motion detection driving mechanism 104. gloves pedestals 105. detection of joints driver parts
106. upper arm retainer ring 107. forearm retainer rings 108. wrist joints detect driver part
1. back fixed pedestal 2. back base supports bars 9. upper arm slip ring tops
10. upper arm slip ring bottom 11. upper arm fixed ring gear 15. angular transducers
16. arrangement of clutch 17. motors 19. forearm slip ring tops
20. forearm slip ring bottom 24. forearm fixed ring gear, 28. micromachines
31. rotating connector 32. palm pedestals 33. gloves
The specific embodiment one: such as Fig. 1, Fig. 2, Fig. 3, Fig. 5 and shown in Figure 8, described bilateral force feedback comprises that from hand arm control device device fixed mechanism 100, head movement detect driving mechanism 101, ancon and humeral movement and detect driving mechanism 102, wrist and forearm motion detection driving mechanism 103, gloves pedestal 104.Described gloves pedestal 104 is dressed and is fixed on the operator on hand, pass through two-stage connecting rod 21 with wrist and forearm motion detection driving mechanism 103,22 is hinged, described wrist and forearm motion detection driving mechanism 103 are fixed on the position of close wrist joint on operator's forearm, detect driving mechanism 102 by two-stage connecting rod 6 with ancon and humeral movement, 7 is hinged, described ancon and humeral movement detect the position that driving mechanism 102 is fixed on close arm ancon joint on operator's upper arm, detect driving mechanism 101 by two-stage connecting rod 3 with head movement, 4 is hinged, described head movement detects driving mechanism 101 and is fixed on the device fixed mechanism 100, described device fixed mechanism 100 is fixed on shoulder joint position corresponding to operator's back, and described head movement detects the affixed position of driving mechanism 101 and device fixed mechanism 100 corresponding to operator's shoulder joint position.Bilateral force feedback drives by detection of joints driver part 105-1,105-2,105-3,105-4,105-5,105-6 and wrist joint detection driver part 108-1,108-2 enforcement from detection and the force feedback of hand arm control device to each joint motions of operator's arm.
The specific embodiment two: such as Fig. 3, Fig. 4, Fig. 5 and shown in Figure 8, described detection of joints driver part 105-1,105-2,105-3,105-4,105-5,105-6 comprise angular transducer 15, motor 17, arrangement of clutch 16, shell 12,13,14, power transmission shaft 18.Described arrangement of clutch 16 is by train of reduction gears engagement and power transmission shaft 18 interlocks, and described power transmission shaft 18 links by gear and angular transducer 15, and described motor 17 and arrangement of clutch 16 have and be connected and disconnect two kinds of duties.The action implementation process: when motor 17 rotated, arrangement of clutch 16 was connected with motor 17, and motor 17 drives power transmission shaft 18 by arrangement of clutch 16 and train of reduction gears and rotates, and power transmission shaft 18 rotates by gear driven angular transducer 15; When motor 17 stops operating, the disconnection that is connected of arrangement of clutch 16 and motor 17,18 of power transmission shafts and potentiometer 15 interlocks.
Such as Fig. 8 and shown in Figure 10, described wrist joint detects driver part 108-1,108-2 and comprises angular transducer 15, micromachine 28, arrangement of clutch 29, shell 26,27, power transmission shaft 30.Described arrangement of clutch 29 is by train of reduction gears engagement and power transmission shaft 30 interlocks, and described power transmission shaft 30 is affixed with angular transducer 15, and described micromachine 28 and arrangement of clutch 29 have and be connected and disconnect two kinds of duties.The action implementation process: when micromachine 28 rotated, arrangement of clutch 29 was connected with micromachine 28, and micromachine 28 drives power transmission shaft 30 by arrangement of clutch 29 and train of reduction gears and rotates, power transmission shaft 30 and angular transducer 15 interlocks; When micromachine 28 stops operating, the disconnection that is connected of arrangement of clutch 29 and micromachine 28,30 of power transmission shafts and potentiometer 15 interlocks.
The specific embodiment three: such as Fig. 1, Fig. 2 and shown in Figure 3, described device fixed mechanism 100 comprises back fixed pedestal 1 and back base supports bar 2, described back fixed pedestal 1 is fixed on operator's the back, described back fixed pedestal 1 comprises A, two joint measurment platforms of B, its position corresponds respectively to the position of operator's both shoulders shoulder joint, and the two ends of described back base supports bar 2 are affixed with two measuring tables of A, B of back fixed pedestal 1 respectively.Described head movement detects driving mechanism 101 and comprises detection of joints driver part 105-1,105-2, connecting rod 3,4, insulated column 5, described detection of joints driver part 105-1 is fixed in an end of back base supports bar 2, affixed position is corresponding to measuring table A, axis and the A of the power transmission shaft 18 of described detection of joints driver part 105-1, the line at two measuring table centers of B is parallel, the power transmission shaft 18 of the base C of described detection of joints driver part 105-2 and detection of joints driver part 105-1 is affixed, the axis of the power transmission shaft 18 of described detection of joints driver part 105-1 and detection of joints driver part 105-2 is orthogonal, one end of described two connecting rods 3 is affixed with power transmission shaft 18 two ends of detection of joints driver part 105-2 respectively, the other end of described two connecting rods 3 is hinged with an end of two connecting rods 4 respectively, and described connecting rod 3 and connecting rod 4 hinged places are equipped with insulated column 5.
Such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, described ancon and humeral movement detect driving mechanism 102 and comprise detection of joints driver part 105-3,105-4,105-5, upper arm retainer ring 106, upper arm slip ring top 9, upper arm slip ring bottom 10, upper arm fixed ring gear 11, connecting rod 6,7, insulated column 5.The shell D of described upper arm retainer ring 106 is hard material, platform E is fixed on the shell D, the inboard pneumatic element F of described upper arm retainer ring 106 is inflatable quality of rubber materials, valve G is fixed on the shell D, described detection of joints driver part 105-5 is fixed on the platform E of upper arm retainer ring 106 by screw, the axis of the power transmission shaft 18 of described detection of joints driver part 105-5 is perpendicular to the axis of upper arm retainer ring 106, and be parallel to the upper surface of platform E, one end of described two connecting rods 6 is affixed with power transmission shaft 18 two ends of detection of joints driver part 105-5 respectively, the other end of described two connecting rods 6 is hinged with an end of two connecting rods 7 respectively, and described connecting rod 6 and connecting rod 7 hinged places are equipped with insulated column 5.Described upper arm fixed ring gear 11 is fixed on the shell D of upper arm retainer ring 106, the dead in line of the axis of described upper arm fixed ring gear 11 and upper arm retainer ring 106, described upper arm slip ring top 9 is installed on the shell D of upper arm retainer ring 106, the annulus axis on described upper arm slip ring top 9 and the dead in line of upper arm retainer ring 106, described upper arm fixed ring gear 11 places in the annulus groove on upper arm slip ring top 9, described upper arm slip ring bottom 10 is installed on the shell D of upper arm retainer ring 106, the annulus axis of described upper arm slip ring bottom 10 and the dead in line of upper arm retainer ring 106, described upper arm fixed ring gear 11 places in the annulus groove of upper arm slip ring bottom 10, the two ends of described upper arm slip ring top 9 and upper arm slip ring bottom 10 are by complete annulus of the affixed formation of screw, rotatablely moving with respect to upper arm retainer ring 106 can around the axis of upper arm retainer ring 106, be done along the surface of upper arm retainer ring 106 in described upper arm slip ring top 9 and upper arm slip ring bottom 10.The base C of described detection of joints driver part 105-3 is articulated in the hole N on upper arm slip ring top 9 by turning cylinder 8, perpendicular to the axis of the power transmission shaft 18 of the axis of upper arm retainer ring 106 and detection of joints driver part 105-3, described detection of joints driver part 105-3 rotates take turning cylinder 8 as axis simultaneously for the axis of described turning cylinder 8.The base C of described detection of joints driver part 105-4 is fixed in the plane R on upper arm slip ring top 9 by screw, the axis of the power transmission shaft 18 of described detection of joints driver part 105-4 is parallel with the axis of upper arm retainer ring 106, the power transmission shaft 18 of described detection of joints driver part 105-4 is affixed with gear 25, described gear 25 and 11 engagements of upper arm fixed ring gear.Power transmission shaft 18 two ends of described detection of joints driver part 105-3 are affixed with an end of two connecting rods 4 respectively.
The action implementation process: operator's upper arm is before penetrating upper arm retainer ring 106, the inboard pneumatic element F of upper arm retainer ring 106 discharges gas, make the internal diameter of upper arm retainer ring 106 greater than the diameter of operator's upper arm, after operator's upper arm penetrates upper arm retainer ring 106, between upper arm retainer ring 106 and operator's the upper arm space is arranged, adjusting the position makes upper arm retainer ring 106 be in the position in close arm ancon joint on operator's upper arm, then the valve G by upper arm retainer ring 106 is filled with gas to the inboard pneumatic element F of upper arm retainer ring 106, make its expansion, fill up space between the inner and operator's upper arm of upper arm retainer ring 106 and extrusion operation person's upper arm, make upper arm retainer ring 106 can be fixed on operator's upper arm.When operator's upper arm when shoulder to the axis of ancon rotates, upper arm retainer ring 106 and upper arm fixed ring gear 11 are followed together and are rotated, upper arm slip ring top 9 and upper arm slip ring bottom 10 are static with respect to upper arm retainer ring 106, then upper arm fixed ring gear 11 detects the power transmission shaft 18 of driver part 105-4 by meshed gears 25 driving joints, power transmission shaft 18 drives angular transducer 15 by meshed gears, make the sensor 15 of detection of joints driver part 105-4 can detect angle and the state that operator's upper arm rotates, when control system during without force feedback signal, then the motor 17 of detection of joints driver part 105-4 does not rotate, operator's upper arm rotates interference-free, when control system has force feedback signal, then the motor 17 of detection of joints driver part 105-4 rotates, power transmission shaft 18 outputting powers of detection of joints driver part 105-4, drive upper arm fixed ring gear 11 by affixed gear 25, apply one in the same way or reverse driving force in its direction of motion, the simultaneously variation of operator's upper arm anglec of rotation of detecting according to the angular transducer 15 of detection of joints driver part 105-4 again of control system, use corresponding mathematical algorithm to revise constantly the size and Orientation of this driving force, promote or hinder the rotation of operator's upper arm, realize the force feedback function of these joint motions.The human body upper arm can one way or another swings in order to fix a point within the specific limits with shoulder, when operator's upper arm swings towards either direction, the axis of the power transmission shaft 18 of the axis of the power transmission shaft 18 of detection of joints driver part 105-2 and detection of joints driver part 105-3 remains and is parallel to each other, but the air line distance between the two axial lines can change with operator's upper arm swing, make hinged connecting rod 3, relatively rotate between 4, rotate thereby drive with the power transmission shaft 18 of the affixed detection of joints driver part 105-2 of connecting rod 3 with the power transmission shaft 18 of the affixed detection of joints driver part 105-3 of connecting rod 4, while detection of joints driver part 105-2,105-3 is respectively around the separately axis rotation of the affixed parts of base C, the power transmission shaft 18 of the detection of joints driver part 105-1 that driving and detection of joints driver part 105-2 base C are affixed rotates, detection of joints driver part 105-1,105-2, the power transmission shaft 18 of 105-3 rotates and drives angular transducer 15 separately, the data that system detects according to 3 angular transducers 15 calculate angle and the state of the upper arm swing of operator, when control system during without force feedback signal, detection of joints driver part 105-1 then, 105-2, the motor 17 of 105-3 does not rotate, operator's upper arm swing is interference-free, when control system has force feedback signal, detection of joints driver part 105-1 then, 105-2, the motor 17 of 105-3 rotates, detection of joints driver part 105-1,105-2, the power transmission shaft 18 of 105-3 is outputting power respectively, apply one in the same way or reverse driving force in separately the direction of motion, control system is again according to detection of joints driver part 105-1 simultaneously, 105-2, the variation of operator's upper arm pendulum angle that the angular transducer 15 of 105-3 detects, use corresponding mathematical algorithm to revise constantly the size and Orientation of this driving force, promote or hinder the swing of operator's upper arm, realize the force feedback function of these joint motions.
The specific embodiment four: such as Fig. 1, Fig. 2, Fig. 4, Fig. 5, Fig. 8, Fig. 9, Figure 10 and shown in Figure 11, described wrist and forearm motion detection driving mechanism 103 comprise detection of joints driver part 105-6, wrist joint detects driver part 108-1,108-2, forearm retainer ring 107, forearm slip ring top 19, forearm slip ring bottom 20, forearm fixed ring gear 24, connecting rod 21,22, insulated column 23.The shell J of described forearm retainer ring 107 is hard material, platform K is fixed on the shell J, the inboard pneumatic element L of described forearm retainer ring 107 is inflatable quality of rubber materials, valve M is fixed on the shell J, the base H that described wrist joint detects driver part 108-2 is fixed on the platform K of forearm retainer ring 107 by screw, the axis of the power transmission shaft 30 of described wrist joint detection driver part 108-2 is perpendicular to the axis of forearm retainer ring 107 and the upper surface of platform K, the power transmission shaft 30 that the base H of described wrist joint detection driver part 108-1 and wrist joint detect driver part 108-2 is affixed, the axis of the power transmission shaft 30 of described wrist joint detection driver part 108-1 detects the axis of the power transmission shaft 30 of driver part 108-2 perpendicular to wrist joint, the power transmission shaft 30 of one end of described connecting rod 21 and wrist joint detection driver part 108-1 is affixed, and an end of the other end of described connecting rod 21 and connecting rod 22 is hinged.Described forearm fixed ring gear 24 is fixed on the shell J of forearm retainer ring 107, the dead in line of the axis of described forearm fixed ring gear 24 and forearm retainer ring 107, described forearm slip ring top 19 is installed on the shell J of forearm retainer ring 107, the annulus axis on described forearm slip ring top 19 and the dead in line of forearm retainer ring 107, described forearm fixed ring gear 24 places in the annulus groove on forearm slip ring top 19, described forearm slip ring bottom 20 is installed on the shell J of forearm retainer ring 107, the annulus axis of described forearm slip ring bottom 20 and the dead in line of forearm retainer ring 107, described forearm fixed ring gear 24 places in the annulus groove of forearm slip ring bottom 20, the two ends of described forearm slip ring top 19 and forearm slip ring bottom 20 are by complete annulus of the affixed formation of screw, rotatablely moving with respect to forearm retainer ring 107 can around the axis of forearm retainer ring 107, be done along the surface of forearm retainer ring 107 in described forearm slip ring top 19 and forearm slip ring bottom 20.The base C of described detection of joints driver part 105-6 is fixed in the plane P on forearm slip ring top 19 by screw, the axis of the power transmission shaft 18 of described detection of joints driver part 105-6 is parallel with the axis of forearm retainer ring 107, the power transmission shaft 18 of described detection of joints driver part 105-6 is affixed with gear 25, described gear 25 and 24 engagements of forearm fixed ring gear.One end of described two connecting rods 7 is articulated in respectively the two ends, S hole on forearm slip ring top 19 by screw, the line of two pin joints is perpendicular to the annulus axis on forearm slip ring top 19.The action implementation process: operator's forearm is before penetrating forearm retainer ring 107, the inboard pneumatic element L of forearm retainer ring 107 discharges gas, make the internal diameter of forearm retainer ring 107 greater than the diameter of operator's forearm, after operator's forearm penetrates forearm retainer ring 107, between forearm retainer ring 107 and operator's the forearm space is arranged, adjusting the position makes forearm retainer ring 107 be in the position of close wrist joint on operator's forearm, then the valve M by forearm retainer ring 107 is filled with gas to the inboard pneumatic element L of forearm retainer ring 107, make its expansion, fill up space between the inner and operator's forearm of forearm retainer ring 107 and extrusion operation person's forearm, make forearm retainer ring 107 can be fixed on operator's forearm.When operator's forearm when ancon to the axis of wrist rotates, forearm retainer ring 107 and forearm fixed ring gear 24 are followed together and are rotated, forearm slip ring top 19 and forearm slip ring bottom 20 are static with respect to forearm retainer ring 107, then forearm fixed ring gear 24 detects the power transmission shaft 18 of driver part 105-6 by meshed gears 25 driving joints, power transmission shaft 18 drives angular transducer 15 by meshed gears, make the sensor 15 of detection of joints driver part 105-6 can detect angle and the state that operator's forearm rotates, when control system during without force feedback signal, then the motor 17 of detection of joints driver part 105-6 does not rotate, operator's forearm rotation is interference-free, when control system has force feedback signal, then the motor 17 of detection of joints driver part 105-6 rotates, power transmission shaft 18 outputting powers of detection of joints driver part 105-6, drive forearm fixed ring gear 24 by affixed gear 25, apply one in the same way or reverse driving force in its direction of motion, the simultaneously variation of operator's forearm anglec of rotation of detecting according to the angular transducer 15 of detection of joints driver part 105-6 again of control system, use corresponding mathematical algorithm to revise constantly the size and Orientation of this driving force, promote or hinder the rotation of operator's forearm, realize the force feedback function of these joint motions.Human body forearm can be done flexion and extension within the specific limits take ancon as fixed point, when operator's front bending and stretching of the arms, forearm retainer ring 107 is followed together motion, make hinged connecting rod 6,7 relatively rotate, thereby the power transmission shaft 18 that drives with the affixed detection of joints driver part 105-5 of connecting rod 6 rotates, make the angular transducer 15 of detection of joints driver part 105-5 can detect angle and the state of bending and stretching of the arms before the operator, when control system during without force feedback signal, then the motor 17 of detection of joints driver part 105-5 does not rotate, operator's front bending and stretching of the arms is interference-free, when control system has force feedback signal, then the motor 17 of detection of joints driver part 105-5 rotates, power transmission shaft 18 outputting powers of detection of joints driver part 105-5, apply one in the same way or reverse driving force in its direction of motion, the simultaneously variation of bending and stretching of the arms angle before the operator that detects according to the angular transducer 15 of detection of joints driver part 105-5 again of control system, use corresponding mathematical algorithm to revise constantly the size and Orientation of this driving force, bending and stretching of promotion or obstruction operator forearm realized the force feedback function of these joint motions.
The specific embodiment five: such as Fig. 1, Fig. 2, Fig. 8, Figure 10 and shown in Figure 12, described gloves pedestal 104 comprises turning cylinder 8, rotating connector 31, palm pedestal 32, gloves 33.Described gloves 33 are fixed on the operator on hand by the wearing mode, described palm pedestal 32 is fixed on the palm back position of gloves 33 correspondences, described turning cylinder 8 is fixed in palm pedestal 32, the axis of described turning cylinder 8 is vertical with facies palmaris, described rotating connector 31 is articulated in hole U with turning cylinder 8, the hole T of described rotating connector 31 is hinged by screw and connecting rod 22, and the hole T axis of described rotating connector 31 is perpendicular to the axis of turning cylinder 8.The action implementation process: the staff palm can one way or another swings in order to fix a point within the specific limits with wrist joint, when operator's palm swings towards either direction, the axis of the power transmission shaft 30 of wrist joint detection driver part 108-1 and the hole T axis of rotating connector 31 remain and are parallel to each other, but the air line distance between the two axial lines can swing with operator's palm and change, make hinged connecting rod 21, relatively rotate between 22, thereby driving the power transmission shaft 30 that detects driver part 108-1 with the affixed wrist joint of connecting rod 21 rotates, wrist joint detects driver part 108-1 around the axis rotation of the affixed parts of its base H simultaneously, drive with wrist joint and detect power transmission shaft 30 rotations that the affixed wrist joint of driver part 108-1 base H detects driver part 108-2, wrist joint detects driver part 108-1, the angular transducer 15 that the power transmission shaft 30 of 108-2 rotates and drives separately rotates, the data that system detects according to two angular transducers 15 calculate angle and the state that operator's palm swings, when control system during without force feedback signal, then wrist joint detects driver part 108-1, the motor 28 of 108-2 does not rotate, operator's wrist swinging is interference-free, when control system has force feedback signal, then wrist joint detects driver part 108-1, the motor 28 of 108-2 rotates, wrist joint detects driver part 108-1, the power transmission shaft 30 of 108-2 is outputting power respectively, apply one in the same way or reverse driving force in separately the direction of motion, control system detects driver part 108-1 according to wrist joint more simultaneously, the variation of operator's palm pendulum angle that the angular transducer 15 of 108-2 detects, use corresponding mathematical algorithm to revise constantly the size and Orientation of this driving force, promote or hinder the swing of operator's palm, realize the force feedback function of these joint motions.
As another example of the present utility model, also can replace angular transducer with other sensors, can play equally and detect the staff position of each joint of arm in three dimensions and the purpose of motion state, realize purpose of the present invention.
As another example of the present utility model, also can save the link of clutch apparatus 16 and 29, allow the drive motors 17 and 28 that is connected with travelling gear directly drive train of reduction gears and power transmission shaft 18,30, can play to the joint equally the effect of the power of applying, realize purpose of the present invention.
As another example of the present utility model, the detection of any one among detection of joints driver part 105-2 and the detection of joints driver part 105-3 can be driven function removes, make its power transmission shaft 18 be equal to common turning cylinder, another remaining detection of joints driver part cooperates angle and the state that can detect equally the upper arm swing of operator with detection of joints driver part 105-1, and the swing of promotion or obstruction operator upper arm, realize the force feedback function of these joint motions, realize purpose of the present invention.
In the situation that principle of the present invention is suffered damage, the details of above-mentioned formation and the specific embodiment only are as example and illustrated thing, and it can not depart from the scope of the present invention and extensively change, and these all belong within the protection of the present invention.

Claims (9)

1. a bilateral force feedback is from hand arm control device, be used for and computer, the interactive device of manipulator, formed by device fixed mechanism (100), head movement detection driving mechanism (101), ancon and humeral movement detection driving mechanism (102), wrist and forearm motion detection driving mechanism (103), gloves pedestal (104);
It is characterized in that:
This device is fixed on the shoulder joint position of operator's arm and back;
Gloves pedestal (104) is fixed on the operator on hand by the wearing mode, pass through two-stage connecting rod (21 with wrist and forearm motion detection driving mechanism (103), 22) hinged, wrist and forearm motion detection driving mechanism (103) use airing form to be fixed on the position of close wrist joint on operator's forearm, detect driving mechanism (102) by two-stage connecting rod (6 with ancon and humeral movement, 7) hinged, ancon and humeral movement detect driving mechanism (102) and use airing form to be fixed on the position in close arm ancon joint on operator's upper arm, detect driving mechanism (101) by two-stage connecting rod (3 with head movement, 4) hinged, head movement detects driving mechanism (101) and is fixed on the device fixed mechanism (100), and head movement detects driving mechanism (101) position affixed with installing fixed mechanism (100) corresponding to operator's shoulder joint position;
This device drives by the detection of joints driver part (105-1 that is installed on each hinged place, joint detection and the force feedback of each joint motions of operator's arm, 105-2,105-3,105-4,105-5,105-6) detect driver part (108-1 with wrist joint, 108-2) implement, detection of joints driver part (105-1,105-2,105-3,105-4,105-5,105-6) detect driver part (108-1 with wrist joint, 108-2) inner angular transducer (15) and the drive motors (17 that detects joint action that all be equipped with, 28), can in the angle that detects each joint motions of arm and state, apply as required the effect realizable force FEEDBACK CONTROL of power to it.
2. bilateral force feedback according to claim 1 is from hand arm control device, it is characterized in that: described device fixed mechanism (100) and head movement detect driving mechanism (101) and comprise back fixed pedestal (1), back base supports bar (2), detection of joints driver part (105-1,105-2), connecting rod (3,4), insulated column (5); Described back fixed pedestal (1) is fixed on operator's the back, two joint measurment platform (A of back fixed pedestal (1), B) correspond respectively to the position of operator's both shoulders shoulder joint, the two ends of back base supports bar (2) respectively with two measuring table (A of back fixed pedestal (1), B) affixed, the first detection of joints driver part (105-1) is fixed in an end of back base supports bar (2), affixed position is corresponding to measuring table (A), the axis of its power transmission shaft (18) and two measuring table (A, B) line at center is parallel, the base (C) of second joint detection driver part (105-2) is affixed with the power transmission shaft (18) of the first detection of joints driver part (105-1), two detection of joints driver part (105-1, the axis of power transmission shaft 105-2) (18) is orthogonal, two connecting rods (3) one ends of the first order are affixed with power transmission shaft (18) two ends of second joint detection driver part (105-2) respectively, the other end is hinged with two connecting rods (4) one ends of the second level respectively, and the hinged place is equipped with insulated column (5).
3. bilateral force feedback according to claim 1 is characterized in that from hand arm control device: described ancon and humeral movement detect driving mechanism (102) and comprise detection of joints driver part (105-3,105-4,105-5), upper arm retainer ring
(106), upper arm slip ring top (9), upper arm slip ring bottom (10), upper arm fixed ring gear (11), connecting rod (6,7), insulated column (5); The shell (D) of described upper arm retainer ring (106) is hard material, platform (E) is fixed on the shell (D), the inboard pneumatic element (F) of upper arm retainer ring (106) is inflatable quality of rubber materials, valve (G) is fixed on the shell (D), the 5th detection of joints driver part (105-5) is fixed on the platform (E) of upper arm retainer ring (106) by screw, the axis of its power transmission shaft (18) is perpendicular to the axis of upper arm retainer ring (106), and be parallel to the upper surface of platform (E), two connecting rods (6) one ends of the first order are affixed with power transmission shaft (18) two ends of the 5th detection of joints driver part (105-5) respectively, the other end is hinged with two connecting rods (7) one ends of the second level respectively, and the hinged place is equipped with insulated column (5); Described upper arm fixed ring gear (11) is fixed on the shell (D) of upper arm retainer ring (106), the dead in line of its axis and upper arm retainer ring (106), upper arm slip ring top (9) and upper arm slip ring bottom (10) all are installed on the shell (D) of upper arm retainer ring (106), the annulus axis of upper arm slip ring top (9) and upper arm slip ring bottom (10) all with the dead in line of upper arm retainer ring (106), upper arm fixed ring gear (11) places in the annulus groove of upper arm slip ring top (9) and upper arm slip ring bottom (10), the two ends of upper arm slip ring top (9) and upper arm slip ring bottom (10) are by complete annulus of the affixed formation of screw, can be around the axis of upper arm retainer ring (106), rotatablely moving with respect to upper arm retainer ring (106) done on surface along upper arm retainer ring (106), the base (C) of the 3rd detection of joints driver part (105-3) is articulated in the hole (N) on upper arm slip ring top (9) by turning cylinder (8), the axis of this turning cylinder (8) is simultaneously perpendicular to the axis of the power transmission shaft (18) of the axis of upper arm retainer ring (106) and the 3rd detection of joints driver part (105-3), the 3rd detection of joints driver part (105-3) rotates take turning cylinder (8) as axis, the base (C) of the 4th detection of joints driver part (105-4) is fixed in the plane (R) on upper arm slip ring top (9) by screw, the axis of its power transmission shaft (18) is parallel with the axis of upper arm retainer ring (106), the power transmission shaft (18) of the 4th detection of joints driver part (105-4) is affixed with gear (25), this gear (25) and upper arm fixed ring gear (11) engagement, power transmission shaft (18) two ends of the 3rd detection of joints driver part (105-3) are affixed with an end of two connecting rods (4) respectively.
4. bilateral force feedback according to claim 1 is from hand arm control device, it is characterized in that: described wrist and forearm motion detection driving mechanism (103) comprise detection of joints driver part (105-6), wrist joint detects driver part (108-1,108-2), forearm retainer ring (107), forearm slip ring top (19), forearm slip ring bottom (20), forearm fixed ring gear (24), connecting rod (21,22), insulated column (23); The shell (J) of described forearm retainer ring (107) is hard material, platform (K) is fixed on the shell (J), the inboard pneumatic element (L) of forearm retainer ring (107) is inflatable quality of rubber materials, valve (M) is fixed on the shell (J), the base (H) that second-hand's wrist joint detects driver part (108-2) is fixed on the platform (K) of forearm retainer ring (107) by screw, the axis of its power transmission shaft (30) is perpendicular to the axis of forearm retainer ring (107) and the upper surface of platform (K), the base (H) of first-hand wrist joint detection driver part (108-1) is affixed with the power transmission shaft (30) that second-hand's wrist joint detects driver part (108-2), the axis of the power transmission shaft (30) of first-hand wrist joint detection driver part (108-1) detects the axis of the power transmission shaft (30) of driver part (108-2) perpendicular to second-hand's wrist joint, the power transmission shaft (30) of first-hand wrist joint detection driver part (108-1) is affixed with an end of first order connecting rod (21), one end of the other end of connecting rod (21) and second level connecting rod (22) is hinged, described forearm fixed ring gear (24) is fixed on the shell (J) of forearm retainer ring (107), the dead in line of its axis and forearm retainer ring (107), forearm slip ring top (19) and forearm slip ring bottom (20) all are installed on the shell (J) of forearm retainer ring (107), the annulus axis of forearm slip ring top (19) and forearm slip ring bottom (20) all with the dead in line of forearm retainer ring (107), forearm fixed ring gear (24) places in the annulus groove of forearm slip ring top (19) and forearm slip ring bottom (20), the two ends of forearm slip ring top (19) and forearm slip ring bottom (20) are by complete annulus of the affixed formation of screw, can be around the axis of forearm retainer ring (107), rotatablely moving with respect to forearm retainer ring (107) done on surface along forearm retainer ring (107), the base (C) of the 6th detection of joints driver part (105-6) is fixed in the plane (P) on forearm slip ring top (19) by screw, the axis of its power transmission shaft (18) is parallel with the axis of forearm retainer ring (107), the power transmission shaft (18) of the 6th detection of joints driver part (105-6) is affixed with gear (25), this gear (25) and forearm fixed ring gear (24) engagement, one end of two connecting rods (7) is articulated in respectively the two ends, hole (S) on forearm slip ring top (19) by screw, the line of two pin joints is perpendicular to the annulus axis on forearm slip ring top (19).
5. bilateral force feedback according to claim 1 is characterized in that from hand arm control device: described gloves pedestal (104) comprises turning cylinder (8), rotating connector (31), palm pedestal (32), gloves (33); Described gloves (33) are fixed on the operator on hand by the wearing mode, palm pedestal (32) is fixed on palm back position corresponding to gloves (33), turning cylinder (8) is fixed in palm pedestal (32), the axis of turning cylinder (8) is vertical with facies palmaris, rotating connector (31) is articulated in hole (U) with turning cylinder (8), the hole (T) of rotating connector (31) is hinged by screw and connecting rod (22), and hole (T) axis of rotating connector (31) is perpendicular to the axis of turning cylinder (8).
6. bilateral force feedback according to claim 1 is from hand arm control device, it is characterized in that: described detection of joints driver part (105-1,105-2,105-3,105-4,105-5,105-6) comprises angular transducer (15), motor (17), arrangement of clutch (16), shell (12,13,14), power transmission shaft (18); Described angular transducer (15) and power transmission shaft (18) interlock, power transmission shaft (18) and arrangement of clutch (16) interlock, arrangement of clutch (16) is driven by motor (17), when joint motions, if control system to this joint without force feedback signal, then phase motor (17) does not rotate, arrangement of clutch (16) is connected disconnection with motor (17), the joint can drive power transmission shaft (18) and freely move without interruption, can detect the angle of joint motions with the angular transducer (15) of power transmission shaft (18) interlock, if control system has force feedback signal to this joint, then motor (17) rotates, arrangement of clutch (16) is connected with motor (17), cooperation transmission by train of reduction gears applies one in the same way or reverse driving force to power transmission shaft (18) in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer (15) with power transmission shaft (18) interlock again of control system, use corresponding mathematical algorithm to revise constantly the size and Orientation of driving force, promote or hinder this joint motions, realize the force feedback function of these joint motions.
7. bilateral force feedback according to claim 1 is from hand arm control device, it is characterized in that: wrist joint detects driver part (108-1,108-2) and comprises angular transducer (15), micromachine (28), arrangement of clutch (29), shell (26,27), power transmission shaft (30); Described arrangement of clutch (29) is by train of reduction gears engagement and power transmission shaft (30) interlock, power transmission shaft (30) is affixed with angular transducer (15), when joint motions, if control system to this joint without force feedback signal, then micromachine (28) does not rotate, arrangement of clutch (29) is connected disconnection with micromachine (28), the joint can drive power transmission shaft (30) and freely move without interruption, can detect the angle of joint motions with the angular transducer (15) of power transmission shaft (30) interlock, if control system has force feedback signal to this joint, then micromachine (28) rotates, arrangement of clutch (29) is connected with micromachine (28), cooperation transmission by train of reduction gears applies one in the same way or reverse driving force to power transmission shaft (30) in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer (15) with power transmission shaft (30) interlock again of control system, use corresponding mathematical algorithm to revise constantly the size and Orientation of driving force, promote or hinder this joint motions, realize the force feedback function of these joint motions.
8. bilateral force feedback according to claim 3 is from hand arm control device, it is characterized in that: the shell (D) of described upper arm retainer ring (106) is hard material, platform (E) is fixed on the shell (D), the inboard pneumatic element (F) of described upper arm retainer ring (106) is inflatable quality of rubber materials, valve (G) is fixed on the shell (D), after operator's upper arm penetrates upper arm retainer ring (106), between upper arm retainer ring (106) inside and operator's the upper arm space is arranged, adjusting the position makes upper arm retainer ring (106) be in the position in close arm ancon joint on operator's upper arm, then be filled with gas for the inboard pneumatic element (F) of upper arm retainer ring (106) by the valve (G) of upper arm retainer ring (106), make its expansion, fill up space between the inner and operator's upper arm of upper arm retainer ring (106) and extrusion operation person's upper arm, make upper arm retainer ring (106) can be fixed on operator's upper arm.
9. bilateral force feedback according to claim 4 is from hand arm control device, it is characterized in that: the shell (J) of described forearm retainer ring (107) is hard material, platform (K) is fixed on the shell (J), the inboard pneumatic element (L) of described forearm retainer ring (107) is inflatable quality of rubber materials, valve (M) is fixed on the shell (J), when operator's forearm to penetrate forearm retainer ring (107) front, the inboard pneumatic element (L) of forearm retainer ring (107) discharges gas, make the internal diameter of forearm retainer ring (107) greater than the diameter of operator's forearm, after operator's forearm penetrates forearm retainer ring (107), between forearm retainer ring (107) and operator's the forearm space is arranged, adjusting the position makes forearm retainer ring (107) be in the position of close wrist joint on operator's forearm, then be filled with gas for the inboard pneumatic element (L) of forearm retainer ring (107) by the valve (M) of forearm retainer ring (107), make its expansion, fill up space between the inner and operator's forearm of forearm retainer ring (107) and extrusion operation person's forearm, make forearm retainer ring (107) can be fixed on operator's forearm.
CN 201220627918 2012-11-26 2012-11-26 Subordinate hand arm control device with bi-directional force feedback CN202895235U (en)

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CN103331746A (en) * 2013-07-04 2013-10-02 北京航空航天大学 Wearable six-dimension force sense interaction device with redundant freedom degrees
CN103831832A (en) * 2012-11-26 2014-06-04 苏茂 Two-way force feedback slave manipulator arm control device
CN103895036A (en) * 2012-12-25 2014-07-02 苏茂 Fixing device for data glove arm detection mechanism
CN103895019A (en) * 2012-12-25 2014-07-02 苏茂 Data glove two-way force feedback detection driving device
CN103895041A (en) * 2012-12-25 2014-07-02 苏茂 Data glove arm rotating detection device
CN104227733A (en) * 2014-07-28 2014-12-24 南京工程学院 Human-body-induced mechanical arm
CN104552340A (en) * 2013-10-18 2015-04-29 苏茂 Arm flexion and extension detecting device
CN104552316A (en) * 2013-10-21 2015-04-29 苏茂 Human hand front arm radio-ulnar joint movement detection device
CN104552313A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm rotating movement detection device
CN104545929A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm abduction and adduction movement detection device
CN104552310A (en) * 2013-10-21 2015-04-29 苏茂 Detachable and inflatable platform attached to human forearm
CN104552229A (en) * 2013-10-21 2015-04-29 苏茂 Human wrist joint movement detection device
CN104552225A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm movement detection platform
CN104552226A (en) * 2013-10-18 2015-04-29 苏茂 Minitype force feedback detecting and driving device
CN105215992A (en) * 2014-06-24 2016-01-06 东南大学常州研究院 For the multiple degrees of freedom power feel feedback device of man-machine interaction
CN106142069A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Rescue robot variable torque generator
CN106919244A (en) * 2015-12-25 2017-07-04 苏茂 Detection of joints device between finger

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103831832A (en) * 2012-11-26 2014-06-04 苏茂 Two-way force feedback slave manipulator arm control device
CN103895036A (en) * 2012-12-25 2014-07-02 苏茂 Fixing device for data glove arm detection mechanism
CN103895019A (en) * 2012-12-25 2014-07-02 苏茂 Data glove two-way force feedback detection driving device
CN103895041A (en) * 2012-12-25 2014-07-02 苏茂 Data glove arm rotating detection device
CN103331746A (en) * 2013-07-04 2013-10-02 北京航空航天大学 Wearable six-dimension force sense interaction device with redundant freedom degrees
CN104545929A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm abduction and adduction movement detection device
CN104552226A (en) * 2013-10-18 2015-04-29 苏茂 Minitype force feedback detecting and driving device
CN104552340A (en) * 2013-10-18 2015-04-29 苏茂 Arm flexion and extension detecting device
CN104552225A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm movement detection platform
CN104552313A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm rotating movement detection device
CN104552310A (en) * 2013-10-21 2015-04-29 苏茂 Detachable and inflatable platform attached to human forearm
CN104552229A (en) * 2013-10-21 2015-04-29 苏茂 Human wrist joint movement detection device
CN104552316A (en) * 2013-10-21 2015-04-29 苏茂 Human hand front arm radio-ulnar joint movement detection device
CN105215992A (en) * 2014-06-24 2016-01-06 东南大学常州研究院 For the multiple degrees of freedom power feel feedback device of man-machine interaction
CN104227733A (en) * 2014-07-28 2014-12-24 南京工程学院 Human-body-induced mechanical arm
CN106142069A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Rescue robot variable torque generator
CN106919244A (en) * 2015-12-25 2017-07-04 苏茂 Detection of joints device between finger

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