CN203117889U - Data glove shoulder joint detection device - Google Patents
Data glove shoulder joint detection device Download PDFInfo
- Publication number
- CN203117889U CN203117889U CN201220724021.4U CN201220724021U CN203117889U CN 203117889 U CN203117889 U CN 203117889U CN 201220724021 U CN201220724021 U CN 201220724021U CN 203117889 U CN203117889 U CN 203117889U
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- China
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- upper arm
- shoulder
- joint
- slip ring
- detection part
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- Expired - Lifetime
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- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000009434 installation Methods 0.000 claims description 19
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000009916 joint effect Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 3
- 210000002478 hand joint Anatomy 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The utility model discloses a data glove shoulder joint detection device, and relates to a device for detecting movement of a shoulder joint of a human hand, aiming to solve the problems such as complex system, swollen structure, large detection error and difficulty in maintenance of the conventional detection device. The detection step of the shoulder of the human hand is designed to be completely new; a unique connection mode and skillful joint measuring point layout are adopted; the arm of an operator can be kept flexible to the greatest extent when the device is used by the operator; and no matter whether the upper arm rotates inwards or outwards, the movement state of the shoulder joint can be accurately detected when the upper arm swings, so that the controlled hand joint can act in coordination with the corresponding arm joint of the operator to enhance the sense of immediacy of virtual reality or teleoperation.
Description
Technical field
The utility model relates to a kind of detection staff shoulder joint motions status detection device.
Background technology
Because science and technology development, 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, make people when pursuing reliability, also its dirigibility is had higher requirement, and to implement distant operation to the complicated mechanical hand, the control a plurality of joints of the mechanical arm coordinated movement of various economic factors together, to realize specific function, this just need use data glove, data glove by measure operator on hand the positional information in each joint follow the tracks of human hand movement as steering order control mechanical arm, make the operator produce very strong telepresenc.In addition, the virtual reality interaction technique constantly develops in recent years, data glove can be used as a kind of main interactive device, participate in the structure of virtual reality interactive system, for example in a scene by computer virtual, the operator is by the virtual staff dismounting of data glove control a pair of or put together machines etc., also has remote operation, recreation, 3D cartoon making etc. all to need to use this type of device.Data glove system complex in the market, difficult in maintenance, 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 the arm shoulder pick-up unit system complex at the available data gloves, structure is too fat to move, it is bigger to detect error, shortcoming such as difficult in maintenance, a kind of outer frame formula structure has been proposed, detection link to head movement has been done brand-new design, adopt unique connected mode and joint measurment point layout cleverly, greatly simplified complicated data glove control system, operator's arm when using this device can be kept farthest flexibly, outside no matter the upper arm medial rotation still revolves, the motion state in shoulder joint can both accurately be detected, make and controlledly can harmoniously move by the arm joint corresponding with the operator from swivel of hand, strengthen the telepresenc of virtual reality or distant operation.The utility model be for interactive equipment such as computing machine, mechanical arm, by upper arm stationary installation, connecting rod, the joint detection part, the shoulder pick-up unit, the shoulder pedestal is formed, and the upper arm stationary installation is fixed in operator's upper arm position, the shoulder pick-up unit is made up of two groups of joint detection parts, the shoulder pick-up unit is fixed on the shoulder pedestal, and the shoulder pedestal is fixed in the shoulder joint position of operator's correspondence, and shoulder pick-up unit and upper arm stationary installation are by the two-stage rod hinge connection.Corresponding angular transducer passes through corresponding mathematical algorithm measurement to the movement angle in the utility model detection joint on the device by being arranged on, can detect angle and the state of the shoulder joint motions of operator in three dimensions accurately, delicately, this installation cost is low, use simple, it is convenient to dress, and safeguards easily.
Description of drawings
Fig. 1 is whole shaft side figure of the present utility model.
Fig. 2 is structural representation of the present utility model.
Fig. 3 is the shaft side figure of joint detection part 105.
Fig. 4 is the structural representation of joint detection part 105.
Fig. 5 is upper arm stationary installation 102 integral shaft mappings.
Fig. 6 is upper arm stationary installation 102 structural representations.
Embodiment
The utility model main parts size:
100. shoulder pedestal 101. shoulder pick-up units 102. upper arm stationary installations
105. joint detection part 1. back fixation pedestals 2. connecting rods
3. 6. upper arm slip ring bottoms, back base supports bar 4. upper arm slip ring tops
7. upper arm set collar 8. rotating connectors 12. transmission shafts
13. angular transducer
Embodiment one: as shown in Figure 1, described data glove shoulder joint pick-up unit comprises upper arm stationary installation 102, connecting rod 2-1,2-2, shoulder pick-up unit 101, shoulder pedestal 100.Described upper arm stationary installation 102 is fixed in operator's upper arm position, described shoulder pick-up unit 101 is made up of two groups of joint detection part 105-1 and 105-2, described shoulder pick-up unit 101 is fixed on the shoulder pedestal 100, shoulder pedestal 100 is fixed in shoulder joint position corresponding on operator's back, shoulder pick-up unit 101 is hinged by two-stage connecting rod 2-1,2-2 with upper arm stationary installation 102, and data glove shoulder joint pick-up unit is implemented by joint detection part 105-1 and 105-2 the detection of operator's arm shoulder joint motions.
Embodiment two: as shown in Figure 1, Figure 2, Figure 3 and Figure 4, described joint detection part 105-1 and 105-2 comprise shell 9,10,11, transmission shaft 12 and angular transducer 13.Described transmission shaft 12 is by gear engagement and angular transducer 13 interlocks.The action implementation process: when transmission shaft 12 rotated, transmission shaft 12 rotated by gear driven angular transducer 13.
Embodiment three: as Fig. 1, Fig. 2, Fig. 5 and shown in Figure 6, described upper arm stationary installation 102 comprises upper arm set collar 7, upper arm slip ring top 4, upper arm slip ring bottom 6, rotating connector 8.The outside surface of described upper arm set collar 7 has ring-shaped guide rail F, the dead in line of the axis of described ring-shaped guide rail F and upper arm set collar 7, described upper arm slip ring top 4 is installed in the outside surface of upper arm set collar 7, the annulus axis on described upper arm slip ring top 4 and the dead in line of upper arm set collar 7, the ring-shaped guide rail F of described upper arm set collar 7 places in the annulus groove on upper arm slip ring top 4, described upper arm slip ring bottom 6 is installed in the outside surface of upper arm set collar 7, the annulus axis of described upper arm slip ring bottom 6 and the dead in line of upper arm set collar 7, the ring-shaped guide rail F of described upper arm set collar 7 places in the annulus groove of upper arm slip ring bottom 6, the two ends of described upper arm slip ring top 4 and upper arm slip ring bottom 6 are by complete annulus of the affixed formation of screw, be sliding contact between described upper arm slip ring top 4 and upper arm slip ring bottom 6 and the upper arm set collar 7, can rotate along ring-shaped guide rail F on the surface of upper arm set collar 7 around the axis of upper arm set collar 7.Described rotating connector 8 and upper arm slip ring top 4 are articulated in the hole E on upper arm slip ring top 4 by screw, and the hinged axis normal in described rotating connector 8 and upper arm slip ring top 4 is in the annulus axis on upper arm slip ring top 4.The action implementation process: upper arm set collar 7 is fixed on operator's upper arm, when operator's upper arm when shoulder to the axis of ancon rotates, upper arm set collar 7 is followed together and is rotated, it is static that upper arm slip ring top 4 and upper arm slip ring bottom 6 keep under the obstruction of connecting rod 2-1 and connecting rod 2-2, position and attitude do not change, and avoid data glove shoulder joint pick-up unit to cause measurement inefficacy or appearance than mistake because of the upper arm rotation.
Embodiment four: as Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, described shoulder pedestal 100 comprises back fixation pedestal 1 and back base supports bar 3, and described shoulder pick-up unit 101 comprises joint detection part 105-1,105-2.Described back fixation pedestal 1 is fixed on operator's the back, described back fixation pedestal 1 comprises two joint measurment platforms of A, 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 3 are affixed with two measuring tables of A, B of back fixation pedestal 1 respectively.Described joint detection 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 transmission shaft 12 of described joint detection part 105-1, the line at two measuring table centers of B is parallel, the transmission shaft 12 of the base C of described joint detection part 105-2 and joint detection part 105-1 is affixed, the axis of the transmission shaft 12 of the transmission shaft 12 of described joint detection part 105-1 and joint detection part 105-2 is orthogonal, the two ends of the transmission shaft 12 of described joint detection part 105-2 are affixed with the end of two first order connecting rod 2-1 respectively, the other end of described two first order connecting rod 2-1 is hinged by screw with the end of two second level connecting rod 2-2 respectively, described first order connecting rod 2-1 and connecting rod 2-2 hinged place, the second level are equipped with connecting rod insulated column 5, the other end of described two second level connecting rod 2-2 and upper arm stationary installation 102 are articulated in the hole D of rotating connector 8 by screw, and the hinged axis normal of described second level connecting rod 2-2 and rotating connector 8 is 4 axis hinged with rotating connector 8 in upper arm slip ring top.The action implementation process: the human body upper arm can be the one way or another swing within the specific limits of fixing a point with shoulder, the upper arm stationary installation 102 that is fixed on operator's upper arm is followed upper arm and is moved together, upper arm stationary installation 102 drives the connecting rod 2-2 swing hinged with it, the direction of connecting rod 2-2 swing is consistent with the direction of last arm swing, when operator's upper arm is swung towards either direction, the axis of the axis of the transmission shaft 12 of joint detection part 105-2 and rotating connector 8 hole D remains and is parallel to each other, but the air line distance between the two axial lines can change with operator's last arm swing, make hinged connecting rod 2-1, relatively rotate between the 2-2, and the transmission shaft 12 of the affixed joint detection part 105-2 of driving and connecting rod 2-1 rotates, joint detection part 105-2 rotates around the axis of the affixed parts of its base C simultaneously, the transmission shaft 12 of the joint detection part 105-1 that driving and joint detection part 105-2 base C are affixed rotates, joint detection part 105-1, the transmission shaft 12 of 105-2 rotates and drives angular transducer 13 separately, and system calculates angle and the state that the operator goes up arm swing according to two angular transducers, 13 detected data by corresponding mathematical algorithm.
As another example of the present utility model, also can replace angular transducer with other sensors, can play staff shoulder joint motion angle and the state in three dimensions of detecting equally, realize the purpose of this utility model.
As another example of the present utility model, can substitute rotating connector 8 with another joint detection part 105, connecting rod 2-2 is fixed in the transmission shaft 12 of joint detection part 105, the base C of joint detection part 105 and upper arm slip ring top 4 are articulated in the hole E on upper arm slip ring top 4 by screw, the hinged axis normal in joint detection part 105 and upper arm slip ring top 4 is in the annulus axis on upper arm slip ring top 4, can play staff shoulder joint motion angle and the state in three dimensions of detecting equally, realize the purpose of this utility model.
Under the situation that principle of the present utility model is suffered damage; the details of above-mentioned formation and embodiment only are as example and illustrated thing; it can not break away from scope of the present utility model and extensively change, and these all belong within the protection of the present utility model.
Claims (4)
1. a data glove shoulder joint pick-up unit is used for and computing machine, the interactive device of mechanical arm, by shoulder pedestal (100), shoulder pick-up unit (101), connecting rod (2-1,2-2), joint detection part (105), upper arm stationary installation (102) is formed;
It is characterized in that:
This device is fixed on the position of operator's arm and shoulder;
Upper arm stationary installation (102) is fixed in operator's upper arm position, shoulder pick-up unit (101) is made up of two groups of joint detection parts (105-1,105-2), shoulder pick-up unit (101) is fixed on the shoulder pedestal (100), shoulder pedestal (100) is fixed in shoulder joint position corresponding on operator's back, and shoulder pick-up unit (101) is hinged by two-stage connecting rod (2-1,2-2) with upper arm stationary installation (102);
Data glove shoulder joint pick-up unit is implemented by joint detection part (105-1,105-2) the detection of operator's arm shoulder joint motions, joint detection part (105-1,105-2) inside is equipped with the angular transducer (13) that detects joint action, can detect angle and the state of operator's shoulder joint motions.
2. data glove shoulder according to claim 1 joint pick-up unit, it is characterized in that: described joint detection part (105-1,105-2) comprises shell (9,10,11), transmission shaft (12) and angular transducer (13), described transmission shaft (12) is by gear engagement and angular transducer (13) interlock.
3. data glove shoulder according to claim 1 joint pick-up unit, it is characterized in that: described upper arm stationary installation (102) comprises upper arm set collar (7), upper arm slip ring top (4), upper arm slip ring bottom (6), rotating connector (8), the outside surface of described upper arm set collar (7) has ring-shaped guide rail (F), the dead in line of the axis of described ring-shaped guide rail (F) and upper arm set collar (7), described upper arm slip ring top (4) is installed in the outside surface of upper arm set collar (7), the dead in line of the annulus axis on described upper arm slip ring top (4) and upper arm set collar (7), the ring-shaped guide rail (F) of described upper arm set collar (7) places in the annulus groove on upper arm slip ring top (4), described upper arm slip ring bottom (6) is installed in the outside surface of upper arm set collar (7), the dead in line of the annulus axis of described upper arm slip ring bottom (6) and upper arm set collar (7), the ring-shaped guide rail (F) of described upper arm set collar (7) places in the annulus groove of upper arm slip ring bottom (6), the two ends of described upper arm slip ring top (4) and upper arm slip ring bottom (6) are by complete annulus of the affixed formation of screw, be sliding contact between described upper arm slip ring top (4) and upper arm slip ring bottom (6) and the upper arm set collar (7), can be around the axis of upper arm set collar (7), rotate along ring-shaped guide rail (F) on surface at upper arm set collar (7), described rotating connector (8) and upper arm slip ring top (4) are articulated in the hole (E) on upper arm slip ring top (4) by screw, and the hinged axis normal in described rotating connector (8) and upper arm slip ring top (4) is in the annulus axis on upper arm slip ring top (4).
4. data glove shoulder according to claim 1 joint pick-up unit, it is characterized in that: described shoulder pedestal (100) comprises back fixation pedestal (1) and back base supports bar (3), described shoulder pick-up unit (101) comprises joint detection part (105-1,105-2), described back fixation pedestal (1) is fixed on operator's the back, described back fixation pedestal (1) comprises (A, B) two joint measurment platforms, its position corresponds respectively to the position of operator's both shoulders shoulder joint, the two ends of described back base supports bar (3) respectively with the (A of back fixation pedestal (1), B) two measuring tables are affixed, an end of back base supports bar (2) is fixed in described joint detection part (105-1), affixed position is corresponding to measuring table (A), the axis of the transmission shaft (12) of described joint detection part (105-1) and (A, B) line at two measuring table centers is parallel, the base (C) of described joint detection part (105-2) is affixed with the transmission shaft (12) of joint detection part (105-1), the axis of the transmission shaft (12) of described joint detection part (105-1) and the transmission shaft (12) of joint detection part (105-2) is orthogonal, the two ends of the transmission shaft (12) of described joint detection part (105-2) are affixed with an end of two first order connecting rods (2-1) respectively, the other end of described two first order connecting rods (2-1) is hinged by screw with an end of two second level connecting rods (2-2) respectively, described first order connecting rod (2-1) and second level connecting rod (2-2) hinged place are equipped with connecting rod insulated column (5), the other end of described two second level connecting rods (2-2) and upper arm stationary installation (102) are articulated in the hole (D) of rotating connector (8) by screw, the axis normal axis hinged with rotating connector (8) in upper arm slip ring top (4) that described second level connecting rod (2-2) and rotating connector (8) are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220724021.4U CN203117889U (en) | 2012-12-25 | 2012-12-25 | Data glove shoulder joint detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220724021.4U CN203117889U (en) | 2012-12-25 | 2012-12-25 | Data glove shoulder joint detection device |
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| Publication Number | Publication Date |
|---|---|
| CN203117889U true CN203117889U (en) | 2013-08-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220724021.4U Expired - Lifetime CN203117889U (en) | 2012-12-25 | 2012-12-25 | Data glove shoulder joint detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203117889U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103902021A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove shoulder joint detection device |
| CN104545929A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Human hand upper arm abduction and adduction movement detection device |
| CN104552340A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Arm flexion and extension detecting device |
-
2012
- 2012-12-25 CN CN201220724021.4U patent/CN203117889U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103902021A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove shoulder joint detection device |
| CN104545929A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Human hand upper arm abduction and adduction movement detection device |
| CN104552340A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Arm flexion and extension detecting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: QINZHOU KEHAIQI TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SU MAO Effective date: 20140207 |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 536000 BEIHAI, GUANGXI ZHUANG AUTONOMOUS REGION TO: 535000 QINZHOU, GUANGXI ZHUANG AUTONOMOUS REGION |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140207 Address after: 535000, the Guangxi Zhuang Autonomous Region Qinzhou Hedong Industrial Park, electronic industry park, D3 block, standard workshop No. 306, room 1-6 Patentee after: Qinzhou Kehai Qi Technology Co. Ltd. Address before: 536000, No. 101, tree root Road, the Guangxi Zhuang Autonomous Region, Beihai Patentee before: Su Mao |
|
| TR01 | Transfer of patent right | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130807 Effective date of abandoning: 20170503 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130807 Effective date of abandoning: 20170503 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |