CN203241433U - Data glove elbow joint detection device - Google Patents
Data glove elbow joint detection device Download PDFInfo
- Publication number
- CN203241433U CN203241433U CN 201220724052 CN201220724052U CN203241433U CN 203241433 U CN203241433 U CN 203241433U CN 201220724052 CN201220724052 CN 201220724052 CN 201220724052 U CN201220724052 U CN 201220724052U CN 203241433 U CN203241433 U CN 203241433U
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- China
- Prior art keywords
- forearm
- detection
- set collar
- joints
- slip ring
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 210000002310 elbow joint Anatomy 0.000 title abstract 7
- 210000000245 forearm Anatomy 0.000 claims abstract description 88
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 210000002478 hand joint Anatomy 0.000 abstract 1
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 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
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model relates to a device detecting the motion of human elbow joints and discloses a data glove elbow joint detection device. The data glove elbow joint detection device is provided to solve defects existing in a conventional detection device and characterized by complex system, cumbersome structure, relatively severe detection errors and difficult maintenance, etc. A novel design is made in the human elbow detection step. The data glove elbow joint detection device also adopts a unique connecting means and a clever joint measuring point layout. When using the data glove elbow joint detection device, an operator can keep the flexibility of the arms to the greatest extent. Whether a forearm is screwed inwards or outwards, the elbow joint motion state can be precisely detected during a forearm bending and stretching process. A controlled slave hand joint can move consistently with a corresponding arm joint of the operator. The tele-presence sense of virtual realities or remote operations can be improved.
Description
Technical field
The utility model relates to a kind of device that detects staff ancon joint motions state.
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 dirigibility is had higher requirement, and to implement distant operation to the mechanical arm of complexity, the control together coordinated movement of various economic factors of a plurality of joints of mechanical arm, to realize specific function, this just need to 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, virtual reality interaction technique development 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, game, 3D cartoon making etc. all to need to use such 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 flexion-extension pick-up unit system complex for the available data gloves, structure is too fat to move, detect error larger, the shortcoming such as difficult in maintenance, a kind of arm flexion-extension detection scheme of external framework type has been proposed, the detection of arm flexion-extension has been done brand-new design, adopt unique connected mode and joint measurment point layout cleverly, greatly simplified complicated data glove arm flexion-extension pick-up unit, operator's arm when using this device can be kept farthest flexibly, outside no matter the forearm medial rotation still revolves, the motion state in ancon joint can both accurately be detected during front bending and stretching of the arms, 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 computing machine, the interactive device of mechanical arm, by the upper arm set collar, connecting rod, the detection of joints parts, the forearm stationary installation forms.The upper arm set collar is fixed in operator's upper arm position, and the detection of joints parts are fixed on the upper arm set collar, and the forearm stationary installation is fixed in operator's forearm position, and the detection of joints parts are hinged by two-stage connecting rod and forearm stationary installation.The utility model is implemented by the detection of joints parts the detection of operator's arm ancon joint motions, and it is low that this device has a cost, uses simply, and it is convenient to dress, and safeguards the advantages such as easy.
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 detection of joints parts 102.
Fig. 4 is the structural representation of detection of joints parts 102.
Fig. 5 is forearm stationary installation 101 integral shaft mappings.
Fig. 6 is forearm stationary installation 101 structural representations.
Embodiment
The utility model main parts size:
101. forearm stationary installation 102. detection of joints parts 1. upper arm set collars
2. connecting rod 3. forearm set collars 4. forearm slip ring tops
6. forearm slip ring bottom 12. transmission shafts 13. angular transducers
Embodiment one: as shown in Figure 1, described data glove ancon detection of joints device comprises upper arm set collar 1, connecting rod 2-1,2-2, forearm stationary installation 101, detection of joints parts 102.Described upper arm set collar 1 is fixed in operator's upper arm position, described detection of joints parts 102 are fixed on the upper arm set collar 1, described forearm stationary installation 101 is fixed in operator's forearm position, described detection of joints parts 102 are hinged by two-stage connecting rod 2-1,2-2 and forearm stationary installation 101, and data glove ancon detection of joints device is implemented by detection of joints parts 102 detection of operator's arm ancon joint flexion and extension.
Embodiment two: such as Fig. 2, Fig. 3 and shown in Figure 4, described detection of joints parts 102 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: such as Fig. 1, Fig. 2, Fig. 5 and shown in Figure 6, described forearm stationary installation 101 comprises forearm set collar 3, forearm slip ring top 4, forearm slip ring bottom 6.The outside surface of described forearm set collar 3 has ring-shaped guide rail C, the dead in line of the axis of described ring-shaped guide rail C and forearm set collar 3, described forearm slip ring top 4 is installed in the outside surface of forearm set collar 3, the annulus axis on described forearm slip ring top 4 and the dead in line of forearm set collar 3, the ring-shaped guide rail C of described forearm set collar 3 places in the annulus groove on forearm slip ring top 4, described forearm slip ring bottom 6 is installed in the outside surface of forearm set collar 3, the annulus axis of described forearm slip ring bottom 6 and the dead in line of forearm set collar 3, the ring-shaped guide rail C of described forearm set collar 3 places in the annulus groove of forearm slip ring bottom 6, the two ends of described forearm slip ring top 4 and forearm slip ring bottom 6 are sliding contact by complete annulus of the affixed formation of screw between described forearm slip ring top 4 and forearm slip ring bottom 6 and the forearm set collar 3.The action implementation process: forearm set collar 3 is fixed on operator's forearm, when operator's forearm when ancon to the axis of wrist rotates, forearm set collar 3 is followed together and is rotated, it is static that forearm slip ring top 4 and forearm 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 ancon detection of joints device to lose efficacy or the larger error of appearance because the forearm rotation causes measuring.
Embodiment four: such as Fig. 1, Fig. 2, Fig. 4 and shown in Figure 6, described data glove ancon detection of joints device comprises upper arm set collar 1, connecting rod 2-1,2-2, detection of joints parts 102, forearm stationary installation 101, connecting rod insulated column 5.Described detection of joints parts 102 are fixed on the platform A of upper arm set collar 1 by screw, the axis of the transmission shaft 12 of described detection of joints parts 102 is vertical with the annulus axis of upper arm set collar 1, the two ends of the transmission shaft 12 of described detection of joints parts 102 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 is articulated in by screw in the hole B on forearm slip ring top 4, and the annulus axis of the axis of hinged place and forearm set collar 3 is vertical and be parallel to the axis of the transmission shaft 12 of detection of joints parts 102.The action implementation process: described upper arm set collar 1 is fixed in operator's upper arm position, described forearm stationary installation 101 is fixed in operator's forearm position, when operator's ancon joint motions, operator's forearm is done flexion and extension take ancon as initial point, being fixed on forearm stationary installation 101 on operator's forearm follows forearm and moves together, forearm stationary installation 101 drives the connecting rod 2-2 hinged with it and rotates, the direction that connecting rod 2-2 rotates is consistent with the direction of forearm rotation, connecting rod 2-2 drives the connecting rod 2-1 hinged with it and rotates, the connecting rod 2-1 that rotates drives the transmission shaft 12 of the detection of joints parts 102 affixed with it, transmission shaft 12 drives angular transducer 13 by meshed gears, makes angular transducer 13 can measure by corresponding mathematical algorithm angle and the state of bending and stretching of the arms before the operator.
As another example of the present utility model, also can replace angular transducer with other sensors, can play equally and detect angle and the state that moves in staff ancon joint in three dimensions, realize the purpose of this utility model.
In 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 ancon detection of joints device is used for and computing machine, the interactive device of mechanical arm, by upper arm set collar (1), and connecting rod (2-1,2-2), detection of joints parts (102), forearm stationary installation (101) forms;
It is characterized in that:
This device is fixed on operator's arm;
Upper arm set collar (1) is fixed in operator's upper arm position, detection of joints parts (102) are fixed on the upper arm set collar (1), forearm stationary installation (101) is fixed in operator's forearm position, and detection of joints parts (102) are hinged by two-stage connecting rod (2-1,2-2) and forearm stationary installation (101);
Data glove ancon detection of joints device is implemented by detection of joints parts (102) the detection of operator's arm ancon joint motions.
2. data glove ancon detection of joints device according to claim 1, it is characterized in that: described detection of joints parts (102) comprise 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 ancon detection of joints device according to claim 1, it is characterized in that: described forearm stationary installation (101) comprises forearm set collar (3), forearm slip ring top (4), forearm slip ring bottom (6), the outside surface of described forearm set collar (3) has ring-shaped guide rail (C), the dead in line of the axis of described ring-shaped guide rail (C) and forearm set collar (3), described forearm slip ring top (4) is installed in the outside surface of forearm set collar (3), the dead in line of the annulus axis on described forearm slip ring top (4) and forearm set collar (3), the ring-shaped guide rail (C) of described forearm set collar (3) places in the annulus groove on forearm slip ring top (4), described forearm slip ring bottom (6) is installed in the outside surface of forearm set collar (3), the dead in line of the annulus axis of described forearm slip ring bottom (6) and forearm set collar (3), the ring-shaped guide rail (C) of described forearm set collar (3) places in the annulus groove of forearm slip ring bottom (6), the two ends of described forearm slip ring top (4) and forearm slip ring bottom (6) are sliding contact by complete annulus of the affixed formation of screw between described forearm slip ring top (4) and forearm slip ring bottom (6) and the forearm set collar (3).
4. data glove ancon detection of joints device according to claim 1, it is characterized in that: described data glove ancon detection of joints device, comprise upper arm set collar (1), connecting rod (2-1,2-2), detection of joints parts (102), forearm stationary installation (101), connecting rod insulated column (5), described detection of joints parts (102) are fixed on the platform (A) of upper arm set collar (1) by screw, the axis of the transmission shaft (12) of described detection of joints parts (102) is vertical with the annulus axis of upper arm set collar (1), the two ends of the transmission shaft (12) of described detection of joints parts (102) 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 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) is articulated in by screw in the hole (B) on forearm slip ring top (4), and the annulus axis of the axis of hinged place and forearm set collar (3) is vertical and be parallel to the axis of the transmission shaft (12) of detection of joints parts (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220724052 CN203241433U (en) | 2012-12-25 | 2012-12-25 | Data glove elbow joint detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220724052 CN203241433U (en) | 2012-12-25 | 2012-12-25 | Data glove elbow joint detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203241433U true CN203241433U (en) | 2013-10-16 |
Family
ID=49318716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220724052 Expired - Fee Related CN203241433U (en) | 2012-12-25 | 2012-12-25 | Data glove elbow joint detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203241433U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552340A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Arm flexion and extension detecting device |
| CN104571476A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Human body knee joint movement detection device |
-
2012
- 2012-12-25 CN CN 201220724052 patent/CN203241433U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552340A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Arm flexion and extension detecting device |
| CN104571476A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Human body knee joint movement detection 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 | ||
| 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 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131016 Termination date: 20151225 |
|
| EXPY | Termination of patent right or utility model |