CN203259969U - Data glove wrist joint detecting device - Google Patents
Data glove wrist joint detecting device Download PDFInfo
- Publication number
- CN203259969U CN203259969U CN 201220724023 CN201220724023U CN203259969U CN 203259969 U CN203259969 U CN 203259969U CN 201220724023 CN201220724023 CN 201220724023 CN 201220724023 U CN201220724023 U CN 201220724023U CN 203259969 U CN203259969 U CN 203259969U
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- detection
- gloves
- connecting rod
- joint
- operator
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- Expired - Fee Related
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000009916 joint effect Effects 0.000 claims abstract description 3
- 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 24
- 230000005540 biological transmission Effects 0.000 claims description 22
- 210000000245 forearm Anatomy 0.000 claims description 21
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 210000000707 wrist Anatomy 0.000 abstract description 8
- 230000007547 defect Effects 0.000 abstract 1
- 210000002478 hand joint Anatomy 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000035126 Facies Diseases 0.000 description 1
- 241000411545 Punargentus Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
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Abstract
The utility model discloses a data glove wrist joint detecting device and relates to a detecting device for detecting motion of the wrist joint of the hand. The data glove wrist detecting device is designed to overcome the defects that an existing detecting device is complex in system, complicated in structure, large in detection error, difficult to maintain and the like. The data glove wrist detecting device is composed of a glove base, a glove, a first-level connection rod, a second-level connection rod, a joint detecting component and a front arm fixing ring. The device is fixed on the hand of an operator, the front arm fixing ring is fixed to the front arm of the operator, the joint detecting component is arranged on the front arm fixing ring, and the glove base is fixed on the glove. The glove base is hinged to the front arm fixing ring through the first-level connection rod and the second-level connection rod. An angle sensor for detecting joint actions is arranged in the joint detecting component of the data glove wrist so as to detect the angle and the state of motion of the wrist joints of the operator so that the controlled hand joint can act in coordination with the corresponding joint of the operator, and therefore the presence of virtual reality or teleoperation is enhanced.
Description
Technical field
The utility model relates to a kind of pick-up unit that detects staff wrist joint motion 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 for the wrist joint pick-up unit system complex in the available data gloves, structure is too fat to move, it is larger to detect error, the shortcoming such as difficult in maintenance, a kind of external framework type structure has been proposed, the carpal detection of adversary 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, no matter operator's wrist is to from left to right, or upwards to lower swing, the motion state of wrist joint can both accurately be detected, make and controlledly can harmoniously move in the 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 gloves pedestal, gloves, first order connecting rod, second level connecting rod, the detection of joints parts, the forearm set collar forms, and this device is fixed on the operator on hand, the forearm set collar is fixed in operator's forearm position, the detection of joints parts are installed on the forearm set collar, and the gloves pedestal is fixed on the gloves, and gloves pedestal and forearm set collar are by first order connecting rod and second level rod hinge connection.Data glove wrist joint pick-up unit is implemented by the detection of joints parts the detection of operator's wrist joint motion, and the detection of joints components interior is equipped with the angular transducer that detects joint action, can detect angle and the state of operator's wrist joint motion.This installation cost is low, uses simply, and 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 detection of joints parts 102.
Fig. 4 is the structural representation of detection of joints parts 102.
Embodiment
The utility model main parts size:
102. detection of joints parts 1. forearm set collars 2. connecting rods
3. gloves pedestal 4. gloves 6. rotating connectors
9. angular transducer 12. transmission shafts
Embodiment one: as shown in Figure 1, Figure 2, Figure 3 and Figure 4, described data glove wrist joint pick-up unit comprises forearm set collar 1, connecting rod 2-1,2-2, gloves pedestal 3, gloves 4, insulated column 5, rotating connector 6, detection of joints parts 102-1,102-2.Described forearm set collar 1 is fixed in operator's forearm position, the base E of described detection of joints parts 102-1 is fixed on the platform A of forearm set collar 1 by screw, the axis of the transmission shaft 12 of detection of joints parts 102-1 is perpendicular to the axis of forearm set collar 1 annulus, the transmission shaft 12 of the base E of described detection of joints parts 102-2 and detection of joints parts 102-1 is affixed, the transmission shaft 12 of described detection of joints parts 102-2 is orthogonal with the transmission shaft 12 of detection of joints parts 102-1, the transmission shaft 12 of described detection of joints parts 102-2 is affixed with the end of first order connecting rod 2-1, the end of the other end of described first order connecting rod 2-1 and second level connecting rod 2-2 is hinged by screw, described first order connecting rod 2-1 and connecting rod 2-2 hinged place, the second level are equipped with insulated column 5, the other end of described second level connecting rod 2-2 is articulated in the hole C of rotating connector 6 by screw, another hole B of described rotating connector 6 is articulated in the hole D of gloves pedestal 3 by screw, the hinged axis of described second level connecting rod 2-2 and rotating connector 6 is perpendicular to the hinged axis of rotating connector 6 and gloves pedestal 3, described gloves pedestal 3 is fixed on the gloves 4, corresponding to the position of gloves 4 palm back ofs the body.The action implementation process: staff can one way or another rotates in order to fix a point within the specific limits with wrist, the operator wears gloves after 4, being fixed on gloves pedestal 3 on the gloves 4 follows operator's hand and moves together, the rotating connector 6 hinged with gloves pedestal 3 drives the connecting rod 2-2 rotation hinged with it, when operator's wrist is rotated towards either direction, the axis of the axis of the transmission shaft 12 of detection of joints parts 102-2 and rotating connector 6 hole C remains and is parallel to each other, but the air line distance between the two axial lines can be rotated with operator's wrist and be changed, make hinged connecting rod 2-1, relatively rotate between the 2-2, and the transmission shaft 12 of the affixed detection of joints parts 102-2 of driving and connecting rod 2-1 rotates, detection of joints parts 102-2 rotates around the axis of the affixed parts of its base E simultaneously, the transmission shaft 12 of the detection of joints parts 102-1 that driving and detection of joints parts 102-2 base E are affixed rotates, detection of joints parts 102-1, the transmission shaft 12 of 102-2 rotates and drives angular transducer 9 separately, and the data communication device that system detects according to two angular transducers 9 is crossed corresponding mathematical algorithm and calculated angle and the state that operator's wrist is rotated.
Embodiment two: Fig. 3 and shown in Figure 4, described data glove wrist joint pick-up unit is implemented by detection of joints parts 102-1,102-2 the detection of operator's arm wrist joint motion, described detection of joints parts 102-1,102-2 comprise shell 7,8, transmission shaft 12 and angular transducer 9.Described transmission shaft 12 is affixed with the rotation axis of angular transducer 9.The action implementation process: when transmission shaft 12 rotated, the rotation axis that drives with the affixed angular transducer 9 of transmission shaft 12 rotated.
As another example of the present utility model, also can replace angular transducer with other sensors, can play equally angle and the state that the staff wrist joint moves that detect in three dimensions, realize the purpose of this utility model.
As another example of the present utility model, can substitute rotating connector 6 with another detection of joints parts 102, connecting rod 2-2 is fixed in the transmission shaft 12 of detection of joints parts 102, the base E of detection of joints parts 102 and gloves pedestal 3 are articulated in the hole D of gloves pedestal 3 by screw, the hinged axis of detection of joints parts 102 and gloves pedestal 3 is perpendicular to facies palmaris, can play equally angle and the state that the staff wrist joint moves that detect 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 (3)
1. data glove wrist joint pick-up unit, be used for and computing machine, the interactive device of mechanical arm, by gloves pedestal (3), gloves (4), first order connecting rod (2-1), second level connecting rod (2-2), detection of joints parts (102), forearm set collar (1) forms;
It is characterized in that:
This device is fixed on the operator on hand;
Forearm set collar (1) is fixed in operator's forearm position, detection of joints parts (102) are installed on the forearm set collar (1), gloves pedestal (3) is fixed on the gloves (4), and gloves pedestal (3) is hinged by first order connecting rod (2-1) and second level connecting rod (2-2) with forearm set collar (1);
Data glove wrist joint pick-up unit is implemented by detection of joints parts (102) the detection of operator's wrist joint motion, detection of joints parts (102) inside is equipped with the angular transducer (9) that detects joint action, can detect angle and the state of operator's wrist joint motion.
2. data glove wrist joint pick-up unit according to claim 1, it is characterized in that: described data glove wrist joint pick-up unit comprises forearm set collar (1), first order connecting rod (2-1), second level connecting rod (2-2), gloves pedestal (3), gloves (4), insulated column (5), rotating connector (6), the first detection of joints parts (102-1), second joint detection part (102-2), described forearm set collar (1) is fixed in operator's forearm position, the base (E) of described the first detection of joints parts (102-1) is fixed on the platform (A) of forearm set collar (1) by screw, the axis of the transmission shaft (12) of the first detection of joints parts (102-1) is perpendicular to the axis of forearm set collar (1) annulus, the base (E) of described second joint detection part (102-2) is affixed with the transmission shaft (12) of the first detection of joints parts (102-1), the transmission shaft (12) of described second joint detection part (102-2) is orthogonal with the transmission shaft (12) of the first detection of joints parts (102-1), the transmission shaft (12) of described second joint detection part (102-2) is affixed with an end of first order connecting rod (2-1), one end of the other end of described first order connecting rod (2-1) and second level connecting rod (2-2) is hinged by screw, described first order connecting rod (2-1) and second level connecting rod (2-2) hinged place are equipped with insulated column (5), the other end of described second level connecting rod (2-2) is articulated in the hole (C) of rotating connector (6) by screw, another hole (B) of described rotating connector (6) is articulated in the hole (D) of gloves pedestal (3) by screw, the hinged axis of described second level connecting rod (2-2) and rotating connector (6) is perpendicular to the hinged axis of rotating connector (6) and gloves pedestal (3), described gloves pedestal (3) is fixed on the gloves (4), corresponding to the position of gloves (4) palm back of the body.
3. data glove wrist joint pick-up unit 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 (9), described transmission shaft (12) is by gear engagement and angular transducer (9) interlock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220724023 CN203259969U (en) | 2012-12-25 | 2012-12-25 | Data glove wrist joint detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220724023 CN203259969U (en) | 2012-12-25 | 2012-12-25 | Data glove wrist joint detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203259969U true CN203259969U (en) | 2013-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220724023 Expired - Fee Related CN203259969U (en) | 2012-12-25 | 2012-12-25 | Data glove wrist joint detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203259969U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103902020A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove wrist joint detection device |
| CN104552229A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Human wrist joint movement detection device |
| 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 |
-
2012
- 2012-12-25 CN CN 201220724023 patent/CN203259969U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103902020A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove wrist joint detection device |
| CN103902020B (en) * | 2012-12-25 | 2017-04-12 | 苏茂 | Data glove wrist joint detection device |
| CN104552229A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Human wrist joint movement detection device |
| 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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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: 20131030 Termination date: 20151225 |
|
| EXPY | Termination of patent right or utility model |