CN203689437U - Fingertip force feedback device - Google Patents
Fingertip force feedback device Download PDFInfo
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- CN203689437U CN203689437U CN201320810120.9U CN201320810120U CN203689437U CN 203689437 U CN203689437 U CN 203689437U CN 201320810120 U CN201320810120 U CN 201320810120U CN 203689437 U CN203689437 U CN 203689437U
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- finger tip
- draught line
- fingertip
- outer frame
- force feedback
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Abstract
The utility model discloses a fingertip force feedback device which comprises a fingertip trust face locating component, a fingertip positive pressure feedback component, a fingertip sliding friction force feedback component and a fingertip torque feedback component which are connected. The fingertip thrust face locating component drives a motor oscillating bar through a first micro servo motor and drives an outer framework through a large oscillating bar to laterally swing, so as to locate the thrust face of the fingertip; the fingertip positive pressure feedback component uses a first pull wire and two shrinking springs to drive the outer framework to fold and unfold, so as to feed back the positive pressure of the fingertip; the fingertip sliding friction force feedback component drives a rotating seat to slide through mutually vertical two levers and a compression resistant small spring, so as to feed back the sliding friction force of the fingertip; and the fingertip torque feedback component drives a first gear through a second micro servo motor and drives a rotating disc to rotate through a second gear, so as to feed back the torque of the fingertip. The fingertip force feedback device is compact in structure, is suitable for being worn on a fingertip of a hand of a person, and can feed back the positive pressure, the friction force and the torque of the thrust face on different positions of the fingertip.
Description
Technical field
The utility model relates to device for force feedback, especially relates to a kind of Fingertip force feedback apparatus of virtual reality human-computer interaction.
Background technology
Virtual reality technology is applied in multiple fields such as industry, medical science, education, amusement and military affairs, causes common people's extensive concern.
From different based on traditional interactive mode such as mouse, keyboard and form, virtual reality provides a kind of multimodal human-computer interaction mode.Complex scene is carried out three-dimensional visualization by it, presents three-dimensional interactive environment to user.It provides and is similar to the various feedback such as the vision, the sense of hearing, power feel of real world, makes user have sensation on the spot in person.Power feels that passage refers to that user is felt and fed back hardware device perception virtual environment by power.Only in virtual reality system, introduce force feedback, could really set up the virtual environment of " being at physical existence ".The major function of force feedback hardware device is that the power generating in virtual environment is felt and fed back to user, has significant application value.
At medical field, for example, operating in surgical procedure, Shi doctor's the feel of operating on is extremely important.In the time that operation is dissected in simulation, if doctor can experience real dissection power, contribute to doctor to increase clinical experience, grasp fast the technology of operating on, lower operation risk, improve success rate of operation; So not only save medical resource, also improved medical efficiency.In machine design and manufacture field, if machinist can experience real acting force in the time of virtual assembling, practical experience and technology can be dissolved in virtual design, improve the success ratio of the disposable Design and manufacture of physical prototyping, shorten the research and development of products cycle, reduce R&D costs.At space industry, weightlessness is the difficulty that must overcome in space travel, in weightless situation, the motion of object is difficult to prediction.If in the time of cosmonaut's simulation training, can experience real power, can predict the real motion of controller, contribute to cosmonaut in space, to realize accurately operation.
Therefore, research and develop a kind of Fingertip force feedback apparatus and just seem very necessary.
Summary of the invention
The purpose of this utility model is to provide a kind of Fingertip force feedback apparatus, can feed back the many kinds of force of finger tip and feel.The stress surface that it can locate finger tip, feeds back in finger tip front and finger tip side formation normal pressure; The force feedback of finger tip sliding friction and finger tip torque feedback, allow user in virtual environment interactive process, perceive pressure, friction force and turning moment.
The utility model solves the technical scheme that its technical matters adopts:
The utility model is by finger tip stress surface positioning component, finger tip normal pressure feedback component, and finger tip sliding friction force feedback assembly and finger tip torque feedback assembly are formed by connecting.
Described finger tip stress surface positioning component, comprises the first micro servo motor, motor cabinet, motor fork, large fork and axis; The first micro servo motor is fixedly mounted on motor cabinet, one end of the rotating shaft of the first micro servo motor and motor fork is affixed, the other end of motor fork forms sliding pair with the straight runner of one end of large fork, large fork middle part forms revolute pair with the overarm axle of motor cabinet, the other end of large fork forms revolute pair by the rod bearing of putting on above the outer frame in axis and finger tip sliding friction force feedback assembly, and the axis of axis is vertical with the axis of overarm axle.
Described finger tip normal pressure feedback component, comprises spring base, two contraction springs, the first draught line and the first draught line sheaths; The overarm axle of spring base and motor cabinet forms revolute pair, two contraction springs are arranged in the spring groove of the outer frame in spring base and finger tip sliding friction force feedback assembly, the first draught line sheath is fixedly mounted on spring base, and one end of the first draught line is fixedly mounted on by the first draught line sheath in the end face groove of the outer frame in finger tip sliding friction force feedback assembly; The other end of the first draught line is connected in external tension traction device.
Described finger tip sliding friction force feedback assembly, comprises that the second draught line sheath, the 3rd draught line sheath, outer frame, four resistance to compression little springs, the first traction web members, second draw web member, the first lever, the second lever, the second draught line, the 3rd draught line, put on rod bearing, two directional wheels and two guide rollers; Put on rod bearing and be connected on outer frame, the rotary seat in finger tip torque feedback assembly is housed in the groove of outer frame, in four resistance to compression little springs are vertically mounted in rotary seat and outer frame spring eye separately take two as one group respectively mutually;
In outer frame inside, the first lever middle part forms revolute pair with outer frame, one end of the first lever is by being pressed in rotary seat in finger tip torque feedback assembly not on a side of mounting spring, the first draught line web member is installed in the other end of the first lever and forms revolute pair, the one end that is contained in the second draught line in the second traction sheath is fixed on the first draught line web member, and the other end of the second draught line is connected in external tension traction device through the first directional wheel, the first guide roller.
In outer frame inside, the second lever middle part forms revolute pair with outer frame, one end of the second lever is by being pressed in rotary seat opposite side in finger tip torque feedback assembly not on the side of mounting spring, the second draught line web member is installed in the other end of the second lever and forms revolute pair, the one end that is contained in the 3rd draught line in the 3rd traction sheath is fixed on the second draught line web member, and the other end of the 3rd draught line is connected in external tension traction device through the second directional wheel, the second guide roller.
Described finger tip torque feedback assembly, comprises the second micro servo motor, rotating disc, the first gear, the second gear, rotary seat and ball; The second micro servo motor is fixedly mounted on rotary seat, the first gear is fixedly mounted in the rotating shaft of the second micro servo motor, the second gear is arranged on rotary seat, the first gear engages with the second gear, the second gear engages with the gear of rotating disc bottom, and ball is installed respectively in the slot rolling between rotary seat and rotary seat and rotating disc.
The utility model is compared with background technology, and the beneficial effect having is:
1, the utility model can be realized the feedback of normal pressure, friction force and the moment of torsion of finger tip diverse location stress surface.
2, the utility model volume is little, and compact conformation is applicable to being worn on staff finger tip.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present utility model.
Fig. 2 is finger tip stress surface positioning component schematic diagram of the present utility model.
Fig. 3 is the utility model finger tip normal pressure feedback component schematic diagram.
Fig. 4 is the utility model finger tip sliding friction force feedback assembly schematic diagram.
Fig. 5 is the utility model finger tip sliding friction force feedback assembly partial exploded view.
Fig. 6 is the utility model finger tip torque feedback assembly schematic diagram.
Fig. 7 is the utility model finger tip torque feedback assembly decomposing schematic representation.
In figure: 1, the first micro servo motor, 2, motor cabinet, 3, motor fork, 4, large fork, 5, axis, 6, spring base, 7, contraction spring, 8, the first draught line, 9, the first draught line sheath, 10, the 3rd draught line sheath, 11, the second draught line sheath, 12, overarm axle, 13, put on rod bearing, 14, finger tip sliding friction force feedback assembly, 15, outer frame, 16, resistance to compression little spring, 17, the first traction web member, 18, the first lever, 19, the second draught line, 20, the second traction web member, 21, the second lever, 22, the 3rd draught line, 23, directional wheel, 24, guide roller, 25, rotating disc, 26, the second micro servo motor, 27, rotary seat, 28, ball, 29, the first gear, 30, the second gear, 31, finger tip torque feedback assembly.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, Figure 3, the utility model is by finger tip stress surface positioning component, finger tip normal pressure feedback component, and finger tip sliding friction force feedback assembly 14 and finger tip torque feedback assembly 31 are formed by connecting.
As shown in Figure 1 and Figure 2, finger tip stress surface positioning component, comprising: the first micro servo motor 1, motor cabinet 2, motor fork 3, large fork 4 and axis 5; The first micro servo motor 1 is fixedly mounted on motor cabinet 2, one end of the rotating shaft of the first micro servo motor 1 and motor fork 3 is affixed, the other end of motor fork 3 forms sliding pair with the straight runner of one end of large fork 4, the overarm axle 12 of large fork 4 middle parts and motor cabinet 2 forms revolute pair, the other end of large fork 4 forms revolute pair by the rod bearing 13 of putting on above of the outer frame 15 in axis 5 and finger tip sliding friction force feedback assembly 14, and the axis of axis 5 is vertical with the axis of overarm axle 12; The first micro servo motor 1 drive motor fork 3 rotates, motor fork 3 drives large fork 4 to swing around the overarm axle 27 of motor cabinet 2 by coordinating with the sliding pair of large fork 4 one end elongated slots, thereby drive outer frame 15 to swing, adjust and the stress surface of location finger tip, realize finger tip normal pressure feedback component 14 and swing to the diverse location of finger tip front or finger tip side.
As shown in Figure 1, Figure 3, finger tip normal pressure feedback component, comprising: spring base 6, two contraction springs 7, the first draught line 8 and the first draught line sheaths 9; Spring base 6 forms revolute pair with the overarm axle 12 of motor cabinet 2, two contraction springs 7 are arranged in the spring groove of the outer frame 15 in spring base 6 and finger tip sliding friction force feedback assembly 14, the first draught line sheath 9 is fixedly mounted on spring base 6, and one end of the first draught line 8 is fixedly mounted on by the first draught line sheath 9 in the end face groove of the outer frame 15 in finger tip sliding friction force feedback assembly 14; The other end of the first draught line 8 is connected in external tension traction device.In the time that the first draught line 8 is strained, the normal pressure that contraction spring 7 loosens finger tip by finger tip normal pressure feedback component 14, in the time that the first draught line 8 loosens, the normal pressure that contraction spring 7 applies finger tip by finger tip normal pressure feedback component 14.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, finger tip sliding friction force feedback assembly 14, comprising: the second draught line sheath 11, the 3rd draught line sheath 10, outer frame 15, four resistance to compression little springs 16, the first traction web member 17, the second traction web member 20, the first lever 18, the second lever 21, the second draught line 19, the 3rd draught line 22, two directional wheels 23 and two guide rollers 24; In the groove of outer frame 15, be equipped with in 27, four resistance to compression little springs 16 of rotary seat in finger tip torque feedback assembly 31 are vertically mounted in rotary seat 27 and outer frame 15 spring eye separately take two as one group respectively mutually.
In outer frame 15 inside, the first lever 18 middle parts and outer frame 15 form revolute pair, one end of the first lever 18 is by being pressed in rotary seat 27 in finger tip torque feedback assembly 31 not on a side of mounting spring, the first draught line web member 17 is installed in the other end of the first lever 18 and forms revolute pair, the one end that is contained in the second draught line 19 in the second traction sheath 11 is fixed on the first draught line web member 17, the other end of the second draught line 19 is through the first directional wheel 23, the first guide roller 24 is connected in external tension traction device, move by the rotary seat 27 that pulls the second draught line 19 to drive the first lever 18 to promote in finger tip torque feedback assembly 31, form a side finger tip sliding friction force feedback.
In outer frame 15 inside, the second lever 21 middle parts and outer frame 15 form revolute pair, one end of the second lever 21 is by being pressed in rotary seat 27 opposite sides in finger tip torque feedback assembly 31 not on the side of mounting spring, the second draught line web member 20 is installed in the other end of the second lever 21 and forms revolute pair, the one end that is contained in the 3rd draught line 22 in the 3rd traction sheath 10 is fixed on the second draught line web member 20, the other end of the 3rd draught line 22 is through the second directional wheel 23, the second guide roller 24 is connected in external tension traction device, move by the rotary seat 27 that pulls the 3rd draught line 22 to drive the second lever 21 to promote finger tip torque feedback assembly 31, form opposite side finger tip sliding friction force feedback.
As shown in Figure 1, Figure 6, Figure 7, finger tip torque feedback assembly 31 comprises: the second micro servo motor 26, rotating disc 25, the first gear 29, the second gear 30, rotary seat 27 and ball 28; The second micro servo motor 26 is fixedly mounted on rotary seat 27, the first gear 29 is fixedly mounted in the rotating shaft of the second micro servo motor 26, the second gear 30 is arranged on rotary seat 27, the first gear 29 engages with the second gear 30, the second gear 30 engages with the gear of rotating disc 25 bottoms, and ball 28 is installed respectively in the slot rolling between rotary seat 27 and rotary seat 27 and rotating disc 25; The second micro servo motor 26, by driving intermeshing the first gear 29 and the second gear 30, drives rotating disc 25 to rotate, and forms the torque feedback of finger tip.
Principle of work of the present utility model is as follows:
Put into behind the space of finger tip torque feedback assembly 31 and motor cabinet 2 when the finger tip of staff, finger tip face contacts with rotary seat 27, and contraction spring 7 exists precompression, compresses finger tip through finger tip sliding friction force feedback assembly 14.
The first micro servo motor 1 drive motor fork 3 rotates, motor fork 3 drives large fork 4 to swing around the overarm axle 27 of motor cabinet 2 by coordinating with the sliding pair of large fork 4 one end elongated slots, thereby drive outer frame 15 to swing, adjust and the stress surface of location finger tip, realize finger tip normal pressure feedback component 14 and swing to the diverse location of finger tip front or finger tip side.
In the time that the first draught line 8 is strained, the normal pressure that contraction spring 7 loosens finger tip by finger tip normal pressure feedback component 14, in the time that the first draught line 8 loosens, the normal pressure that contraction spring 7 applies finger tip by finger tip normal pressure feedback component 14.
Move by the rotary seat 27 that pulls the second draught line 19 to drive the first lever 18 to promote in finger tip torque feedback assembly 31, form a side finger tip sliding friction force feedback; Move by the rotary seat 27 that pulls the 3rd draught line 22 to drive the second lever 21 to promote finger tip torque feedback assembly 31, form opposite side finger tip sliding friction force feedback.
The second micro servo motor 26, by driving intermeshing the first gear 29 and the second gear 30, drives rotating disc 25 to rotate, and forms the torque feedback of finger tip.
Claims (5)
1. a Fingertip force feedback apparatus, is characterized in that: by finger tip stress surface positioning component, and finger tip normal pressure feedback component, finger tip sliding friction force feedback assembly (14) and finger tip torque feedback assembly (20) are formed by connecting.
2. a kind of Fingertip force feedback apparatus according to claim 1, is characterized in that: described finger tip stress surface positioning component, comprises the first micro servo motor (1), motor cabinet (2), motor fork (3), large fork (4) and axis (5), the first micro servo motor (1) is fixedly mounted on motor cabinet (2), one end of the rotating shaft of the first micro servo motor (1) and motor fork (3) is affixed, the other end of motor fork (3) forms sliding pair with the straight runner of one end of large fork (4), large fork (4) middle part forms revolute pair with the overarm axle (12) of motor cabinet (2), the other end of large fork (4) forms revolute pair by the rod bearing (13) of putting on above of the outer frame (15) in axis (5) and finger tip sliding friction force feedback assembly (14), the axis of axis (5) is vertical with the axis of overarm axle (12).
3. a kind of Fingertip force feedback apparatus according to claim 1, is characterized in that: described finger tip normal pressure feedback component, comprises spring base (6), two contraction springs (7), the first draught line (8) and the first draught line sheath (9); Spring base (6) forms revolute pair with the overarm axle (12) of motor cabinet (2), two contraction springs (7) are arranged in the spring groove of the outer frame (15) in spring base (6) and finger tip sliding friction force feedback assembly (14), it is upper that the first draught line sheath (9) is fixedly mounted on spring base (6), and one end of the first draught line (8) is fixedly mounted on by the first draught line sheath (9) in the end face groove of the outer frame (15) in finger tip sliding friction force feedback assembly (14); The other end of the first draught line (8) is connected in external tension traction device.
4. a kind of Fingertip force feedback apparatus according to claim 1, it is characterized in that: described finger tip sliding friction force feedback assembly (14), comprises that the second draught line sheath (11), the 3rd draught line sheath (10), outer frame (15), four resistance to compression little springs, the first traction web members (17), second draw web member (20), the first lever (18), the second lever (21), the second draught line (19), the 3rd draught line (22), put on rod bearing (13), two directional wheels and two guide rollers; Putting on rod bearing (13) is connected on outer frame (15), rotary seat (27) in finger tip torque feedback assembly (31) is housed, in four resistance to compression little springs are vertically mounted in rotary seat (27) and outer frame (15) spring eye separately take two as one group respectively mutually in the groove of outer frame (15);
In outer frame (15) inside, the first lever (18) middle part forms revolute pair with outer frame (15), one end of the first lever (18) is by being pressed in rotary seat (27) in finger tip torque feedback assembly (31) not on a side of mounting spring, the first draught line web member (17) is installed in the other end of the first lever (18) and forms revolute pair, the one end that is contained in the second draught line (19) in the second traction sheath (11) is fixed on the first draught line web member (17), the other end of the second draught line (19) is through the first directional wheel, the first guide roller is connected in external tension traction device,
In outer frame (15) inside, the second lever (21) middle part forms revolute pair with outer frame (15), one end of the second lever (21) is by being pressed in rotary seat (27) opposite side in finger tip torque feedback assembly (31) not on the side of mounting spring, the second draught line web member (20) is installed in the other end of the second lever (21) and forms revolute pair, the one end that is contained in the 3rd draught line (22) in the 3rd traction sheath (10) is fixed on the second draught line web member (20), the other end of the 3rd draught line (22) is through the second directional wheel, the second guide roller is connected in external tension traction device.
5. a kind of Fingertip force feedback apparatus according to claim 1, it is characterized in that: described finger tip torque feedback assembly (31), comprises the second micro servo motor (26), rotating disc (25), the first gear (29), the second gear (30), rotary seat (27) and ball (28); The second micro servo motor (26) is fixedly mounted on rotary seat (27), the first gear (29) is fixedly mounted in the rotating shaft of the second micro servo motor (26), the second gear (30) is arranged on rotary seat (27), the first gear (29) engages with the second gear (30), the second gear (30) engages with the gear of rotating disc (25) bottom, and ball (28) is installed respectively in the slot rolling between rotary seat (27) and rotary seat (27) and rotating disc (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320810120.9U CN203689437U (en) | 2013-12-11 | 2013-12-11 | Fingertip force feedback device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320810120.9U CN203689437U (en) | 2013-12-11 | 2013-12-11 | Fingertip force feedback device |
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| Publication Number | Publication Date |
|---|---|
| CN203689437U true CN203689437U (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320810120.9U Expired - Fee Related CN203689437U (en) | 2013-12-11 | 2013-12-11 | Fingertip force feedback device |
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| Country | Link |
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| CN (1) | CN203689437U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699221A (en) * | 2013-12-11 | 2014-04-02 | 浙江理工大学 | Fingertip force feedback device |
| WO2015089729A1 (en) * | 2013-12-17 | 2015-06-25 | 浙江理工大学 | Feedback apparatus for fingertip force |
| CN108139802A (en) * | 2015-10-05 | 2018-06-08 | 阿尔卑斯电气株式会社 | Tactile representation device |
-
2013
- 2013-12-11 CN CN201320810120.9U patent/CN203689437U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699221A (en) * | 2013-12-11 | 2014-04-02 | 浙江理工大学 | Fingertip force feedback device |
| CN103699221B (en) * | 2013-12-11 | 2016-08-24 | 浙江理工大学 | Fingertip force feedback apparatus |
| WO2015089729A1 (en) * | 2013-12-17 | 2015-06-25 | 浙江理工大学 | Feedback apparatus for fingertip force |
| CN108139802A (en) * | 2015-10-05 | 2018-06-08 | 阿尔卑斯电气株式会社 | Tactile representation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 Termination date: 20161211 |