CN218052644U

CN218052644U - Wearable control glove for controlling mechanical hand

Info

Publication number: CN218052644U
Application number: CN202222143291.2U
Authority: CN
Inventors: 麦骞誉
Original assignee: Lubang Technology Licensing Co ltd
Current assignee: Lubang Technology Licensing Co ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-12-16
Anticipated expiration: 2032-08-15

Abstract

The utility model relates to a wearable control glove for controlling a manipulator, which comprises a palm sleeve and a finger control module, wherein the finger control module comprises a finger sleeve, a rotary table, a main control board, a potentiometer and/or a force feedback motor; the finger stall is connected with the palm stall, and the potentiometer and/or the force feedback motor are electrically connected with the main control panel; a flexible feedback line is arranged between the finger stall and the turntable; when the finger sleeve bends along with the finger of the user, the flexible feedback line stretches and drives the turntable to rotate reversely; when the finger stall extends along with the finger of the user, the turntable is reset to rotate in the positive direction and winds the flexible feedback line; the detection end of the potentiometer is in transmission connection with the turntable, and the turntable drives the detection end of the potentiometer to rotate; the motor shaft transmission of force feedback motor is connected with the indicating part, and the carousel that the indicating part restriction rotated to the settlement position rotates. This wearable control gloves control is effectual, and the control degree of difficulty is low, guarantees the uniformity of hand action and manipulator action and/or in time adjusts the control power according to actual conditions.

Description

Wearable control glove for controlling mechanical hand

Technical Field

The utility model relates to a robot control device specifically is a wearable control gloves that control manipulator used.

Background

The robot can assist and replace users to complete different works, particularly dangerous works, fine works and the like, so the robot is already applied to various industries and has very wide application; the part of bionic mechanical arms on the market imitate the structure of human hands, and can simulate the hands with high emulation degree to complete various actions so as to execute different work tasks; for the control of the bionic manipulator, the traditional control mode is computer control, namely, a corresponding control program is written in a computer, and the computer controls the bionic manipulator through the control program; however, the computer control method has the following disadvantages: (1) the method has the advantages that the method has the advantages of limited hand motions which can be completed, low control precision and poor completion effect of work tasks, (2) only mechanical work can be completed, so the method cannot be automatically adjusted according to actual conditions, and (3) professional technicians are needed for additionally compiling control programs, namely, the requirements on the technicians are high, and the control difficulty is high.

Therefore, further improvements to existing robot control devices are needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the not enough of above-mentioned prior art existence, and provide a wearable control gloves that control manipulator used, this controlling means control is effectual, and the control degree of difficulty is low, guarantees the uniformity of hand action and manipulator action and/or in time adjusts the control power according to actual conditions.

The purpose of the utility model is realized like this:

a wearable control glove for controlling a manipulator comprises a palm sleeve worn on a palm of a user and more than one group of finger control modules, wherein each finger control module comprises a finger sleeve worn on a finger of the user, a rotary disc elastically reset and rotatably arranged, a main control panel used for receiving and sending control instructions, a potentiometer used for detecting the degree of bending of the finger and/or a force feedback motor used for feeding back the stress of the manipulator; the finger stall is connected with the palm stall, and the potentiometer and/or the force feedback motor are/is electrically connected with the main control board; a flexible feedback line is arranged between the finger stall and the turntable; when the finger sleeve is bent along with the finger of the user, the flexible feedback line stretches and drives the turntable to rotate reversely; when the finger stall extends along with the finger of the user, the rotary disc is reset in the positive direction to rotate and wind the flexible feedback line; when the potentiometer is arranged, the detection end of the potentiometer is in transmission connection with the turntable, and the turntable drives the detection end of the potentiometer to rotate; when a force feedback motor is arranged, a motor shaft of the force feedback motor is in transmission connection with an indicating part, and the indicating part limits the rotation of the turntable which rotates to a set position.

As a specific scheme, the potentiometer comprises a potential shaft and a voltage conversion module; the potential shaft is respectively in transmission connection with the turntable and the voltage conversion module, and the voltage conversion module is electrically connected with the main control board; the potential shaft rotates along with the rotary table, and the voltage conversion module generates corresponding voltage data according to the rotation of the potential shaft and feeds the voltage data back to the main control board.

As another specific scheme, one end of the potential shaft is coaxially inserted with the turntable, and the other end of the potential shaft is in transmission connection with the voltage conversion module.

As another specific scheme, a braking portion is arranged on the rotating disc, the braking portion rotates along with the rotating disc, and the indicating component is located on a rotating track of the braking portion; when the braking part rotates to a set position, the braking part is abutted against the indicating component so as to limit the rotation of the turntable; and the force feedback motor drives the indicating component to rotate to a set position according to the stress condition of the manipulator.

As another specific scheme, a fixed cover body is arranged outside the rotary table, the rotary table is rotatably arranged on the cover body, and an elastic element for elastically restoring and rotating the rotary table is arranged between the cover body and the rotary table.

As another specific scheme, a through hole is formed in the cover body, a wire protection part is arranged on the cover body, and the flexible feedback line bypasses the wire protection part and then penetrates through the through hole to be connected with the turntable.

As another specific scheme, one or more than two finger sleeves are arranged; the flexible feedback line penetrates through the finger stall in a sliding mode; more than one the finger stall pulls according to user's finger action flexible feedback line to drive the carousel rotates.

As another specific scheme, the finger cot is connected with the palm cot through a flexible connecting line, and the finger cot has a certain mobility relative to the palm cot; when the finger sleeves are more than two, the two adjacent finger sleeves are connected with each other through the flexible connecting line, and a certain degree of motion is relatively formed between the two finger sleeves.

As another specific solution, when the potentiometer and the force feedback motor are simultaneously disposed, the turntable, the potentiometer and the force feedback motor are respectively disposed on a fixed seat, and the turntable is rotationally disposed relative to the fixed seat.

As another specific scheme, the wearable control glove for controlling the manipulator further comprises a control box, the control box is connected with the finger stall, the control box is provided with the main control board and the power supply module, and the power supply module is electrically connected with the main control board.

As another specific scheme, a palm wearing cavity for accommodating a palm of a user and more than one finger holes communicated with the palm wearing cavity are formed in the palm sleeve; the finger hole with finger stall one-to-one, user's finger pass wear behind the finger hole in on the finger stall.

The beneficial effects of the utility model are as follows:

the control device is a wearable control glove, and by wearing the control device, a controller only needs to make required actions to control the manipulator to complete corresponding actions, so that the control of the manipulator is realized. Specifically, the palm sleeves and the finger sleeves are respectively worn on the hands of the control personnel, and when the hands of the control personnel act, the palm sleeves and the finger sleeves respectively move relatively so as to better acquire information data; when a potentiometer is arranged, the flexible feedback line drives the turntable to rotate, the potentiometer identifies the degree of flexion or extension of the fingers according to the rotation amplitude of the turntable, and finally the manipulator is controlled to make corresponding actions according to the corresponding degree of flexion or extension, and the system can directly control the manipulator to complete corresponding actions according to the degree of flexion or extension of the fingers, so that the consistency of the hand actions and the manipulator actions is ensured, the control effect is greatly improved, the control is convenient and simple, and the requirement on the specialty of a controller is low; when the force feedback motor is arranged, the system finally controls the force feedback motor to work according to the stress condition fed back by the mechanical arm so as to add resistance to the rotary disc, achieve the purpose of force feedback, enable a controller to know the stress condition of the mechanical arm in time and make adjustment in time, and particularly can adjust parameters such as control force, action amplitude and the like.

Drawings

Fig. 1 and fig. 2 are assembly views of wearable control gloves in different orientations according to an embodiment of the present invention.

Fig. 3 is an exploded view of a wearable control glove according to an embodiment of the present invention.

Fig. 4 is an assembly diagram of the functional components according to an embodiment of the present invention.

Fig. 5 is an exploded view of the functional components in an embodiment of the present invention.

Fig. 6 is a cross-sectional view of a functional module according to an embodiment of the present invention.

Fig. 7 is an assembly view of three finger stalls in an embodiment of the present invention.

Fig. 8 is an exploded view of three finger stalls in an embodiment of the invention.

Fig. 9 is a schematic structural view of the palm cover according to an embodiment of the present invention.

Fig. 10 is an exploded view of a control box according to an embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

Referring to fig. 1 to 10, the wearable control glove related to the present embodiment includes a palm cover 1 worn on a palm of a user, and more than one group of finger control modules, and the present embodiment is provided with five groups of finger control modules, which respectively correspond to a thumb, an index finger, a middle finger, a ring finger, and a tail finger to collect activity parameters of each finger; the finger control module comprises a finger sleeve 2 worn on a finger of a user, a rotary disc 3 arranged in an elastic resetting and rotating mode, a main control panel 6 used for receiving and sending control instructions, a potentiometer 4 used for detecting the bending degree of the finger (providing voltage signals related to variable resistors to detect the bending angle or the stretching angle of the finger) and a force feedback motor 5 used for feeding back the stress degree of the manipulator (according to the fact, one of the potentiometer 4 and the force feedback motor 5 can be selected), and the force feedback motor 5 is preferably a servo motor; the finger stall 2 is connected with the palm stall 1, and the potentiometer 4 and the force feedback motor 5 are respectively and electrically connected with the main control board 6; a flexible feedback line 7 is arranged between the finger stall 2 and the turntable 3; when the finger stall 2 is bent along with the finger of the user, the flexible feedback line 7 stretches and drives the rotary disc 3 to rotate reversely; when the finger stall 2 extends along with the finger of the user, the rotary disc 3 is reset in the positive direction to rotate and roll the flexible feedback line 7; the detection end of the potentiometer 4 is in transmission connection with the rotary table 3, and the rotary table 3 drives the detection end of the potentiometer 4 to rotate; the flexible feedback line 7 drives the rotary table 3 to rotate, the potentiometer 4 identifies the bending degree or the stretching degree of the finger according to the rotation amplitude of the rotary table 3, and finally the manipulator is controlled to make corresponding action according to the corresponding bending degree or the stretching degree; a motor shaft of the force feedback motor 5 is in transmission connection with an indicating part 8, and the indicating part 8 limits the rotation of the turntable 3 which rotates to a set position; the system finally controls the force feedback motor 5 to work according to the stress condition fed back by the manipulator so as to add resistance to the turntable 3, thereby achieving the purpose of force feedback, enabling a controller to know the stress condition of the manipulator in time and make adjustments in time, and specifically being capable of adjusting parameters such as control force, action amplitude and the like. Therefore, the wearable control glove is good in control effect and low in control difficulty, the consistency of hand actions and manipulator actions is guaranteed, and control force can be adjusted in time according to actual conditions.

Further, the potentiometer 4 includes a potential shaft 401 and a voltage conversion module 402; the potential shaft 401 is respectively in transmission connection with the turntable 3 and the voltage conversion module 402, and the voltage conversion module 402 is electrically connected with the main control board 6; the potential shaft 401 rotates along with the turntable 3, and the voltage conversion module 402 generates corresponding voltage data according to the rotation of the potential shaft 401 and feeds the voltage data back to the main control board 6. Specifically, one end of the potential shaft 401 is coaxially inserted into the rotary disk 3, the other end of the potential shaft is in transmission connection with the voltage conversion module 402, and the potential shaft 401 is directly driven to rotate when the rotary disk 3 rotates, so as to generate corresponding voltage data.

Furthermore, a braking part 9 is arranged on the rotary table 3, and at least part of the braking part 9 protrudes from one end surface of the rotary table 3 and is eccentric relative to the rotary table 3; the braking part 9 rotates along with the rotary table 3, the indicating component 8 is positioned on the circular rotating track of the braking part 9, and the braking part 9 is a screw screwed with the rotary table 3 in the embodiment; when the braking part 9 rotates to a set position, the braking part 9 is abutted against the indicating component 8 to limit the rotation of the turntable 3, so that a force feedback effect is achieved, and a control person can sense the stress condition of the manipulator; the limiting position of the indicating component 8 is adjustable according to the actual situation, namely the force feedback motor 5 drives the indicating component 8 to rotate to the set position according to the stress condition of the manipulator.

Furthermore, a fixed cover body 10 is arranged on the outer side of the rotating disc 3, the rotating disc 3 is rotatably arranged on the inner side of the cover body 10, an elastic element (not shown in the figure) for acting the elastic reset rotation of the rotating disc 3 is arranged between the cover body 10 and the rotating disc 3, the elastic element is preferably a torsion spring, one end of the elastic element is connected with the cover body 10, and the other end of the elastic element is connected with the rotating disc 3; when the fingers are bent to enable the flexible feedback line 7 to pull the turntable 3 to rotate, the elastic piece stores energy; when the pulling action force of the flexible feedback line 7 disappears due to the extension of the fingers, the elastic piece releases energy, so that the rotary disc 3 is elastically reset and rotates to the initial state.

Furthermore, the side of the cover body 10 is provided with a through hole 1001, the outer side wall of the cover body 10 is provided with a wire protection part 11, the flexible feedback line 7 bypasses the wire protection part 11 and then passes through the through hole 1001 to be connected with the turntable 3, and the abrasion of the cover body 10 when the flexible feedback line 7 moves in a reciprocating manner is effectively prevented.

Furthermore, in a group of finger control modules, the number of the finger sleeves 2 is one or more than two, namely, the finger control modules corresponding to the thumbs are provided with two finger sleeves 2, and the number of the finger sleeves 2 is three in the finger control modules corresponding to the forefingers, the middle fingers, the ring fingers and the tail fingers; the flexible feedback line 7 passes through the line seat 201 at the top of the finger stall 2 in a sliding way; in the finger control module, a finger stall 2 at the beginning end is connected with a palm stall 1 through a flexible feedback line 7, and the flexible feedback line 7 is in anti-drop fit with a line seat 201 on the finger stall 2 at the tail end; when the finger is bent, the finger sleeve 2 at the tail end pulls the flexible feedback line 7 according to the action of the finger of the user so as to drive the turntable 3 to rotate, and the other end of the flexible feedback line 7 is connected with the turntable 3.

Further, the finger cot 2 at the beginning end is connected with the palm cot 1 through the flexible connecting line 12, and the finger cot 2 has a certain mobility relative to the palm cot 1; the two adjacent finger cots 2 are connected with each other through the flexible connecting line 12, and a certain degree of mobility is relatively arranged between the two finger cots 2. Specifically, the finger stalls 2 are integrally formed with wire chases 202, one flexible feedback line 7 sequentially penetrates through the wire chases 202 on the finger stalls 2 in the same finger control module group, the end of the flexible feedback line 7 is in anti-drop fit with the wire chases 202 on the finger stalls at the tail end (specifically, an anti-drop part with the diameter larger than the wire chases 202 is arranged at the end of the flexible feedback line 7 or a knot is tied at the end of the flexible feedback line 7), and the other end of the flexible feedback line 7 is connected with the palm stall 1; the end face of the finger stall 2 is provided with a movable avoiding part 203, and the movable avoiding part 203 is an inclined plane inclined relative to the line slot 202, so that a certain moving space is ensured between the two finger stalls 2.

Furthermore, in the same group of finger control module, the rotary table 3, the potentiometer 4 and the force feedback motor 5 are respectively arranged on the fixed seat 15 to form a functional component; the carousel 3 is fixed a position relative to fixing base 15 and is rotated the setting, and the motor shaft coaxial cooperation and the connection are respectively connected to potential axis 401, carousel 3 and force feedback motor 5.

Further, wearable control gloves in this embodiment still include control box 13, and finger stall 2 is connected to

control box

13, and 13 inner chambers of control box are provided with main control board 6 and power module 14, and power module 14 electricity is connected main control board 6, and main control board 6 can provide signal sensing and power.

Further, a palm wearing cavity 101 for accommodating a palm of a user and five finger holes 102 respectively communicated with the palm wearing cavity 101 are formed in the palm sleeve 1, and the five finger holes 102 respectively correspond to a thumb, an index finger, a ring finger, a middle finger and a tail finger; the finger holes 102 correspond to the finger stalls 2 one by one, and a user's finger is worn on the finger stall 2 after passing through the finger hole 102.

Further, in the present embodiment, in the finger control module corresponding to the index finger, ring finger and tail finger, each functional component is disposed on the top of the palm cover 1; in the finger control module corresponding to the thumb, the corresponding functional components are arranged on the side part of the control box 13; in the finger control module corresponding to the middle finger, the corresponding functional component is arranged on the top of the control box 13.

Principle of

Wearing the wearable control glove, setting the initial state of the finger control module to be an extension state, and allowing the wearable control glove to be in network connection with the manipulator; during the initial state setting process, the force feedback motor 5 drives the indicating component 8 to rotate to the limit position, and the fingers of the controller are allowed to complete the flexion and extension actions.

When the fingers are bent, the flexible feedback line 7 pulls the turntable 3 to rotate; when the fingers stretch, the rotary disc 3 elastically resets and rotates to the initial position; the potentiometer 4 detects the rotation angle of the turntable 3 and presents the rotation angle as voltage data, and the numerical value represents the set bending degree or the set stretching degree; the voltage data is sent to the manipulator through the main control panel 6 to control the manipulator to finish corresponding actions, so that the buckling and stretching of the manipulator can be effectively controlled.

The method comprises the steps that when a manipulator touches an object, stress information of fingers is detected and sent to a wearable glove, wherein the stress information comprises the bending degree of the mechanical fingers and a detected force value; the main control board 6 processes the stress information and determines whether to start the force feedback motor 5 for operation; when the force value exceeds a set threshold value, the force feedback motor 5 drives the indicating component 8 to rotate to a set position so as to limit the further buckling of the fingers of the control personnel; the size of the rotation angle of the indicating member 8 corresponds to the percentage of flexion of the mechanical finger; the bending degree of the mechanical finger is transmitted to the wearable control glove by a corresponding sensor on the manipulator; percent flex was calculated as: dividing the current degree of flexion by the degree of flexion of the mechanical fingers; the indicating component 8 stays for n seconds (in the embodiment, n is 5 seconds) after rotating, so that the fingers of the controller feel blocked when flexing or extending, and the purpose of force feedback is achieved.

The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and the scope of the invention is to be protected. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A wearable control glove for controlling a robot hand, comprising a palm sleeve (1) worn on the palm of a user's hand; the method is characterized in that: the finger control module comprises a finger sleeve (2) worn on a finger of a user, a rotary disc (3) which is elastically reset and rotatably arranged, a main control panel (6) used for receiving and sending control instructions, a potentiometer (4) used for detecting the degree of bending of the finger and/or a force feedback motor (5) used for feeding back the force applied to the manipulator; the finger cot (2) is connected with the palm cot (1), and the potentiometer (4) and/or the force feedback motor (5) are/is electrically connected with the main control board (6); a flexible feedback line (7) is arranged between the finger stall (2) and the turntable (3); when the finger stall (2) is bent along with the finger of the user, the flexible feedback line (7) stretches and drives the rotary disc (3) to rotate reversely; when the finger stall (2) extends along with the finger of a user, the rotary disc (3) is reset in the positive direction to rotate and roll the flexible feedback line (7); when the potentiometer (4) is arranged, the detection end of the potentiometer (4) is in transmission connection with the rotary table (3), and the rotary table (3) drives the detection end of the potentiometer (4) to rotate; when a force feedback motor (5) is arranged, a motor shaft of the force feedback motor (5) is in transmission connection with an indicating part (8), and the indicating part (8) limits the rotation of the turntable (3) which rotates to a set position.

2. A wearable control glove for controlling a robot according to claim 1, characterized in that: the potentiometer (4) comprises a potentiometer shaft (401) and a voltage conversion module (402); the potential shaft (401) is respectively in transmission connection with the turntable (3) and the voltage conversion module (402), and the voltage conversion module (402) is electrically connected with the main control board (6); the potential shaft (401) rotates along with the rotary disc (3), and the voltage conversion module (402) generates corresponding voltage data according to the rotation of the potential shaft (401) and feeds the voltage data back to the main control board (6).

3. A wearable control glove for controlling a robot according to claim 1, wherein: a braking part (9) is arranged on the rotary disc (3), the braking part (9) rotates along with the rotary disc (3), and the indicating component (8) is positioned on the rotating track of the braking part (9); when the braking part (9) rotates to a set position, the braking part (9) is abutted against the indicating component (8) so as to limit the rotation of the rotary disc (3); the force feedback motor (5) drives the indicating component (8) to rotate to a set position according to the stress condition of the manipulator.

4. A wearable control glove for controlling a robot according to claim 1, wherein: the outer side of the rotary table (3) is provided with a fixed cover body (10), the rotary table (3) is rotatably arranged on the cover body (10), and an elastic piece used for acting the elastic reset rotation of the rotary table (3) is arranged between the cover body (10) and the rotary table (3).

5. A wearable control glove for controlling a robot according to claim 4, characterized in that: the flexible feeder is characterized in that a through hole (1001) is formed in the cover body (10), a wire protection component (11) is arranged on the cover body (10), and the flexible feeder (7) bypasses the wire protection component (11) and then penetrates through the through hole (1001) to be connected with the rotary table (3).

6. A wearable control glove for controlling a robot according to claim 1, wherein: one or more than two finger sleeves (2) are arranged; the flexible feedback line (7) penetrates through the finger stall (2) in a sliding manner; more than one finger stall (2) pull according to user's finger action flexible feedback line (7) in order to drive carousel (3) rotate.

7. A wearable control glove for controlling a robot according to claim 6, wherein: the finger stall (2) is connected with the palm stall (1) through a flexible connecting line (12), and the finger stall (2) has a certain degree of mobility relative to the palm stall (1); when the finger stall (2) set up more than two, pass through between adjacent two finger stalls (2) flexible connecting line (12) connects each other, has certain mobility between two finger stalls (2) relatively.

8. A wearable control glove for controlling a robot according to claim 1, wherein: when setting up simultaneously potentiometre (4) with force feedback motor (5), carousel (3) potentiometre (4) with force feedback motor (5) set up respectively on fixing base (15), carousel (3) is relative fixing base (15) location rotation sets up.

9. A wearable control glove for controlling a robot according to any of claims 1-8, characterized in that: still include control box (13), control box (13) are connected finger stall (2), be provided with on control box (13) master control board (6) and power module (14), power module (14) electricity is connected master control board (6).

10. A wearable control glove for controlling a robot according to claim 9, wherein: the palm sleeve (1) is provided with a palm wearing cavity (101) for accommodating the palm of a user and more than one finger holes (102) communicated with the palm wearing cavity (101); finger hole (102) with finger-stall (2) one-to-one, user's finger pass wear behind finger hole (102) in on finger-stall (2).