CN107756404A - The remote finger joint driver of thumb - Google Patents
The remote finger joint driver of thumb Download PDFInfo
- Publication number
- CN107756404A CN107756404A CN201610679300.6A CN201610679300A CN107756404A CN 107756404 A CN107756404 A CN 107756404A CN 201610679300 A CN201610679300 A CN 201610679300A CN 107756404 A CN107756404 A CN 107756404A
- Authority
- CN
- China
- Prior art keywords
- finger joint
- joint
- pedestal
- drive mechanism
- remote
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The remote finger joint driver of thumb, it relate to a kind of micro device with double-direction twist moment feedback.The present invention is to be separated to solve existing device for force feedback joint measurment mechanism with force feedback mechanism, system complex structure is too fat to move, it is difficult in maintenance, and can not realize two-way active drive and it is expensive the shortcomings of, detection of joints mechanism and force feedback mechanism are integrated in one, and use unique connected mode and cleverly joint measurment point layout, make operator when using the equipment, detected finger can be kept farthest flexibly, and motion state can be accurately detected, enable controlled harmoniously to act from the corresponding finger-joint of hand finger-joint corresponding with operator, and the stressing conditions from hand in specific working environment can be fed back to operator, to strengthen the telepresenc of virtual reality or remote operating.
Description
Technical field
The present invention relates to a kind of micro device with double-direction twist moment feedback, it is mainly used in the control of apery hand manipulator.
Background technology
Due to the development of science and technology, robot is gradually used in increasing scope, and teleoperation robot is made
For a kind of dependable performance, technology maturation robot be widely used in various dangerous, situations it is complicated, the mankind can not reach
Worked in environment, it directly is issued an instruction to control using very reliable control mode by operator.With remote operating
The task that robot performs becomes increasingly complex so that people also propose higher while reliability is pursued to its flexibility
Requirement, and will to complexity manipulator implement remote operating, multiple joints coordinated movement of various economic factors together of the multiple fingers of control machinery hand,
To realize specific function, this just needs to use data glove, and the data glove with force feedback function is the machinery to robot
Hand implements the most effective device of remote operating, and it is used as control instruction control by measuring the positional information of each finger joint of operator's finger
The finger tracking human hand finger motion of manipulator processed, and can be by stressing conditions of each joint of manipulator in motion process in number
Come according to being simulated on gloves, act on operator on hand, operator is produced very strong telepresenc.It is in addition, virtual in recent years
Emulation technology continues to develop, and its main interactive device is exactly force feedback data gloves, such as at one by computer virtual
In scene, the virtual human hand dismounting of control a pair of or put together machines, also game, 3D cartoon making etc. is required for using power anti-
Data glove, but force feedback data gloves system complex in the market are presented, price is prohibitively expensive, makes it largely general
And, promote and use.
The content of the invention
The purpose of the present invention is to be directed to expensive existing force feedback data gloves, system complex, difficult in maintenance etc. to lack
Point, it is proposed that the two-way active driving device of external potentiometer and joint is combined as a whole by one kind, in detection human hand joint motions
The power fed back feel information is also changed into the method that power or torque directly act on human hand while information, greatly simplify
Complicated force feedback data gloves system.The present invention be used for computer, the interactive device of manipulator, by remote finger joint base
Seat, detection of joints drive mechanism and driving part composition, the device are fixed on operator's finger, and the remote finger joint driver of thumb exists
Force-feedback control is realized in effect that can be as needed to its applying power while detecting the angle and state of movement of finger joint.This
Invention adds arrangement of clutch in the driving part in joint, and when system force feedback signal, motor connection is driven
Joint, and to the effect of joint applying power, when system does not have force feedback signal, motor, which disconnects, is driven diarthrodial company
Connect, reduce and reduce the resistance of joint motions, make the motion in joint more smooth.The present invention detection joint motions angle by
It is arranged on device corresponding potentiometer to measure by corresponding mathematical algorithm, detected joint is in its direction of motion or complexity
Independent driving part is both provided with the decomposition direction of motion, each driving part is again corresponding with detected joint
Potentiometer cooperating forms closed-loop control, to realize force-feedback control and improve its accuracy.The present invention can be accurate, sensitive
Ground detects the angle and state of corresponding movement of finger joint, and has bidirectional force feedback function to detected joint, makes
With simple, easy to wear, easily maintenance, and can greatly reduce the cost of force feedback data gloves.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the remote finger joint driver of thumb..
Fig. 2 is the structural representation of detection of joints drive mechanism 100.
Fig. 3 is the structural representation of driving part 111.
Embodiment
Embodiment one：As shown in figure 3, the remote finger joint driver of thumb includes driving part 111, the driving
Part 111 includes motor 40 and arrangement of clutch, and the arrangement of clutch is by arrangement of clutch friction plate 41, friction plate slide bar 42, return
Extension spring 43, arrangement of clutch lid 44 form, and the axle of friction plate slide bar 42 and motor 40 is affixed, and two panels arrangement of clutch friction plate 41 is distinguished
The both ends of friction plate slide bar 42 are inserted in, returning pull-spring 43,44 sets of arrangement of clutch lid are connected between two panels arrangement of clutch friction plate 41
Enter the axle of motor 40, be sliding contact between arrangement of clutch lid 44 and the axle of motor 40, arrangement of clutch lid 44 is provided with driving cog
Wheel.Act implementation process：When the rotating speed of motor 40 is higher than certain value, two panels arrangement of clutch friction plate 41 overcomes returning pull-spring 43
Pulling force is slided to two ends of friction plate slide bar 42 and contacted with the inwall of arrangement of clutch lid 44 respectively, and arrangement of clutch lid 44 is produced
Raw frictional force, drives arrangement of clutch lid 44 to rotate；When the rotating speed of motor 40 is less than certain value, two panels arrangement of clutch friction plate 41 exists
Slide to axis direction in the presence of returning pull-spring 43, separated with the inwall of arrangement of clutch lid 44, cut-out arrangement of clutch lid 44 with
The connection of motor 40.
Embodiment two：As shown in Figures 2 and 3, the detection of joints drive mechanism 100 include driving part 111,
Potentiometer 18, rocking arm 19, gear box cover 57 and finger joint pedestal 58.The finger joint pedestal 58 is provided with a hole seat P and a row is used for
The mounting hole R of screw 24, the potentiometer 18 is fixed in the hole seat P of finger joint pedestal 58 by screw 36, in the hole seat P
The axle of potentiometer 18 is affixed by screw 35 with rocking arm 19, the axle center weight that the gear axis on the rocking arm 19 rotate with rocking arm
Close, the gear of the rocking arm 19 is engaged by the cooperation of train of reduction gears 60 with the gear of driving part 111, the driving part
111 are arranged on finger joint pedestal 58, the affixed bulb 20 of the other end of rocking arm 19.
Embodiment three：As shown in Figure 1, Figure 2 and Figure 3, the remote finger joint pedestal 15 is fixed on the remote finger joint portion of human hand
Position, one end of the remote finger joint pedestal 15 is surrounds the cylindricality of remote finger joint, and the other end is hemispherical, and the longitudinal section of whole pedestal is
" u "-shaped, the distal interphalangeal joint (DIP) for the direction that is open, the position that the remote finger joint back side is located in the pedestal are provided with a rocking arm, rocking arm
Perpendicular to the finger joint back side at place.The rocking arm 19 of the detection of joints drive mechanism 110 at the middle finger joint position and remote finger joint pedestal
15 are connected by bulb 20 with the spherical linkage that bulb button connecting rod 21 coordinates.Act implementation process：Between referring to when the distal end of operator
When flexion and extension is done in joint (DIP), the remote finger joint pedestal 15 that depends in remote finger joint follows to move together, and is connected by bulb button
Bar 21 drives the rocking arm 19 in the detection of joints drive mechanism 110 at middle finger joint position to rotate so that the current potential to be linked with rocking arm 19
Device 18 can measure the angle and state that the distal interphalangeal joint (DIP) of operator is bent and stretched, when control system is without force feedback signal
When, then the attonity of driving part 111 in the detection of joints drive mechanism 110 at middle finger joint position, the remote finger joint of operator can be around
Distal interphalangeal joint (DIP) rotate it is interference-free, when control system force feedback signal, then the joint inspection at middle finger joint position
Survey drive mechanism 110 on driving part 111 start, by the cooperation of train of reduction gears 60 to rocking arm 19 in its direction of motion
Apply a power in the same direction or reverse, while the joint angle that control system detects further according to the potentiometer 18 to be linked with rocking arm 19
The change of degree, the size of driving force is constantly exported and corrected with corresponding mathematical algorithm, between promotion or the distal end hindered refer to
Joint (DIP) is moved, and realizes the force feedback function in the joint.
In the case where not making principle of the invention suffer damage, the details and embodiment of above-mentioned composition are only
As example and the thing of diagram, it can not depart from the scope of the present invention and change extensively, and these belong to the guarantor of the present invention
Within shield.
Claims (4)
1. a kind of remote finger joint driver of thumb, for computer, the interactive device of manipulator, by remote finger joint pedestal
(15), detection of joints drive mechanism (110) and driving part (111) composition；
It is characterized in that：
The device is fixed on operator's finger；
The remote finger joint driver of thumb can be as needed to its applying power while the angle and state of movement of finger joint is detected
Effect realize force-feedback control.
2. the remote finger joint driver of thumb according to claim 1, it is characterised in that：The driving part (111) includes electricity
Machine (40) and arrangement of clutch, the arrangement of clutch is by arrangement of clutch friction plate (41), friction plate slide bar (42), returning pull-spring
(43), arrangement of clutch lid (44) forms, and the axle of friction plate slide bar (42) and motor (40) is affixed, two panels arrangement of clutch friction plate
(41) friction plate slide bar (42) both ends are inserted in respectively, and returning pull-spring (43) is connected between two panels arrangement of clutch friction plate (41),
Arrangement of clutch lid (44) is inserted in the axle of motor (40), is sliding contact between arrangement of clutch lid (44) and the axle of motor (40), from
Close appliance cover (44) and be provided with travelling gear.
3. the remote finger joint driver of thumb according to claim 1, it is characterised in that：The detection of joints drive mechanism
(110) driving part (111), train of reduction gears (60), potentiometer (18), rocking arm (19), screw (35,36), gear-box are included
Cover (57) and finger joint pedestal (58)；Finger joint pedestal (58) on the detection of joints drive mechanism (110) is provided with a hole seat (P)
It is used for the mounting hole (R) of screw (24) with a row, potentiometer (18) is fixed on the hole seat of finger joint pedestal (58) by screw (36)
(P) it is in and affixed by screw (35) with rocking arm (19), the axle center of rocking arm (19) gear and the axis coinciding of rocking arm rotation, shake
The gear of arm (19) is engaged by the cooperation of train of reduction gears (60) with the gear of driving part (111), driving part (111) peace
On finger joint pedestal (58), the affixed bulb of rocking arm (19) other end (20).
4. the remote finger joint driver of thumb according to claim 1, it is characterised in that：In detection of joints drive mechanism (110)
Finger joint pedestal (58) the nearly finger joint of semi-surrounding and middle finger joint respectively, it is " C " shape that it, which surrounds the cross section of junction, is open towards hand
Positive side is slapped, the connecting rod (38) of metacarpophalangeal joints detection drive mechanism (108) passes through screw (24) and the joint at nearly finger joint position
Detection drive mechanism (110) is articulated with mounting hole (R) place, and metacarpophalangeal joints detect the potentiometer (18) of drive mechanism (108) bottom
It is fixed in the hole seat (E) of palm pedestal (102), its outer rim gear (59) is by the cooperation of train of reduction gears (60) with being arranged on
The gear engagement of driving part (111) on palm pedestal (102), the drive mechanism are fixed by gear box cover (56)；Closely refer to
The rocking arm (19) for saving the detection of joints drive mechanism (110) at position is examined by the joint at bulb button connecting rod (21) and middle finger joint position
The bulb (20) surveyed on drive mechanism (110) mounting hole (R) is be hinged；Remote finger joint pedestal (15) is fixed on the remote finger joint portion of human hand
Position, one end of remote finger joint pedestal (15) is surrounds the cylindricality of remote finger joint, and the other end is hemispherical, and the longitudinal section of whole pedestal is
" u "-shaped, the distal interphalangeal joint DIP for the direction that is open, one is provided with positioned at the position at the remote finger joint back side on remote finger joint pedestal (15)
Rocking arm, rocking arm perpendicular to the finger joint back side at place, the rocking arm (19) of the detection of joints drive mechanism (110) at middle finger joint position with it is remote
Finger joint pedestal (15) is connected by bulb (20) with the spherical linkage that bulb button connecting rod (21) coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679300.6A CN107756404A (en) | 2016-08-17 | 2016-08-17 | The remote finger joint driver of thumb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679300.6A CN107756404A (en) | 2016-08-17 | 2016-08-17 | The remote finger joint driver of thumb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756404A true CN107756404A (en) | 2018-03-06 |
Family
ID=61260293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610679300.6A Pending CN107756404A (en) | 2016-08-17 | 2016-08-17 | The remote finger joint driver of thumb |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756404A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621790A (en) * | 2020-12-31 | 2021-04-09 | 东南大学 | Two-degree-of-freedom rope transmission type finger force feedback device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080262634A1 (en) * | 2005-12-20 | 2008-10-23 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand Prosthesis Comprising Two Drive Devices |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104635915A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Far knuckle force feedback device |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
-
2016
- 2016-08-17 CN CN201610679300.6A patent/CN107756404A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080262634A1 (en) * | 2005-12-20 | 2008-10-23 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand Prosthesis Comprising Two Drive Devices |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104635915A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Far knuckle force feedback device |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621790A (en) * | 2020-12-31 | 2021-04-09 | 东南大学 | Two-degree-of-freedom rope transmission type finger force feedback device |
| CN112621790B (en) * | 2020-12-31 | 2022-03-25 | 东南大学 | Two-degree-of-freedom rope transmission type finger force feedback device |
| US11607815B2 (en) | 2020-12-31 | 2023-03-21 | Southeast University | Two-degree-of-freedom rope-driven finger force feedback device |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180306 |