CN111496822A - Finger structure and glove thereof - Google Patents
Finger structure and glove thereof Download PDFInfo
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- CN111496822A CN111496822A CN202010305291.0A CN202010305291A CN111496822A CN 111496822 A CN111496822 A CN 111496822A CN 202010305291 A CN202010305291 A CN 202010305291A CN 111496822 A CN111496822 A CN 111496822A
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- Prior art keywords
- knuckle
- finger
- connecting rod
- brake disc
- limiting plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a finger structure and a glove thereof, comprising: the first knuckle, the second knuckle, the connecting assembly and the driving assembly; the connecting assembly includes: connecting rod and movable unit. The finger structure and the glove thereof can enable the first knuckle and the second knuckle to rotate relatively under the action of the connecting rod, so that the fit degree of the finger structure and the human fingers is improved, and the degree of freedom of the human fingers is improved; under drive assembly's effect, the drive activity unit is connected with first knuckle to the relative position between fixed first knuckle and the second knuckle realizes fixing to the position of human finger, makes the finger structure realize the force feedback effect to human finger, improves human-computer interaction's experience.
Description
Technical Field
The invention relates to the field of human-computer interaction, in particular to a finger structure and a glove thereof.
Background
With the wide application of human-computer interaction, the experience of human-computer interaction is more and more important, and the force feedback data glove is applied to the human-computer interaction process as a wearable device. The robot converts force sense and touch information fed back by the robot into force or moment which can directly act on a human hand, so that an operator generates an on-the-spot touch sense when the robot is remotely operated to grab an object, and the robot is communicated with a human perception system. However, the existing force feedback data gloves are mainly realized by a mechanical mechanism of a line, a stay cable or a plurality of connecting rods, are bulky, are not beneficial to wearing, reduce the fit between the gloves and hand joints, reduce the degree of freedom of fingers, and greatly influence the use experience of an operator.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a finger structure and a glove thereof, which have a force feedback function, can be tightly attached to hand joints of an operator, and improve the degree of freedom of fingers, thereby improving the experience of human-computer interaction.
A finger structure according to an embodiment of the present invention includes: the first knuckle, the second knuckle, the connecting assembly and the driving assembly; the connecting assembly includes: the connecting rod is used for connecting the first knuckle and the second knuckle, and the movable unit is used for fixing the position between the first knuckle and the second knuckle; the connecting rod is rotatably connected with the second knuckle, and the connecting rod is connected with the first knuckle; the second knuckle is rotationally connected with the first knuckle; the driving assembly is respectively connected with the second knuckle and the movable unit so as to drive the movable unit to slide along the connecting rod and limit the relative rotation position between the first knuckle and the second knuckle.
According to the finger structure provided by the embodiment of the invention, at least the following beneficial effects are achieved: under the action of the connecting rod, the first knuckle and the second knuckle can rotate relatively, so that the fit degree of the finger structure and the human finger is improved, and the degree of freedom of the human finger is improved; under drive assembly's effect, the drive movable unit moves on the connecting rod, is connected until movable unit and second knuckle to the relative rotational position between fixed first knuckle and the second knuckle realizes fixing to the position of human finger, makes the finger structure realize the force feedback effect to human finger, improves human-computer interaction's experience.
According to some embodiments of the invention, the connection assembly further comprises: an elastic unit for generating an opposing force between the second finger and the movable unit; the elastic unit is respectively connected with the connecting rod, the second knuckle and the movable unit.
According to some embodiments of the invention, the activity unit comprises: the movable plate, the first fixing piece, the bearing and the sliding rod are arranged on the movable plate; the first fixing piece is respectively connected with the movable plate and the bearing, the sliding rod is rotatably connected with the bearing, and the sliding rod is slidably connected with the first knuckle; the movable plate is connected with the connecting rod in a sliding mode, so that the movable plate is respectively abutted to the driving assembly, the elastic unit and the second finger joint.
According to some embodiments of the present invention, the movable plate is provided with a first through hole and a connection block, and the first fixing member is provided with a first connection hole; the connecting block with first connecting hole cooperation is connected, the fly leaf pass through first through-hole with connecting rod sliding connection.
According to some embodiments of the invention, the first knuckle is provided with a first elongated slot for sliding of the sliding bar; the first long groove is matched and slidably connected with the sliding rod.
According to some embodiments of the invention, further comprising a first brake disc and a second brake disc; the first brake disc is connected with the movable unit, the second brake disc is connected with the second knuckle, and the second brake disc is in concave-convex connection with the first brake disc; the connecting rod with first brake disc sliding connection, the connecting rod with second brake disc rotates and is connected.
According to some embodiments of the invention, the first knuckle is provided with a first limiting plate and a second limiting plate, and the second knuckle is provided with a third limiting plate and a fourth limiting plate; the connecting rod is respectively connected with the first limiting plate and the second limiting plate, the third limiting plate is rotatably connected with the first limiting plate through the connecting rod, the fourth limiting plate is rotatably connected with the first limiting plate through the connecting rod, and the second brake disc is connected with the third limiting plate.
According to some embodiments of the invention, the drive assembly comprises: the motor, the transmission unit, the lead screw and a sliding block are used for driving the movable unit to move on the connecting rod; the motor with the second knuckle is connected, the transmission unit respectively with the motor with lead screw connection, the lead screw with sliding block threaded connection, the sliding block with the movable element is connected.
A glove according to an embodiment of the present invention, includes: the finger mechanism, the hand back mechanism and a plurality of fixing mechanisms are used for being connected with fingers; the finger mechanism comprises a finger structure as described in any one of the above; the hand back mechanism is connected with the finger mechanism, and the fixing mechanism is respectively connected with the finger mechanism and the hand back mechanism.
According to some embodiments of the invention, the finger mechanism further comprises: the third knuckle and the dorsal knuckle; the second knuckle with between the third knuckle and the third knuckle with all pass through between the back of the hand knuckle coupling assembling with drive assembly connects, the back of the hand knuckle with back of the hand mechanism connects.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an exploded view of a finger structure according to an embodiment of the invention;
FIG. 2 is a combination diagram of finger structures according to an embodiment of the present invention;
FIG. 3 is an exploded view of a mobile unit according to an embodiment of the invention;
FIG. 4 is a block diagram of a first knuckle according to an embodiment of the present invention;
FIG. 5 is a block diagram of a drive assembly according to an embodiment of the present invention;
FIG. 6 is a block diagram of a glove according to an embodiment of the present invention;
fig. 7 is a structural view of a finger mechanism according to an embodiment of the present invention.
Reference numerals:
the hand back mechanism comprises a first knuckle 100, a first long groove 110, a first limit plate 120, a second limit plate 130, a second knuckle 200, a second brake disc 210, a third limit plate 220, a fourth limit plate 230, a connecting assembly 300, a connecting rod 310, a movable unit 320, a movable plate 321, a first through hole 3211, a connecting block 3212, a first fixing member 322, a first connecting hole 3221, a bearing 323, a sliding rod 324, a first brake disc 325, an elastic unit 330, a driving assembly 400, a motor 410, a transmission unit 420, a transmission rod 421, a first gear 422, a second gear 423, a lead screw 430, a sliding block 440, a third knuckle 500, a hand back knuckle 600, a finger mechanism 1000 and a hand back mechanism 2000.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to, for example, the upper, lower, etc., is indicated based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, if there are first, second, third, fourth, fifth, etc. described, only for the purpose of distinguishing technical features, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features.
In the description of the present invention, unless otherwise explicitly defined, terms such as arrangement, connection and the like should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
As shown in fig. 1 and 2, a finger structure according to an embodiment of the present invention includes: a first knuckle 100, a second knuckle 200, a connecting assembly 300, and a drive assembly 400; a connection assembly 300, comprising: a connecting bar 310 for connecting the first knuckle 100 and the second knuckle 200, and a movable unit 320 for fixing a position between the first knuckle 100 and the second knuckle 200; the connecting rod 310 is rotatably connected with the second knuckle 200, and the connecting rod 310 is connected with the first knuckle 100; the second knuckle 200 is rotatably connected with the first knuckle 100; the driving assembly 400 is connected to the second knuckle 200 and the movable unit 320, respectively, to drive the movable unit 320 to slide along the connecting rod 310, limiting the relative rotational position between the first knuckle 100 and the second knuckle 200.
For example, as shown in fig. 1 and 2, the finger structure has two states, the first state is a free rotation state between the first knuckle 100 and the second knuckle 200, and the finger structure is in an active state, and no torque is transmitted between the first knuckle 100 and the second knuckle 200; the second is a fixed state between the first knuckle 100 and the second knuckle 200, and the finger structure is in a force feedback state, so that torque is transmitted between the first knuckle 100 and the second knuckle 200. Further, the finger structure is the structure of the exoskeleton, namely the finger structure is matched with the outer side of the human finger to act.
When the finger structure is in the active state, the active unit 320 is not connected to the second knuckle 200, and the second knuckle 200 can rotate on the connecting rod 310, so that the first knuckle 100 and the second knuckle 200 can freely rotate relatively, the fit degree of the finger structure and the human finger is improved, and the degree of freedom of the human finger is improved.
In the process of converting the finger structure from the active state to the force feedback state, the driving assembly 400 drives the active unit 320 to slide on the connecting rod 310, when the active unit 320 is connected with the second finger joint 200, under the pressure of the driving assembly 400 and the active unit 320, the first finger joint 100 and the second finger joint 200 are in the locking state, so that the finger structure is converted into the force feedback state, the relative position between the first finger joint 100 and the second finger joint 200 is fixed, the position of the finger of the human body is fixed, the force feedback effect of the finger structure on the finger of the human body is realized, and the experience of human-computer interaction is improved.
Further, the connection between the movable unit 320 and the driving assembly 400 may be provided as a fixed connection, or a contact connection. When the movable unit 320 is fixedly connected to the driving assembly 400, during the process of converting the finger structure from the force feedback state to the active state, the driving assembly 400 drives the movable unit 320 to slide on the connecting rod 310, which facilitates the release of the connection between the movable unit 320 and the second knuckle 200, so that the relative free rotation between the first knuckle 100 and the second knuckle 200 can be realized again. When the movable unit 320 is in contact connection with the driving assembly 400, during the process of the finger structure changing from the force feedback state to the active state, the driving assembly 400 is slowly reset, and the pressure on the movable unit 320 is reduced, so that the movable unit 320 reduces the pressure on the second finger joint 200, and further the pressure between the first finger joint 100 and the second finger joint 200 is reduced, the torque transmission capacity between the first finger joint 100 and the second finger joint 200 is weakened, and when the friction force between the first finger joint 100 and the second finger joint 200 is weakened to a certain extent, the first finger joint 100 and the second finger joint 200 can freely rotate relative to each other again.
Further, the connection between the connection rod 310 and the first knuckle 100 may be configured as a fixed connection or a rotational connection. When the connecting rod 310 is fixedly connected with the first knuckle 100, the second knuckle 200 is rotated on the connecting rod 310, so that the first knuckle 100 and the second knuckle 200 can rotate relative to each other; when the connecting rod 310 is rotatably connected to the first knuckle 100, the first knuckle 100 and the second knuckle 200 can be rotated with respect to each other by rotating the first knuckle 100 on the connecting rod 310, or rotating the second knuckle 200 on the connecting rod 310, or simultaneously rotating the first knuckle 100 and the second knuckle 200 on the connecting rod 310.
In some embodiments of the present invention, the connection assembly 300 further comprises: an elastic unit 330 for generating an opposing force between the second finger 200 and the movable unit 320; the elastic unit 330 is connected to the connection bar 310, the second knuckle 200 and the movable unit 320, respectively.
For example, as shown in fig. 2, the elastic unit 330 generates an opposing force between the second knuckle 200 and the movable unit 320, prevents a collision between the second knuckle 200 and the movable unit 320, and effectively protects the second knuckle 200 and the movable unit 320.
Meanwhile, the elastic unit 330 can drive the movable unit 320 to reset during the process of the finger structure transforming from the force feedback state to the active state. Specifically, when the driving assembly 400 is slowly reset, the movable unit 320 is also slowly reset along with the movement of the driving assembly 400 under the action of the elastic unit 330, so that the connection between the movable unit 320 and the second knuckle 200 is released, and the relative free rotation between the first knuckle 100 and the second knuckle 200 can be realized again.
Further, the elastic unit 330 may be coupled to the second finger 200 and the movable unit 320 in a rotatable manner or in a contact manner. When the elastic unit 330 is rotatably coupled to the second knuckle 200 and the movable unit 320, respectively, one end of the elastic unit 330 is fixed to the second knuckle 200, the other end of the elastic unit 330 is fixed to the movable unit 320, and the elastic unit 330 can rotate on the second knuckle 200 and the movable unit 320 when the first knuckle 100 and the second knuckle 200 rotate with each other. When the elastic unit 330 is in contact-type connection with the second finger joint 200 and the movable unit 320, respectively, the elastic unit 330 is connected with the second finger joint 200 and the movable unit 320 only when the driving assembly 400 drives the movable unit 320 to move and the movable unit 320 slides on the connecting rod 310 to a certain position.
In some embodiments of the invention, the activity unit 320 comprises: a movable plate 321, a first fixed member 322, a bearing 323 and a sliding rod 324.
For example, as shown in fig. 3, the first fixing element 322 is connected to the movable plate 321 and the bearing 323, respectively, and the first fixing element 322 effectively fixes the position of the movable plate 321, so that the driving assembly 400 can effectively drive the movable plate 321 to slide; the sliding rod 324 is rotatably connected with the bearing 323, the sliding rod 324 is slidably connected with the first knuckle 100, and under the action of the bearing 323, the sliding rod 324 can realize rolling sliding in the first knuckle 100, so that friction between the sliding rod 324 and the first knuckle 100 is reduced, the sliding rod 324 is effectively protected, and the sliding efficiency of the sliding rod 324 is improved. Furthermore, the arrangement of the sliding rod 324 enables bending moment to be transmitted between the first knuckle 100 and the second knuckle 200, so that the relation between adjacent real knuckles is better simulated, and the accuracy of force feedback is improved.
The movable plate 321 is slidably connected to the connecting rod 310, so that the movable plate 321 is respectively abutted to the driving assembly 400, the elastic unit 330 and the second knuckle 200, that is, the movable plate 321 is in contact connection with the driving assembly 400, the elastic unit 330 and the second knuckle 200. When the finger structure is converted from the active state to the force feedback state, the driving assembly 400 abuts against the movable plate 321, the movable plate 321 is driven to slide on the connecting rod 310, and the movable plate 321 abuts against the elastic unit 330 and the second finger joint 200, that is, the first finger joint 100 and the second finger joint 200 are fixed, so that the torque is transmitted between the first finger joint 100 and the second finger joint 200.
Specifically, the movable plate 321 and the elastic unit 330 are disposed in an abutting manner, so as to facilitate relative rotation between the first knuckle 100 and the second knuckle 200. Further, since the movable plate 321 is fixed on the first fixing member 322, and the position between the first fixing member 322 and the first knuckle 100 is relatively fixed, so that the movable plate 321 cannot rotate and roll on the connecting rod 310, the movable plate 321 and the driving assembly 400 are abutted to each other, so that the first knuckle 100 and the second knuckle 200 can rotate effectively.
In some embodiments of the present invention, the movable plate 321 is provided with a first through hole 3211 and a connecting block 3212, and the first fixing member 322 is provided with a first connecting hole 3221.
For example, as shown in fig. 3, the connecting block 3212 is in fit connection with the first connecting hole 3221, so as to effectively fix the position between the movable plate 321 and the first fixing member 322, so that the driving assembly 400 can effectively drive the movable plate 321 to slide; meanwhile, the installation and combination structure facilitates separation and combination of all components, and maintenance is facilitated. The movable plate 321 is slidably connected to the connecting rod 310 through the first through hole 3211, such that the movable plate 321 can slide on the connecting rod 310, and the relative position between the first finger joint 100 and the second finger joint 200 can be adjusted.
In some embodiments of the present invention, the first knuckle 100 is provided with a first elongated slot 110 for sliding the sliding rod 324.
For example, as shown in fig. 4, the first long slot 110 is slidably connected to the sliding rod 324, so that the sliding rod 324 can slide stably on the first knuckle 100; meanwhile, the position deviation between the first knuckle 100 and the second knuckle 200 can be prevented in the force feedback state, and the accuracy of the force feedback can be improved.
In some embodiments of the present invention, a first brake disc 325 and a second brake disc 210 are also included.
For example, as shown in FIG. 2, the connecting rod 310 is rotatably coupled to the second brake disc 210, which improves the efficiency of the relative rotation between the first knuckle 100 and the second knuckle 200. A second brake disc 210 is attached to the second knuckle 200 such that the second brake disc 210 is secured to the second knuckle 200; the first brake disc 325 is connected with the movable unit 320, so that when the driving assembly 400 drives the movable unit 320 to slide on the connecting rod 310, the movable unit 320 can drive the first brake disc 325 to slide on the connecting rod 310, so that the second brake disc 210 is in concave-convex connection with the first brake disc 325.
The friction coefficient between second brake disc 210 and first brake disc 325 has been improved to the mode of unsmooth connection, improves frictional force under the prerequisite of same pressure promptly to improved the locking force between second brake disc 210 and the first knuckle 100, prevented to take place relative rotation between first knuckle 100 and the second knuckle 200, thereby the position of effectual fixed human finger, make the finger structure realize the force feedback effect to human finger, improve human-computer interaction's experience.
Further, the connecting surface of the second brake disc 210 and the first brake disc 325 may also be provided with rubber or other devices for increasing the friction coefficient, so that the second brake disc 210 and the first brake disc 325 are flexibly connected through rubber, and the friction force between the second finger joint 200 and the first finger joint 100 is improved. Meanwhile, since the first brake disc 325 and the movable plate 321 are relatively fixed and do not move relatively, the connection mode of the first brake disc 325 and the movable plate 321 can be an interference connection or other detachable connection structure.
In some embodiments of the present invention, the first knuckle 100 is provided with the first and second limiting plates 120 and 130, and the second knuckle 200 is provided with the third and fourth limiting plates 220 and 230.
For example, as shown in fig. 1, the connection rod 310 is connected with the first and second stopper plates 120 and 130, respectively, such that the connection rod 310 is fixed between the first and second stopper plates 120 and 130. The third limiting plate 220 is rotatably connected with the first limiting plate 120 through the connecting rod 310, the fourth limiting plate 230 is rotatably connected with the first limiting plate 120 through the connecting rod 310, namely, the first limiting plate 120 and the third limiting plate 220 are attached, the second limiting plate 130 and the fourth limiting plate 230 are attached, the stability of the relative position between the first knuckle 100 and the second knuckle 200 is improved, and the first knuckle 100 and the second knuckle 200 are prevented from colliding with each other to cause damage to components. Further, the mode that second brake disc 210 and third limiting plate 220 are connected can set up to interference fit connection or other removable connection structure for carry out stable fixed connection between second brake disc 210 and the third limiting plate 220.
In some embodiments of the present invention, the driving assembly 400 includes: a motor 410, a transmission unit 420, a lead screw 430, and a sliding block 440 for driving the movable unit 320 to move on the connecting rod 310.
For example, as shown in fig. 5, the transmission unit 420 is respectively connected to the motor 410 and the lead screw 430, such that the motor 410 can drive the transmission unit 420 to rotate, and the transmission unit 420 can drive the lead screw 430 to rotate.
The screw 430 is the most commonly used transmission element in tool machines and precision machines, and has the main function of converting rotational motion into linear motion or converting torque into axial repeated acting force, and has the characteristics of high precision, reversibility and high efficiency. The lead screw 430 is threadedly coupled to the slide block 440 such that rotation of the lead screw 430 drives the slide block 440 to move linearly on the lead screw 430. The sliding block 440 is connected to the movable unit 320, so that the sliding block 440 drives the movable unit 320 to slide linearly on the connecting rod 310, and further drives the movable unit 320 to be connected to the second finger knuckle 200, thereby fixing the position between the first finger knuckle 100 and the second finger knuckle 200, and implementing the force feedback function. The motor 410 is connected to the second knuckle 200 such that the motor 410 is fixed to the second knuckle 200, thereby improving the efficiency of driving the movable unit 320 to slide.
Further, the transmission unit 420 may be configured to: a transmission rod 421, a first gear 422, and a second gear 423; so that the transmission rod 421 is respectively connected with the motor 410 and the first gear 422, the first gear 422 is engaged with the second gear 423, and the second gear 423 is connected with the lead screw 430. The operation of the motor can drive the rotation of the transmission rod 421, the first gear 422 and the second gear 423, and further drive the rotation of the lead screw 430.
Specifically, the structure of the sliding block 440 may be composed of a nut, a steel ball, a pre-pressing piece, an inverter, and a dust-proof device; when the slide block 440 is coupled with the lead screw 430, the combination structure thereof is consistent with the principle and function of a ball screw. The ball screw is an ideal product for converting rotary motion into linear motion or converting linear motion into rotary motion.
Further, a reduction box can be connected to the motor 410, so as to effectively control the speed of the motor 410. Further, the fixing blocks may be respectively connected to the lead screw 430 and the second knuckle 200 by providing the fixing blocks to fix a position where the lead screw 430 rotates, so that the rotation of the lead screw 430 is more stable.
A finger structured glove according to an embodiment of the present invention includes: the finger mechanism 1000, the hand back mechanism 2000 and a plurality of fixing mechanisms for connecting with fingers; the finger mechanism 1000 includes any of the finger structures described above.
For example, as shown in fig. 6, the back-of-hand mechanism 2000 is connected to the finger mechanisms 1000, and the number of the finger mechanisms 1000 is set to five, so that the connected shape matches the shape of the human hand, thereby improving the accuracy of force feedback.
The fixing mechanisms are respectively connected with the finger mechanism 1000 and the back hand mechanism 2000, namely, a plurality of fixing mechanisms are respectively arranged on the finger mechanism 1000 and the back hand mechanism 2000, so that an operator can fix the finger mechanism 1000 and the back hand mechanism 2000 on the back of the hand and fingers of the hand through the fixing mechanisms to form an exoskeleton structure. When the glove is in the active state, the finger mechanism 1000 and the back hand mechanism 2000 can move along with the hand of the operator; when the glove is in a force feedback state, the shapes and positions of the finger mechanism 1000 and the hand back mechanism 2000 are fixed, so that the positions of the hands of an operator are limited, and the experience of man-machine interaction is improved.
Further, the fixing mechanism may be provided as fixing members such as a rope, a hook and loop fastener, and the fixing to the finger mechanism 1000 and the back of the hand mechanism 2000 is realized by surrounding the fingers and the back of the hand fixed to the operator. Further, the operator can fix the gloves with the finger structures on the back of the hand and the fingers through the fixing mechanism,
in some embodiments of the present invention, finger mechanism 1000 further comprises: a third knuckle 500 and a dorsal knuckle 600.
For example, as shown in fig. 7, the first knuckle 100 and the second knuckle 200, the second knuckle 200 and the third knuckle 500, and the third knuckle 500 and the dorsal knuckle 600 are connected by the connecting assembly 300 and the driving assembly 400, so that relative rotation and position fixation can be achieved between the first knuckle 100 and the second knuckle 200, between the second knuckle 200 and the third knuckle 500, and between the third knuckle 500 and the dorsal knuckle 600, and the cooperation between the joints of the human hand is effectively simulated.
Specifically, the second knuckle 200 may be regarded as the first knuckle 100, and the third knuckle 500 may be regarded as the second knuckle 200, so that the connection relationship between the second knuckle 200, the third knuckle 500, the connecting assembly 300, and the driving assembly 400 is the same as the connection relationship between the first knuckle 100 and the second knuckle 200; similarly, the third knuckle 500 is referred to as the first knuckle 100 and the dorsal knuckle 600 is referred to as the second knuckle 200, so that the connection relationship between the third knuckle 500, the dorsal knuckle 600, the connecting assembly 300, and the driving assembly 400 is the same as the connection relationship between the first knuckle 100 and the second knuckle 200.
Other constructions and operations of finger structures and their gloves according to embodiments of the invention are known to those of ordinary skill in the art and will not be described in detail herein.
The finger structure according to the embodiment of the present invention will be described in detail with reference to fig. 1 to 5 as a specific embodiment, it being understood that the following description is only illustrative and not a specific limitation of the invention.
As shown in fig. 1 to 5, the finger structure includes: the first knuckle 100, the second knuckle 200, the connecting rod 310, the movable plate 321, the first fixing member 322, the bearing 323, the sliding rod 324, the first brake disc 325, the elastic unit 330, the motor 410, the transmission rod 421, the first gear 422, the second gear 423, the lead screw 430, and the sliding block 440. The movable plate 321 is provided with a first through hole 3211 and a connecting block 3212, and the first fixing member 322 is provided with a first connecting hole 3221; the first knuckle 100 is provided with a first long groove 110 for the sliding rod 324 to slide; a second brake disc 210 is arranged on the second knuckle 200; the first knuckle 100 is provided with a first limiting plate 120 and a second limiting plate 130, and the second knuckle 200 is provided with a third limiting plate 220 and a fourth limiting plate 230.
The first long slot 110 is slidably connected to the sliding rod 324, the sliding rod 324 is rotatably connected to the bearing 323, the first fixing member 322 is connected to the bearing 323, the connecting block 3212 is slidably connected to the first connecting hole 3221, and the movable plate 321 is slidably connected to the connecting rod 310 through the first through hole 3211.
The first brake disc 325 is in interference connection with the movable plate 321, the connecting rod 310 is respectively connected with the first limiting plate 120 and the second limiting plate 130, the third limiting plate 220 is rotatably connected with the first limiting plate 120 through the connecting rod 310, the fourth limiting plate 230 is rotatably connected with the first limiting plate 120 through the connecting rod 310, the second brake disc 210 is in interference connection with the third limiting plate 220, the second brake disc 210 is in concave-convex connection with the first brake disc 325, the connecting rod 310 is in sliding connection with the first brake disc 325, the connecting rod 310 is rotatably connected with the second brake disc 210, the elastic unit 330 is respectively detachably connected with the first brake disc 325 and the second brake disc 210,
the movable plate 321 can be detachably connected with the sliding block 440, the transmission rod 421 is respectively connected with the motor 410 and the first gear 422, the first gear 422 is engaged with the second gear 423, the second gear 423 is connected with the lead screw 430, the lead screw 430 is in threaded connection with the sliding block 440, and the motor 410 is connected with the second knuckle 200.
According to the finger structure of the embodiment of the invention, at least the following effects can be achieved, under the action of the connecting rod 310, the first knuckle 100 and the second knuckle 200 can rotate relatively, so that the first knuckle 100 and the second knuckle 200 can be configured with corresponding degrees of freedom according to the specific movement condition of the human finger, the finger structure adapts to the finger joint of the human body, and the attaching degree of the finger structure and the human finger is improved.
Under the action of the motor 410, the transmission rod 421, the first gear 422, the second gear 423, the lead screw 430 and the sliding block 440, the movable plate 321 and the first brake disc 325 are driven to move on the connecting rod 310 until the first brake disc 325 is connected with the second brake disc 210; through the frictional force between first brake disc 325 and second brake disc 210, realize the lock tight between first knuckle 100 and the second knuckle 200 to realize human finger joint's restraint and fixed, make the finger structure have the force feedback effect, improved human-computer interaction's experience. Meanwhile, due to the self-locking function between the lead screw 430 and the sliding block 440, when the motor 410 stops, the sliding block 440 is fixed at a corresponding position, so that the connection between the first brake disc 325 and the second brake disc 210 is maintained.
When the motor 410 runs in the opposite direction, the screw 430 is driven to rotate in the opposite direction, and the sliding block 440 is driven to reset, so that the pressure between the sliding block 440 and the movable plate 321 is reduced and gradually separated. At this time, since the first brake disc 325 is acted by the elastic unit 330, the elastic unit 330 can drive the first brake disc 325 and the movable plate 321 to reset, so that the connection between the first brake disc 325 and the second brake disc 210 is released, and the first knuckle 100 and the second knuckle 200 can freely rotate relative to each other again. Further, the elastic unit 330 may be provided as a spring such that the spring is sleeved on the connection rod 310.
In the description herein, references to the description of "one embodiment," "some embodiments," or "the embodiment" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A finger structure, comprising:
a first knuckle;
the second knuckle is rotationally connected with the first knuckle;
a connection assembly, comprising: the connecting rod is used for connecting the first knuckle and the second knuckle, and the movable unit is used for fixing the rotating position between the first knuckle and the second knuckle; the connecting rod is rotatably connected with the second knuckle, and the connecting rod is connected with the first knuckle;
and the driving assembly is respectively connected with the second knuckle and the movable unit so as to drive the movable unit to slide along the connecting rod and limit the relative rotation position between the first knuckle and the second knuckle.
2. A finger structure according to claim 1, characterised in that: the connection assembly further includes: an elastic unit for generating an opposing force between the second finger and the movable unit; the elastic unit is respectively connected with the connecting rod, the second knuckle and the movable unit.
3. A finger structure according to claim 2, characterised in that: the movable unit includes: the movable plate, the first fixing piece, the bearing and the sliding rod are arranged on the movable plate; the first fixing piece is respectively connected with the movable plate and the bearing, the sliding rod is rotatably connected with the bearing, and the sliding rod is slidably connected with the first knuckle; the movable plate is connected with the connecting rod in a sliding mode, so that the movable plate is respectively abutted to the driving assembly, the elastic unit and the second finger joint.
4. A finger structure according to claim 3, characterised in that: the movable plate is provided with a first through hole and a connecting block, and the first fixing piece is provided with a first connecting hole; the connecting block with first connecting hole cooperation is connected, the fly leaf pass through first through-hole with connecting rod sliding connection.
5. A finger structure according to claim 3, characterised in that: the first knuckle is provided with a first long groove for the sliding rod to slide; the first long groove is matched and slidably connected with the sliding rod.
6. A finger structure according to claim 1, characterised in that: the brake further comprises a first brake disc and a second brake disc; the first brake disc is connected with the movable unit, the second brake disc is connected with the second knuckle, and the second brake disc is in concave-convex connection with the first brake disc; the connecting rod with first brake disc sliding connection, the connecting rod with second brake disc rotates and is connected.
7. A finger structure according to claim 6, characterised in that: a first limiting plate and a second limiting plate are arranged on the first knuckle, and a third limiting plate and a fourth limiting plate are arranged on the second knuckle; the connecting rod is respectively connected with the first limiting plate and the second limiting plate, the third limiting plate is rotatably connected with the first limiting plate through the connecting rod, the fourth limiting plate is rotatably connected with the first limiting plate through the connecting rod, and the second brake disc is connected with the third limiting plate.
8. A finger structure according to claim 1, characterised in that: the drive assembly includes: the motor, the transmission unit, the lead screw and a sliding block are used for driving the movable unit to move on the connecting rod; the motor with the second knuckle is connected, the transmission unit respectively with the motor with lead screw connection, the lead screw with sliding block threaded connection, the sliding block with the movable element is connected.
9. A glove, characterized by: the method comprises the following steps: the finger mechanism, the hand back mechanism and a plurality of fixing mechanisms are used for being connected with fingers; the finger mechanism comprising the finger structure of any one of the preceding claims 1-8; the hand back mechanism is connected with the finger mechanism, and the fixing mechanism is respectively connected with the finger mechanism and the hand back mechanism.
10. A glove according to claim 9, wherein: the finger mechanism further comprises: the third knuckle and the dorsal knuckle; the second knuckle with between the third knuckle and the third knuckle with all pass through between the back of the hand knuckle coupling assembling with drive assembly connects, the back of the hand knuckle with back of the hand mechanism connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010305291.0A CN111496822A (en) | 2020-04-17 | 2020-04-17 | Finger structure and glove thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010305291.0A CN111496822A (en) | 2020-04-17 | 2020-04-17 | Finger structure and glove thereof |
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| CN111496822A true CN111496822A (en) | 2020-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010305291.0A Pending CN111496822A (en) | 2020-04-17 | 2020-04-17 | Finger structure and glove thereof |
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| CN (1) | CN111496822A (en) |
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