CN206426118U - A kind of connecting rod force feedback gloves - Google Patents
A kind of connecting rod force feedback gloves Download PDFInfo
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- CN206426118U CN206426118U CN201621345916.1U CN201621345916U CN206426118U CN 206426118 U CN206426118 U CN 206426118U CN 201621345916 U CN201621345916 U CN 201621345916U CN 206426118 U CN206426118 U CN 206426118U
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- connecting rod
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- rod
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Abstract
The utility model belongs to force feedback remote control equipment technical field, specially a kind of connecting rod force feedback gloves.Including being arranged at the metacarpus housing at the back of the hand, finger controls connecting rod group and control device with finger linkage；Finger controls connecting rod group has five groups, the correspondence adaptation the five fingers；The steering wheel for being used for acquisition angles information and force feedback being provided is provided with connection rod set, and with the connection of metacarpus housing into rotation；The control device includes circuit board and Power Supply Assembly, is arranged in metacarpus housing, with finger controls connecting rod group data cube computation.The utility model is simple in construction, and Servo-controller common on the market can be used to realize function, cost is reduced.And steering wheel is connected with palm component, palm is relied on to undertake weight, the burden of finger when mitigating operation.
Description
Technical field
The utility model belongs to force feedback remote control equipment technical field, and in particular to a kind of connecting rod force feedback gloves.
Background technology
Body-sensing technology is increasingly popularized now, and wherein motion capture equipment is widely used in the professional domains such as video display, and it is tied
Structure is complicated, and cost is high, and civil area will popularize the technology and also have very high threshold.
The content of the invention
The purpose of this utility model is to provide a kind of simple in construction, low connecting rod force feedback gloves of cost.
Connecting rod force feedback gloves provided by the utility model, including it is arranged at metacarpus housing 1, same finger at the back of the hand
The finger controls connecting rod group 2 and control device 3 of linkage；
The finger controls connecting rod group 2 has five groups, the correspondence adaptation the five fingers；Being provided with finger controls connecting rod group 2 is used to gather
Angle information and the steering wheel 4 that force feedback is provided；Finger controls connecting rod group 2 is rotated with metacarpus housing 1 and connected；
The control device 3 includes circuit board and Power Supply Assembly, is arranged in metacarpus housing 1, with finger controls connecting rod group 2
Data cube computation.
In the utility model, 2 points of the finger controls connecting rod group is form A and/or two kinds of form B；Wherein：
1）In the form A, finger controls connecting rod group 2 is without branch's connection rod set, in addition to finger tip connecting rod 5, the and of master connecting-rod 6
Servo driving connecting rod 8；
One end of the finger tip connecting rod 5 is provided with finger tip fixture 12, is bound for same finger fingertip；Finger tip connecting rod 5 it is another
One end rotates upwardly and downwardly connection with one end of master connecting-rod 6；The other end of master connecting-rod 6 is solid with the one end of steering wheel 4 by servo driving connecting rod 8
Fixed connection；The other end of steering wheel 4 rotates upwardly and downwardly connection with metacarpus housing 1；
2）In the form B, finger controls connecting rod group 2 be connection rod set containing branch, in addition to finger tip connecting rod 5, master connecting-rod 6,
Pitman arm 7 and steering wheel support 9；
One end of the finger tip connecting rod 5 is provided with finger tip fixture 12, is bound for same finger fingertip；Finger tip connecting rod 5 it is another
One end rotates upwardly and downwardly connection with one end of master connecting-rod 6；
The middle part of the master connecting-rod 6 is provided with stage casing connection end, and the termination of stage casing connection end turns with above and below one end of pitman arm 7
Dynamic connection, the other end of master connecting-rod 6 rotates upwardly and downwardly connection with metacarpus housing 1；
The other end of the pitman arm 7 rotates upwardly and downwardly connection with servo driving connecting rod 8；Servo driving connecting rod 8 is with steering wheel 4 one
End is fixedly connected；The other end of steering wheel 4 rotates upwardly and downwardly connection with steering wheel support 9；Steering wheel support 9 is fixedly connected with metacarpus housing 1.
In the utility model, the metacarpus housing 1 includes referring to root sliding seat 10 and palm main body 11；Refer to root sliding seat 10
With the left-right rotation connection of palm main body 11；Control device 3 is placed in palm main body 11；Wherein：
In the form A, the other end of steering wheel 4 refers to together root sliding seat 10 and rotates upwardly and downwardly connection, and can follow finger root
The left-right rotation of sliding seat 10；
In the form B, the other end of master connecting-rod 6 refers to together root sliding seat 10 and rotates upwardly and downwardly connection；Steering wheel support 9 refers to together
Root sliding seat 10 is fixedly connected, and can follow the finger left-right rotation of root sliding seat 10.
In the utility model, five groups of finger controls connecting rod groups 2 are all form A or are all form B.
In the utility model, when five groups of finger controls connecting rod groups 2 are using form A and form B, form A and form B staggered rows
Row.
In the utility model, middle finger and the corresponding finger controls connecting rod group 2 of little finger are form B, thumb, forefinger and nothing
Name refers to corresponding finger controls connecting rod group 2 for form A.
In the utility model, the finger tip connecting rod 5 is a bow.
In the utility model, each size of components of the finger controls connecting rod group 2 is set according to the man-computer relation of finger
Fixed, difference refers to the long component using different length.
In the utility model, metacarpus housing is bundled in the back of the hand by user, and five finger tip fixtures are separately fixed at correspondence
Finger fingertip, finger can bob and weave, and drive finger controls connecting rod group 2 to move, and steering wheel is received finger motion letter
Breath, sends control device to；Steering wheel produces FORCE FEEDBACK simultaneously, finger is received feedback force, and simulation finger touches the sense of object
Feel.
The utility model is simple in construction, and Servo-controller common on the market can be used to realize function, further reduced into
This.And steering wheel is not set directly in finger attachment structure, but with the connection of palm component, relies on palm to undertake weight, subtract
The burden of finger during light work.And use and interlock spaced arrangement without branch's connection rod set and connection rod set containing branch, make steering wheel wrong
Position arrangement, saves space, so as to from the large scale steering wheel sold on the market, without customizing special size steering wheel, enter one
Step has saved cost.
Patent of the present invention may apply to the mechanical arm of bomb disposal robot, medical medical machine arm, and virtually show
Real game access device, allows the object that software is simulated to feel by the hand energy truly feels to grasping.For example, soft, elasticity, just
Property, the geometry of object can be experienced.
Brief description of the drawings
Fig. 1 is the structural diagrams of embodiment 1 of the present utility model.
Fig. 2 is the structural diagrams of embodiment 2 of the present utility model.
Fig. 3 be embodiment 2 finger controls connecting rod group 2 be form A structural diagrams.
Fig. 4 be embodiment 2 finger controls connecting rod group 2 be form B structural diagrams.
Label in figure：Metacarpus housing 1, finger controls connecting rod group 2, control device 3, steering wheel 4, finger tip connecting rod 5, master connecting-rod 6,
Pitman arm 7, servo driving connecting rod 8, steering wheel support 9 refers to root sliding seat 10, slaps main body 11, finger tip fixture 12.
Embodiment
Embodiment 1：
The utility model includes being arranged at the metacarpus housing 1 at the back of the hand, the finger controls connecting rod group 2 with finger linkage and control
Device 3 processed；
The metacarpus housing 1 uses aluminum alloy frame；
The finger controls connecting rod group 2 has five groups, the correspondence adaptation the five fingers；It is divided into two kinds of forms of A, B；Wherein：
Middle finger and the corresponding finger controls connecting rod group 2 of little finger are form B, including steering wheel 4, finger tip connecting rod 5, master connecting-rod 6
With servo driving connecting rod 8；Rod member is all made of Al-alloy parts；
One end of the finger tip connecting rod 5 is provided with finger tip fixture 12, is bound for same finger fingertip；Finger tip connecting rod 5 it is another
One end rotates upwardly and downwardly connection with one end of master connecting-rod 6；The other end of master connecting-rod 6 is solid with the one end of steering wheel 4 by servo driving connecting rod 8
Fixed connection；The other end of steering wheel 4 rotates upwardly and downwardly connection with metacarpus housing 1；
Thumb, forefinger and nameless corresponding finger controls connecting rod group 2 be form A, including steering wheel 4, finger tip connecting rod 5,
Master connecting-rod 6, pitman arm 7, servo driving connecting rod 8 and steering wheel support 9；Rod member is all made of Al-alloy parts；
One end of the finger tip connecting rod 5 is provided with finger tip fixture 12, is bound for same finger fingertip；Finger tip connecting rod 5 it is another
One end rotates upwardly and downwardly connection with one end of master connecting-rod 6；
The middle part of the master connecting-rod 6 is provided with stage casing connection end, and the termination of stage casing connection end turns with above and below one end of pitman arm 7
Dynamic connection, the other end of master connecting-rod 6 rotates upwardly and downwardly connection with metacarpus housing 1；
The other end of the pitman arm 7 rotates upwardly and downwardly connection with servo driving connecting rod 8；Servo driving connecting rod 8 is with steering wheel 4 one
End is fixedly connected；The other end of steering wheel 4 rotates upwardly and downwardly connection with steering wheel support 9；Steering wheel support 9 is fixedly connected with metacarpus housing 1.Such as
Shown in Fig. 1.
The control device 3 includes circuit board and Power Supply Assembly, is placed in the palm framework of main body 11, is fixedly connected.Circuit board
Connected by data wire with steering wheel 4.
Embodiment 2：
The utility model includes being arranged at the metacarpus housing 1 at the back of the hand, the finger controls connecting rod group 2 with finger linkage and control
Device 3 processed；
The metacarpus housing 1 uses aluminum alloy frame, including refers to root sliding seat 10 and palm main body 11；Refer to root sliding seat
10 be a U-shaped part, and U-shaped part bottom is outwards vertically arranged a swing rod；Palm main body 11 is transversely provided with one close to the one side at finger end
In groove, swing rod insertion groove, a rotating shaft is from palm main body 11 through-going recess from top to bottom, while the swing rod in through-going recess, by
This swing rod can swing in the palm groove of main body 11, that is, referring to root sliding seat 10 can swing.
The finger controls connecting rod group 2 has five groups, the correspondence adaptation the five fingers；It is divided into two kinds of forms of A, B；Wherein：
Middle finger and the corresponding finger controls connecting rod group 2 of little finger are form B, including steering wheel 4, finger tip connecting rod 5, master connecting-rod 6
With servo driving connecting rod 8；Rod member is all made of Al-alloy parts；
One end of the finger tip connecting rod 5 is provided with finger tip fixture 12, is bound for same finger fingertip；Finger tip connecting rod 5 it is another
One end rotates upwardly and downwardly connection with one end of master connecting-rod 6；The other end of master connecting-rod 6 is solid with the one end of steering wheel 4 by servo driving connecting rod 8
Fixed connection；The other end of steering wheel 4 refers to together root sliding seat 10 and rotates upwardly and downwardly connection；
Thumb, forefinger and nameless corresponding finger controls connecting rod group 2 are form A, no branch's connection rod set, including steering wheel
4th, finger tip connecting rod 5, master connecting-rod 6, pitman arm 7, servo driving connecting rod 8 and steering wheel support 9；Rod member is all made of Al-alloy parts；
One end of the finger tip connecting rod 5 is provided with finger tip fixture 12, can be bandage or fingerstall, for same finger fingertip
Binding；The other end of finger tip connecting rod 5 rotates upwardly and downwardly connection with one end of master connecting-rod 6；
The middle part of the master connecting-rod 6 is provided with stage casing connection end, and the termination of stage casing connection end turns with above and below one end of pitman arm 7
Dynamic connection, the other end of master connecting-rod 6 refers to together root sliding seat 10 and rotates upwardly and downwardly connection；
The other end of the pitman arm 7 rotates upwardly and downwardly connection with servo driving connecting rod 8；Servo driving connecting rod 8 is with steering wheel 4 one
End is fixedly connected；The side of steering wheel support 9 is L-type；The other end of steering wheel 4 rotates upwardly and downwardly connection with the L-type upper end of steering wheel support 9；
The L-type lower end bottom of steering wheel support 9 refers to together root sliding seat 10 and is fixedly connected, and can follow the finger left/right rotation of root sliding seat 10
It is dynamic；As shown in Figure 2.
The steering wheel 4 can use market standard steering wheel model, such as：K-powerRC05P.
The control device 3 includes circuit board and Power Supply Assembly, is placed in the palm framework of main body 11, is fixedly connected.Circuit board
Connected by data wire with steering wheel 4.
The finger controls connecting rod group of correspondence forefinger, middle finger, the third finger and little finger of toe is based on said structure above, long according to finger
The rod member of short selection different length specification.And according to ergonomics, the rotation of the corresponding finger root sliding seat of adjustment thumb
Angles and positions angle, enables thumb comfortably to control finger controls connecting rod group.
The utility model is simple in construction, and Servo-controller common on the market can be used to realize function, further reduced into
This.And steering wheel is not set directly in finger attachment structure, but with the connection of palm component, relies on palm to undertake weight, subtract
The burden of finger during light work.And use without branch's connection rod set and the spaced arrangement of connection rod set containing branch, make steering wheel dislocation row
Row, save space, so as to from the large scale steering wheel sold on the market, without customizing special size steering wheel, further section
About cost.
Claims (6)
1. a kind of connecting rod force feedback gloves, it is characterised in that including the metacarpus housing being arranged at the back of the hand（1）, with finger connection
Dynamic finger controls connecting rod group（2）And control device（3）；
The finger controls connecting rod group（2）There are five groups, the correspondence adaptation the five fingers；Finger controls connecting rod group（2）Interior be provided with is used to gather
Angle information and the steering wheel that force feedback is provided（4）；Finger controls connecting rod group（2）With metacarpus housing（1）Rotate connection；
The control device（3）Including circuit board and Power Supply Assembly, metacarpus housing is arranged at（1）It is interior, with finger controls connecting rod group
（2）Data cube computation.
2. connecting rod force feedback gloves as claimed in claim 1, it is characterised in that the finger controls connecting rod group（2）It is divided into
Form A and/or two kinds of form B；Wherein：
1）In the form A, finger controls connecting rod group（2）For without branch's connection rod set, in addition to finger tip connecting rod（5）, master connecting-rod（6）
With servo driving connecting rod（8）；
The finger tip connecting rod（5）One end be provided with finger tip fixture（12）, bound for same finger fingertip；Finger tip connecting rod（5）'s
The same master connecting-rod of the other end（6）One end rotate upwardly and downwardly connection；Master connecting-rod（6）The other end pass through servo driving connecting rod（8）Same rudder
Machine（4）One end is fixedly connected；Steering wheel（4）The other end is with metacarpus housing（1）Rotate upwardly and downwardly connection；
2）In the form B, finger controls connecting rod group（2）For connection rod set containing branch, in addition to finger tip connecting rod（5）, master connecting-rod
（6）, pitman arm（7）With steering wheel support（9）；
The finger tip connecting rod（5）One end be provided with finger tip fixture（12）, bound for same finger fingertip；Finger tip connecting rod（5）'s
The same master connecting-rod of the other end（6）One end rotate upwardly and downwardly connection；
The master connecting-rod（6）Middle part be provided with stage casing connection end, the same pitman arm in termination of stage casing connection end（7）One end above and below turn
Dynamic connection, master connecting-rod（6）The other end with metacarpus housing（1）Rotate upwardly and downwardly connection；
The pitman arm（7）The other end with servo driving connecting rod（8）Rotate upwardly and downwardly connection；Servo driving connecting rod（8）Same steering wheel
（4）One end is fixedly connected；Steering wheel（4）The other end is with steering wheel support（9）Rotate upwardly and downwardly connection；Steering wheel support（9）With metacarpus housing
（1）It is fixedly connected.
3. connecting rod force feedback gloves as claimed in claim 2, it is characterised in that the metacarpus housing（1）Including referring to root
Sliding seat（10）With palm main body（11）；Refer to root sliding seat（10）With palm main body（11）Left-right rotation is connected；Control device（3）Put
In palm main body（11）It is interior；Wherein：
In the form A, steering wheel（4）The other end refer to root sliding seat together（10）Connection is rotated upwardly and downwardly, and finger root can be followed
Sliding seat（10）Left-right rotation；
In the form B, master connecting-rod（6）The other end refer to root sliding seat together（10）Rotate upwardly and downwardly connection；Steering wheel support（9）Together
Refer to root sliding seat（10）It is fixedly connected, finger root sliding seat can be followed（10）Left-right rotation.
4. connecting rod force feedback gloves as claimed in claim 2 or claim 3, it is characterised in that five groups of finger controls connecting rod groups（2）Adopt
During with form A and form B, form A and form B are staggered.
5. connecting rod force feedback gloves as claimed in claim 4, it is characterised in that middle finger and the corresponding finger control of little finger
Connection rod set（2）For form B, thumb, forefinger and nameless corresponding finger controls connecting rod group（2）For form A.
6. connecting rod force feedback gloves as claimed in claim 2, it is characterised in that the finger tip connecting rod（5）For a bow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621345916.1U CN206426118U (en) | 2016-12-09 | 2016-12-09 | A kind of connecting rod force feedback gloves |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621345916.1U CN206426118U (en) | 2016-12-09 | 2016-12-09 | A kind of connecting rod force feedback gloves |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206426118U true CN206426118U (en) | 2017-08-22 |
Family
ID=59587521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621345916.1U Active CN206426118U (en) | 2016-12-09 | 2016-12-09 | A kind of connecting rod force feedback gloves |
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| Country | Link |
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| CN (1) | CN206426118U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109259980A (en) * | 2018-09-07 | 2019-01-25 | 东北大学秦皇岛分校 | A kind of hand function synthesized rehabilitation training platform |
| CN109460146A (en) * | 2018-10-23 | 2019-03-12 | 北京航空航天大学 | A kind of force feedback gloves based on software driver |
| CN109521876A (en) * | 2018-11-02 | 2019-03-26 | 东南大学 | A kind of wearable flexible force haptic feedback devices of finger |
| WO2020088017A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand robotic exoskeleton device |
| WO2020087999A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device having force feedback |
-
2016
- 2016-12-09 CN CN201621345916.1U patent/CN206426118U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109259980A (en) * | 2018-09-07 | 2019-01-25 | 东北大学秦皇岛分校 | A kind of hand function synthesized rehabilitation training platform |
| CN109460146A (en) * | 2018-10-23 | 2019-03-12 | 北京航空航天大学 | A kind of force feedback gloves based on software driver |
| WO2020088017A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand robotic exoskeleton device |
| WO2020087999A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device having force feedback |
| CN109521876A (en) * | 2018-11-02 | 2019-03-26 | 东南大学 | A kind of wearable flexible force haptic feedback devices of finger |
| CN109521876B (en) * | 2018-11-02 | 2020-06-30 | 东南大学 | Finger wearable flexible force tactile feedback device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171114 Address after: 200233 Shanghai city Xuhui District Guangxi Jinglu No. 65 new research building B block 6 layer Patentee after: Shanghai Hello Network Technology Co., Ltd. Address before: 200080 room 2, 4 lane, 108 middle yard, Hongkou District, Shanghai Co-patentee before: Deng Xiaobo Patentee before: Wang Chen Zhengzhi Co-patentee before: Liang Xiujie |
|
| TR01 | Transfer of patent right |