CN104669233A - Little finger force feedback device - Google Patents

Abstract

The invention discloses a little finger force feedback device, and relates to a device capable of detecting the motion state of hand fingers and feeding back force borne by corresponding finger joints of a slave hand. The device solves the problems that according to an existing force feedback device, a joint measuring mechanism and a force feedback mechanism are separated, a system is complex in structure and bloated, maintenance is difficult, double-direction active driving cannot be achieved, and price is high. A joint detection mechanism and the force feedback mechanism are integrated, and the unique connecting mode and the ingenious joint measuring point layout are adopted, so that when an operator uses the device, the detected fingers can be kept flexible to be greatest extent; the motion state can be precisely detected, so that the motion of the corresponding finger joints of the controlled slave hand and the motion of the corresponding finger joints of the operator are coordinated consistently; and the stress condition of the slave hand in the specific working environment can be fed back to the operator, so that the virtual reality or the remote operation immediacy sense can be enhanced.

Description

Little finger of toe device for force feedback

Technical field

The present invention relates to a kind of detection staff finger motion state, and there is the device of the effect of Two-way Feedback power.

Background technology

Due to the development of science and technology, robot is used gradually in increasing scope, teleoperation robot as the robot of a kind of dependable performance, technology maturation be widely used in various danger, situation complexity, work in environment that the mankind cannot arrive, what it adopted is very reliable control mode, is directly sent instruction to control by operator.Performing along with teleoperation robot of task becomes increasingly complex, make people while pursuit reliability, also its flexibility is had higher requirement, and remote operating to be implemented to the manipulator of complexity, control multiple joints coordinated movement of various economic factors together of the multiple finger of manipulator, to realize specific function, this just need use data glove, and the data glove with force feedback function the manipulator of robot is implemented to the most efficient apparatus of remote operating, it points the finger tracking staff finger motion of positional information as control instruction control manipulator of each dactylus by measure operator, and the stressing conditions of each joint of manipulator in motion process can be simulated in data glove, act on operator on hand, operator is made to produce very strong telepresenc.In addition, Virtual Simulation development in recent years, its main interactive device is exactly force feedback data gloves, such as at one by the scene of computer virtual, control the virtual staff dismounting of a pair of or put together machines, also having game, 3D cartoon making etc. all to need to use force feedback data gloves, but force feedback data gloves system complex in the market, price is very expensive, makes it cannot popularize in a large number, promote and use.

Summary of the invention

The object of the invention is, system complex expensive for existing force feedback data gloves, the shortcoming such as difficult in maintenance, propose one the two-way active driving device of external angular transducer and joint is combined as a whole, while detecting staff joint motions information, also the power visual information fed back is changed into the method that power or moment directly act on staff, greatly simplify complicated force feedback data gloves system.The present invention be for computer, the interactive device of manipulator, by little finger of toe dactylus pedestal far away, little finger of toe detection of joints driving mechanism, metacarpophalangeal joints detect driving mechanism and palm pedestal composition, this device is fixed on operator's finger, and little finger of toe device for force feedback can apply the effect realizable force FEEDBACK CONTROL of power as required while the angle detecting movement of finger joint and state to it.The present invention adds clutch in the driver part in joint, when system force feedback signal, drive motors connects driven joint, and joint is applied to the effect of power, when system does not have force feedback signal, drive motors disconnects by the connection of driving joint, reduces and reduces the resistance of joint motions, make the motion in joint more smooth and easy.The angle that the present invention detects joint motions is measured by corresponding mathematical algorithm by being arranged on corresponding angular transducer on device, detected joint is all provided with independently driver part on the decomposition direction of its direction of motion or compound movement, corresponding on the detected joint again angular transducer cooperating of each driver part forms closed-loop control, improves its accuracy with realizable force FEEDBACK CONTROL.The present invention can detect angle and the state of corresponding movement of finger joint accurately, delicately, and has bidirectional force feedback function to detected joint, uses simple, and it is convenient to dress, and easily safeguards, and greatly can reduce the cost of force feedback data gloves.

Accompanying drawing explanation

Fig. 1 is the axonometric drawing of little finger of toe device for force feedback.。

Fig. 2 is the structural representation of driver part 111.

Fig. 3 is the structural representation of little finger of toe device for force feedback.

Fig. 4 is three-view diagram and the axonometric drawing that metacarpophalangeal joints detect driving mechanism 108.

Fig. 5 is the structural representation that metacarpophalangeal joints detect driving mechanism 108.

Fig. 6 is three-view diagram and the axonometric drawing of little finger of toe detection of joints driving mechanism 110.

Fig. 7 is the structural representation of little finger of toe detection of joints driving mechanism 110.

Detailed description of the invention

Main parts size of the present invention:

102. palm pedestal 60. train of reduction gears 108. metacarpophalangeal joints detect driving mechanism

110. little finger of toe detection of joints driving mechanism 111. driver part 15. little finger of toe dactylus pedestal far away

18. angular transducer 20. bulb 21. bulbs link bar

22. gear-box base 29. metacarpophalangeal joints pedestal 40. micromachines

41. clutch friction plate 42. friction plate slide bar 43. returning pull-springs

44. clutch case 53. dactylus pedestal 58. dactylus pedestals

Detailed description of the invention one: as shown in Figure 2, described little finger of toe device for force feedback comprises driver part 111, described driver part 111 comprises micromachine 40 and clutch, described clutch is by clutch friction plate 41, friction plate slide bar 42, returning pull-spring 43, clutch case 44 forms, friction plate slide bar 42 is affixed with the axle of micromachine 40, two panels clutch friction plate 41 is inserted in friction plate slide bar 42 two ends respectively, returning pull-spring 43 is connected with between two panels clutch friction plate 41, clutch case 44 is inserted in the axle of micromachine 40, for slidingly contacting between the axle of clutch case 44 and micromachine 40, clutch case 44 is provided with travelling gear.Action implementation process: when micromachine 40 rotating speed is higher than certain value, the pulling force that two panels clutch friction plate 41 overcomes returning pull-spring 43 slide respectively to two ends of friction plate slide bar 42 and with the contact internal walls of clutch case 44, frictional force is produced to clutch case 44, drives clutch case 44 to rotate; When micromachine 40 rotating speed is lower than certain value, two panels clutch friction plate 41 slides to axis direction under the effect of returning pull-spring 43, is separated with the inwall of clutch case 44, cuts off the connection of clutch case 44 and micromachine 40.

Detailed description of the invention two: as shown in Figure 1, Figure 4 and Figure 5, described metacarpophalangeal joints detect driving mechanism 108 and comprise driver part 111, rocking arm 27, metacarpophalangeal joints pedestal 29, connecting rod 38, gear box cover 50 and two angular transducers 18.Bottom metacarpophalangeal joints pedestal 29, (embedded bearing 39) is affixed by screw 36 with the axle of an angular transducer 18, described metacarpophalangeal joints pedestal 29 can around the axis rotation of bottom angle sensor 18, described metacarpophalangeal joints pedestal 29 bottom outer rim is provided with gear 59, the axis coinciding of the angular transducer 18 bottom the axle center of gear 59 and metacarpophalangeal joints pedestal 29, another angular transducer 18 is fixed in the hole seat L of metacarpophalangeal joints pedestal 29 by screw 35, it is affixed that screw 36 is passed through in the axle of described angular transducer 18 and one end of rocking arm 27 (embedded bearing 23), the axis coinciding that gear axis on described rocking arm 27 and rocking arm rotate, the gear of described rocking arm 27 is by the cooperation of train of reduction gears 60 and the gears meshing of driver part 111, described driver part 111 is arranged on metacarpophalangeal joints pedestal 29, it is hinged that screw 24 is passed through in described rocking arm 27 other end and connecting rod 38 one end.

Detailed description of the invention three: as shown in Fig. 1, Fig. 6 and Fig. 7, described little finger of toe detection of joints driving mechanism 110 comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 57 and dactylus pedestal 58.Described dactylus pedestal 58 is provided with the installing hole R of an a hole seat P and row for screw 24, described angular transducer 18 is fixed in the hole seat P of dactylus pedestal 58 by screw 36, axle and the rocking arm 19 of the angular transducer 18 in described hole seat P are affixed by screw 35, the axis coinciding that gear axis on described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gears meshing of driver part 111, described driver part 111 is arranged on dactylus pedestal 58, the affixed bulb 20 of described rocking arm 19 other end.

Detailed description of the invention four: as Fig. 1, shown in Fig. 3, described little finger of toe device for force feedback comprises and detects driving mechanism 108 with the metacarpophalangeal joints of palm pedestal 102 hinge connections, the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of little finger of toe, the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position and little finger of toe dactylus pedestal 15 far away, often adjacent Liang Ge mechanism hinged place is all provided with the angular transducer 18 and driver part 111 that detect joint action, detect little finger of toe each dactylus position in three dimensions and motion state, and under the effect of driver part 111 realizable force feedback function.

The nearly dactylus of dactylus pedestal 58 semi-surrounding little finger of toe on the little finger of toe detection of joints driving mechanism 110 at described little finger of toe nearly dactylus position, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated with installing hole R place with the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of little finger of toe by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect bottom driving mechanism 108 is fixed in the hole seat E of palm pedestal 102, the outer rim gear 59 that described metacarpophalangeal joints detect driving mechanism 108 is by the cooperation of train of reduction gears 60 and the gears meshing being arranged on the driver part 111 on palm pedestal 102, and this driving mechanism is fixed by gear box cover 56.Action implementation process: the nearly dactylus of staff little finger of toe can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is the flexion and extension being parallel to the nearly dactylus side of little finger of toe, another is the abduction or the adduction motion that are parallel to the nearly dactylus back side of little finger of toe, when the metacarpophalangeal joints (MP) of operator's little finger of toe do flexion and extension, the little finger of toe detection of joints driving mechanism 110 depending on the nearly dactylus of little finger of toe is followed motion together and drives rocking arm 27 to rotate by connecting rod 38, the angle that the metacarpophalangeal joints (MP) making the angular transducer 18 linked with rocking arm 27 in the seat L of hole can measure operator's little finger of toe bend and stretch and state, when control system is without force feedback signal, then metacarpophalangeal joints detect driver part 111 attonity on driving mechanism 108, rocking arm 27 action is interference-free, when control system force feedback signal, the driver part 111 that then metacarpophalangeal joints detect on driving mechanism 108 starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 27, the simultaneously change of joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of little finger of toe, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's little finger of toe do abduction or adduction motion, in this direction of action, little finger of toe detection of joints driving mechanism 110 and connecting rod 38, rocking arm 27 is rigidly connected, so little finger of toe detection of joints driving mechanism 110 directly drives metacarpophalangeal joints to detect the axis rotation of the angular transducer 18 of driving mechanism 108 bottom it, make the angular transducer 18 in the seat E of hole can measure metacarpophalangeal joints (MP) abduction of operator's little finger of toe or the angle of adduction and state, when control system is without force feedback signal, driver part 111 attonity then on palm pedestal 102, the motion that metacarpophalangeal joints detect driving mechanism 108 is interference-free, when control system force feedback signal, driver part 111 then on palm pedestal 102 starts, by the cooperation of train of reduction gears 60, driving mechanism 108 is detected to metacarpophalangeal joints and in its direction of motion, apply one in the same way or reverse power, the simultaneously change of joint angles that detects according to the angular transducer 18 in the seat E of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the adduction motion of little finger of toe, realize the force feedback function in this joint.

Dactylus pedestal 58 semi-surrounding little finger of toe middle finger joint on the little finger of toe detection of joints driving mechanism 110 at described little finger of toe middle finger joint position, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The dactylus pedestal 58 of the rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of described little finger of toe and the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position links by bulb 20 and bulb the spherical linkage that bar 21 coordinates and is connected.Action implementation process: when the PIP (PIP) of operator's little finger of toe does flexion and extension, the little finger of toe detection of joints driving mechanism 110 depending on little finger of toe middle finger joint position is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of little finger of toe to rotate, the angle that the PIP (PIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's little finger of toe bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the little finger of toe detection of joints driving mechanism 110 at the then nearly dactylus position of little finger of toe, the middle finger joint of operator's little finger of toe can rotate interference-free around the PIP of little finger of toe (PIP), when control system force feedback signal, driver part 111 on the little finger of toe detection of joints driving mechanism 110 at the then nearly dactylus position of little finger of toe starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of little finger of toe, realize the force feedback function in this joint.

Described little finger of toe dactylus far away pedestal 15 is fixed on staff little finger of toe dactylus position far away, one end of described little finger of toe dactylus far away pedestal 15 is the cylindricality of surrounding little finger of toe dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of little finger of toe, the position being positioned at the little finger of toe dactylus back side far away at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at described little finger of toe middle finger joint position and little finger of toe dactylus pedestal 15 far away link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the DIPJ (DIP) of operator's little finger of toe does flexion and extension, the little finger of toe dactylus pedestal 15 far away depended on little finger of toe dactylus far away is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position to rotate, the angle that the DIPJ (DIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's little finger of toe bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the little finger of toe detection of joints driving mechanism 110 at then little finger of toe middle finger joint position, the dactylus far away of operator's little finger of toe can rotate interference-free around the DIPJ of little finger of toe (DIP), when control system force feedback signal, driver part 111 on the little finger of toe detection of joints driving mechanism 110 at then little finger of toe middle finger joint position starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of little finger of toe, realize the force feedback function in this joint.

As another example of the present invention, also can replace angular transducer with other sensors, can play equally and detect the angle of little finger of toe joint motions and the object of state, realize object of the present invention.

As another example of the present invention, also the micro-driving motor being connected with travelling gear can be allowed to replace driver part 111, and Direct driver train of reduction gears 60 or joint, save clutch link, the effect of applying power can be played equally to joint, realize object of the present invention.

When not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only that it can not depart from the scope of the present invention and extensively change, and these all belong within protection of the present invention as example and illustrated thing.

Claims (5)

1. a little finger of toe device for force feedback, for with computer, the interactive device of manipulator, by little finger of toe dactylus pedestal (15) far away, little finger of toe detection of joints driving mechanism (110), metacarpophalangeal joints detect driving mechanism (108) and palm pedestal (102) composition;

It is characterized in that:

This device is fixed on operator's finger;

Little finger of toe device for force feedback can apply the effect realizable force FEEDBACK CONTROL of power as required while the angle detecting movement of finger joint and state to it.

2. little finger of toe device for force feedback according to claim 1, it is characterized in that: described driver part (111) comprises micromachine (40) and clutch, described clutch is by clutch friction plate (41), friction plate slide bar (42), returning pull-spring (43), clutch case (44) forms, friction plate slide bar (42) is affixed with the axle of micromachine (40), two panels clutch friction plate (41) is inserted in friction plate slide bar (42) two ends respectively, returning pull-spring (43) is connected with between two panels clutch friction plate (41), clutch case (44) is inserted in the axle of micromachine (40), for slidingly contacting between the axle of clutch case (44) and micromachine (40), clutch case (44) is provided with travelling gear.

3. little finger of toe device for force feedback according to claim 1, is characterized in that: described metacarpophalangeal joints detect driving mechanism (108) and comprise driver part (111), rocking arm (27), metacarpophalangeal joints pedestal (29), screw (24,35,36), bearing (23,39), connecting rod (38), gear box cover (50), gear (59), train of reduction gears (60) and two angular transducers (18), metacarpophalangeal joints pedestal (29) the embedded bearing in bottom (39) is also affixed by screw (36) with the axle of an angular transducer (18), described metacarpophalangeal joints pedestal (29) can around the axis rotation of angular transducer (18), metacarpophalangeal joints pedestal (29) bottom outer rim is provided with gear (59), the axis coinciding of the axle center of gear (59) and the angular transducer (18) of bottom, another angular transducer (18) is fixed in the hole seat (L) of metacarpophalangeal joints pedestal (29) by screw (35), and it is affixed by screw (36) with the rocking arm (27) of embedded bearing (23), gear on rocking arm (27) is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), driver part (111) is arranged on metacarpophalangeal joints pedestal (29), rocking arm (27) other end and connecting rod (38) hinged by screw (24).

4. little finger of toe device for force feedback according to claim 1, is characterized in that: described little finger of toe detection of joints driving mechanism (110) comprises driver part (111), train of reduction gears (60), angular transducer (18), rocking arm (19), screw (35,36), gear box cover (57) and dactylus pedestal (58), dactylus pedestal (58) on described little finger of toe detection of joints driving mechanism (110) is provided with a hole seat (P) and and arranges the installing hole (R) being used for screw (24), the hole seat (P) that angular transducer (18) is fixed on dactylus pedestal (58) by screw (36) is interior and affixed by screw (35) with rocking arm (19), the axle center that rocking arm (19) cogs and the axis coinciding that rocking arm rotates, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), driver part (111) is arranged on dactylus pedestal (58), the affixed bulb of rocking arm (19) other end (20).

5. little finger of toe device for force feedback according to claim 1, it is characterized in that: the dactylus pedestal (58) on little finger of toe detection of joints driving mechanism (110) is the nearly dactylus of semi-surrounding little finger of toe and middle finger joint respectively, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the connecting rod (38) that metacarpophalangeal joints detect driving mechanism (108) is articulated with installing hole (R) place by screw (24) and the little finger of toe detection of joints driving mechanism (110) at the nearly dactylus position of little finger of toe, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom 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) and the gears meshing being arranged on the driver part (111) on palm pedestal (102), this driving mechanism is fixed by gear box cover (56), the bulb (20) that the rocking arm (19) of the little finger of toe detection of joints driving mechanism (110) at little finger of toe nearly dactylus position is linked on little finger of toe detection of joints driving mechanism (110) installing hole (R) at bar (21) and little finger of toe middle finger joint position by bulb is hinged, little finger of toe dactylus far away pedestal (15) is fixed on the upper corresponding little finger of toe dactylus position far away of gloves (101) by bonding or other modes, one end of little finger of toe dactylus far away pedestal (15) is the cylindricality of surrounding little finger of toe dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ DIP of little finger of toe, the position that little finger of toe dactylus far away pedestal (15) is positioned at the little finger of toe dactylus back side far away is provided with a rocking arm, rocking arm is perpendicular to the dactylus back side at place, the rocking arm (19) of the little finger of toe detection of joints driving mechanism (110) at little finger of toe middle finger joint position and little finger of toe dactylus pedestal (15) far away link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected.