Middle fingers and palms dactylus force feedback unitTechnical 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, be made up of metacarpophalangeal joints pedestal, angular transducer and driver part, this device is fixed on operator on hand, and middle fingers and palms dactylus force feedback unit 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.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 three-view diagram and the axonometric drawing of middle fingers and palms dactylus force feedback unit.。
Fig. 2 is the structural representation of middle fingers and palms dactylus force feedback unit.
Fig. 3 is axonometric drawing and the structural representation of driver part 111.
Detailed description of the invention
Detailed description of the invention one: as shown in Figure 3, 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 2 and Figure 3, described middle fingers and palms dactylus force feedback unit comprises 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, the other end of described connecting rod 38 is connected with the parts on the nearly dactylus of staff, the angular transducer 18 of middle fingers and palms dactylus force feedback unit bottom is fixed on corresponding people's palm dactylus position.Action implementation process: the nearly dactylus of staff can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is be parallel to the flexion and extension pointing nearly dactylus side, another is parallel to the abduction or adduction motion of pointing the nearly dactylus back side, when the metacarpophalangeal joints (MP) of operator's finger do flexion and extension, pointing nearly dactylus parts drives rocking arm 27 to rotate by connecting rod 38, the angle that the angular transducer 18 linked with rocking arm 27 in the seat L of hole can be measured metacarpophalangeal joints (MP) that operator points bend and stretch and state, when control system is without force feedback signal, driver part 111 attonity then on middle fingers and palms dactylus force feedback unit, rocking arm 27 action is interference-free, when control system force feedback signal, driver part 111 then on middle fingers and palms dactylus force feedback unit 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 finger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's finger do abduction or adduction motion, in this direction of action, nearly dactylus parts and connecting rod 38, rocking arm 27 are rigidly connected, so nearly dactylus parts directly drive in the axis rotation of the angular transducer 18 of fingers and palms dactylus force feedback unit bottom it, make sensor 18 can measure metacarpophalangeal joints (MP) abduction of operator's finger or the angle of adduction and state
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.