The double finger joint drivers in thumb positionTechnical field
The present invention relates to one kind to detect human hand thumb distal joint motion state, and has the function that the number of Two-way Feedback powerAccording to gloves.
Background technology
Due to the development of science and technology, robot is gradually used in increasing scope, and teleoperation robot is madeFor a kind of dependable performance, technology maturation robot be widely used in various dangerous, situations it is complicated, the mankind can not reachWorked in environment, it directly is issued an instruction to control using very reliable control mode by operator.With remote operatingThe task that robot performs becomes increasingly complex so that people also propose higher while reliability is pursued to its flexibilityRequirement, and will to complexity manipulator implement remote operating, multiple joints coordinated movement of various economic factors together of the multiple fingers of control machinery hand,To realize specific function, this just needs to use data glove, and the data glove with force feedback function is the machinery to robotHand implements the most effective device of remote operating, and it is used as control instruction control by measuring the positional information of each finger joint of operator's fingerThe finger tracking human hand finger motion of manipulator processed, and can be by stressing conditions of each joint of manipulator in motion process in numberCome according to being simulated on gloves, act on operator on hand, operator is produced very strong telepresenc.It is in addition, virtual in recent yearsEmulation technology continues to develop, and its main interactive device is exactly force feedback data gloves, such as at one by computer virtualIn scene, the virtual human hand dismounting of control a pair of or put together machines, also game, 3D cartoon making etc. is required for using power anti-Data glove, but force feedback data gloves system complex in the market are presented, price is prohibitively expensive, makes it largely generalAnd, promote and use.
The content of the invention
The purpose of the present invention is to be directed to expensive existing force feedback data gloves, system complex, difficult in maintenance etc. to lackPoint, it is proposed that the two-way active driving device of external angular transducer and joint is combined as a whole by one kind, in detection people's swivel of handThe power fed back feel information is also changed into the method that power or torque directly act on human hand while movable information, greatly letterThe force feedback data gloves system of complexity is changed.The present invention be used for computer, the interactive device of manipulator, by thumbNearly finger joint pedestal, the remote finger joint pedestal of thumb and driving part composition；The device is fixed on operator on hand by way of wearing；The nearly finger joint position of thumb that the nearly finger joint pedestal of thumb is fixed on human hand, the remote finger joint of thumb that the remote finger joint pedestal of thumb is fixed on human handPosition, the nearly finger joint pedestal of thumb and the remote finger joint pedestal of thumb are provided with driving part by rod hinge connection, hinged place；Thumb positionDouble finger joint drivers while the angle and state of movement of finger joint is detected can as needed effect to its applying power it is realExisting force-feedback control.The present invention adds arrangement of clutch in the driving part in joint, when system force feedback signal, drivingThe powered joint of motor connection, and to the effect of joint applying power, when system does not have force feedback signal, motor disconnectsDiarthrodial connection is driven, reduces and reduces the resistance of joint motions, make the motion in joint more smooth.Present invention detection is closedThe angle for saving motion is measured by being arranged on device corresponding angular transducer by corresponding mathematical algorithm, detected jointBe both provided with independent driving part on the decomposition direction of its direction of motion or compound movement, each driving part again with quiltCorresponding angular transducer cooperating forms closed-loop control on the joint of detection, to realize force-feedback control and to improve its accurateProperty.The present invention can accurately, delicately detect the angle and state of corresponding movement of finger joint, and to detected jointIt is easy to wear using simple with bidirectional force feedback function, easily safeguard, and can greatly reduce force feedback data gloves intoThis.
Brief description of the drawings
Fig. 1 is the shaft side figure of the double finger joint drivers in thumb position.
Fig. 2 is the structural representation of the double finger joint drivers in thumb position.
Fig. 3 is the axonometric drawing and structural representation of driving part 111.
Embodiment
Embodiment one：Shown in Fig. 3, the double finger joint drivers in the thumb position, including driving part 111, it is describedDriving part 111 includes motor 40 and arrangement of clutch, the arrangement of clutch by arrangement of clutch friction plate 41, friction plate slide bar 42,Returning pull-spring 43, arrangement of clutch lid 44 form, and the axle of friction plate slide bar 42 and motor 40 is affixed, two panels arrangement of clutch friction plate 41The both ends of friction plate slide bar 42 are inserted in respectively, and returning pull-spring 43, arrangement of clutch lid are connected between two panels arrangement of clutch friction plate 4144 are inserted in the axle of motor 40, are sliding contact between arrangement of clutch lid 44 and the axle of motor 40, and arrangement of clutch lid 44, which is provided with, to be passedMoving gear.Act implementation process：When the rotating speed of motor 40 is higher than certain value, two panels arrangement of clutch friction plate 41 overcomes returning pull-spring43 pulling force is slided to two ends of friction plate slide bar 42 and contacted with the inwall of arrangement of clutch lid 44 respectively, to arrangement of clutch lid44 produce frictional force, drive arrangement of clutch lid 44 to rotate；When the rotating speed of motor 40 is less than certain value, two panels arrangement of clutch friction plate41 slide in the presence of returning pull-spring 43 to axis direction, are separated with the inwall of arrangement of clutch lid 44, cut off arrangement of clutch lid44 with the connection of motor 40.
Embodiment two：As shown in Figure 1, Figure 2 and Figure 3, it is remote to include thumb for the double finger joint drivers in the thumb positionFinger joint pedestal 3, the nearly finger joint pedestal 4 of thumb, driving part 111, angular transducer 18 and train of reduction gears 60.The thumb far refers toSection pedestal 3 is fixed on the remote finger joint position of thumb of human hand, and one end of the remote finger joint pedestal 3 of thumb is the post for surrounding the remote finger joint of thumbShape, the other end are hemispherical, and the longitudinal section of whole pedestal is " u "-shaped, is open towards thumb interphalangeal joint (DIP), in the pedestalA chute is provided with positioned at the position of the remote finger joint lateral surface of thumb.The remote finger joint pedestal 3 of thumb passes through rocking arm with the nearly finger joint pedestal 4 of thumb25 is be hinged, in the chute of the one end of rocking arm 25 insertion remote finger joint pedestal 3 of thumb, and, the rocking arm 25 spacing by screw 24The axle of (embedded bearing 23) other end and angular transducer 18 is affixed by screw 36, and the angular transducer 18 is by gear-box bottomSeat 22 and screw 35 are fixed in the hole seat K of the nearly finger joint pedestal 4 of thumb, and the gear axis on the rocking arm 25 rotate with rocking armAxis coinciding, the gear of the rocking arm 25 are engaged by the cooperation of train of reduction gears 60 with the gear of driving part 111, the driveDynamic component 111 is arranged on the nearly finger joint pedestal 4 of thumb, and the drive mechanism is fixed by gear box cover 49.Act implementation process：WhenWhen the interphalangeal joint (DIP) of operator's thumb does flexion and extension, the remote finger joint pedestal 3 of thumb depended in the remote finger joint of thumb followsMove together, so as to be rotated with motion rocker arm 25 so that the angular transducer 18 to be linked in hole seat K with rocking arm 25 can measure operationThe angle and state that the interphalangeal joint (DIP) of person's thumb is bent and stretched, when control system is without force feedback signal, then the nearly finger joint base of thumbThe attonity of driving part 111 on seat 4, rocking arm 25 act without interruption, and when control system force feedback signal, then thumb is nearDriving part 111 on finger joint pedestal 4 starts, and rocking arm 25 is applied in its direction of motion by the cooperation of train of reduction gears 60One power in the same direction or reverse, while the joint angles that are detected further according to the angular transducer 18 in hole seat K of control systemChange, the size of driving force is constantly exported and corrected with corresponding mathematical algorithm, promote or hinder the interphalangeal joint of thumb(DIP) move, realize the force feedback function in the joint.
As another example of the present invention, angular transducer can also be replaced with other sensors, can equally play inspectionThe angle and state of the remote finger joint motion of human hand thumb are surveyed, realizes the purpose of the present invention.
As the yet another embodiment of the present invention, the micro-driving motor for being connected with travelling gear can also be allowed to replace driving part111, train of reduction gears 60 or joint are directly driven, arrangement of clutch link is saved, the work of applying power can be equally played to jointWith realizing the purpose of the present invention.
In the case where not making principle of the invention suffer damage, the details and embodiment of above-mentioned composition are onlyAs example and the thing of diagram, it can not depart from the scope of the present invention and change extensively, and these belong to the guarantor of the present inventionWithin shield.