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Middle finger force feedback device

A force feedback, middle finger technology, applied in manipulators, manufacturing tools, etc., can solve the problems of expensive force feedback data gloves, complex systems, and difficult maintenance.

Inactive Publication Date: 2015-06-03
苏茂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the disadvantages of the existing force feedback data gloves, such as high price, complex system, and difficult maintenance, and proposes a combination of an external angle sensor and a joint two-way active drive device, which is used to detect the movement information of human hand joints. At the same time, it also converts the feedback force sensory information into a force or torque that directly acts on the human hand, which greatly simplifies the complex force feedback data glove system

Method used

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Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0018] Specific implementation manner one: such as figure 2 As shown, the middle finger force feedback device includes a driving component 111 that includes a micro motor 40 and a clutch. The clutch is composed of a clutch friction plate 41, a friction plate sliding rod 42, a return tension spring 43, and a clutch cover 44. The friction plate sliding rod 42 is fixedly connected to the shaft of the micro motor 40, and the two clutch friction plates 41 are respectively sleeved at both ends of the friction plate sliding rod 42. A return tension spring 43 is connected between the two clutch friction plates 41. The cover 44 is sleeved into the shaft of the micro motor 40, the clutch cover 44 is in sliding contact with the shaft of the micro motor 40, and a transmission gear is provided on the clutch cover 44. Action implementation process: When the speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 overcome the pulling force of the return t...

specific Embodiment approach 2

[0019] Specific implementation manner two: such as figure 1 , Figure 4 with Figure 5 As shown, the metacarpophalangeal joint detection drive mechanism 108 includes a driving component 111, a rocker 27, a metacarpophalangeal joint base 29, a connecting rod 38, a gear box cover 50 and two angle sensors 18. The bottom of the metacarpophalangeal joint base 29 (embedded bearing 39) is fixed to the axis of an angle sensor 18 by screws 36. The metacarpophalangeal joint base 29 can rotate around the axis of the bottom angle sensor 18. The lower outer edge of the base 29 is provided with a gear 59. The axis of the gear 59 coincides with the axis of the angle sensor 18 at the bottom of the metacarpophalangeal joint base 29. The other angle sensor 18 is fixed on the metacarpophalangeal joint base 29 by a screw 35. In the hole seat L, the shaft of the angle sensor 18 and one end of the rocker arm 27 (the embedded bearing 23) are fixedly connected by a screw 36. The gear axis on the rocker...

specific Embodiment approach 3

[0020] Specific implementation manner three: such as figure 1 , Image 6 with Figure 7 As shown, the joint detection driving mechanism 109 includes a driving component 111, an angle sensor 18, a rocker 19, a gear box cover 51, a gear box cover 52 and a knuckle base 53. The knuckle base 53 is provided with a hole seat M and a row of mounting holes Q for the ball head 20 or screws 24, and the angle sensor 18 is fixed in the hole seat M of the knuckle base 53 by screws 36, The shaft of the angle sensor 18 in the hole seat M is fixed to the rocker arm 19 by a screw 35, the gear axis on the rocker arm 19 coincides with the axis of the rocker arm rotation, and the gear of the rocker arm 19 is decelerated The gear set 60 meshes with the gears of the driving part 111, the driving part 111 is mounted on the knuckle base 53, and the other end of the rocker arm 19 is fixedly connected to the ball head 20.

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Abstract

The invention discloses a middle finger force feedback device, and relates to a device for detecting a human hand finger motion state and returning force stressed by a corresponding hand finger joint. The invention aims to solve such defects as separation of a joint measurement mechanism and a force feedback mechanism, complex system, clunky structure, difficult maintenance, incapability of realizing two-way active driving and high cost in a traditional force feedback device; the joint measurement mechanism and the force feedback mechanism are integrated as a whole, and an unique connecting mode and a skilful joint measurement point layout is adopted; and when operators use the equipment, a detected finger can keep the flexibility to the greatest extent, and the motion state can be precisely detected, so that the controlled corresponding hand finger joint and the corresponding finger joint of the operators can cooperate, and the specific hand stress condition in the working environment can be returned to the operators so as to improve the immediacy sense of virtual reality or remote control.

Description

Technical field [0001] The invention relates to a device for detecting the movement state of the fingers of a human hand and having the function of bidirectional feedback force. Background technique [0002] Due to the development of science and technology, robots are gradually being used in a larger and larger range. As a reliable and mature robot, teleoperation robots are widely used in various dangerous, complicated and inaccessible environments. It uses a very reliable control method, which is controlled by the operator directly. As the tasks performed by teleoperated robots become more and more complex, people are pursuing reliability while also putting forward higher requirements for their flexibility. However, it is necessary to remotely operate complex manipulators and control the multiple fingers of the manipulator. Multiple joints coordinate movement together to achieve specific functions, which requires the use of data gloves, and the data gloves with force feedback f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J19/00
Inventor 苏茂
Owner 苏茂
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