A master robot for hand motion capture

Abstract

The present invention relates to a master robot for hand motion capture, which includes a frame and a data glove suspended in the frame by flexible cables; the data glove includes a support handle, a thumb finger sleeve, an index finger sleeve, and a finger sleeve group; the flexible cables include a first flexible cable and a fourth flexible cable connected to the lower end of the support handle, a second flexible cable and a third flexible cable connected to the lower connecting ball, a fifth flexible cable and an eighth flexible cable connected to the upper end of the support handle, a sixth flexible cable and a seventh flexible cable connected to the upper connecting ball, a ninth flexible cable connected to the thumb finger sleeve, a tenth flexible cable connected to the index finger sleeve, and an eleventh flexible cable connected to the finger sleeve group. Each of the above flexible cables is connected to a reel in a corresponding flexible cable driving device. According to the above technical solution, the master robot is driven by flexible cables and has the advantages of simple structure, easy operation, convenience and high efficiency, good flexibility, low cost and wide application range; at the same time, the operator can operate remotely outside the workshop, thus ensuring the safety of personnel.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a master robot for hand motion capture. Background Art

[0002] The master robot is an indispensable part of modern technology production. In the application of certain specific scenarios, the master robot has advantages that manual operation does not have. In industrial production, due to the complex and changeable production environment, under the requirements of safe production or in the scenario of remote synchronous operation, manual operation obviously does not have the advantages of master-slave robot operation.

[0003] Most of the existing master robots adopt series master robots. In some occasions where micro-operations need to be realized, due to low precision and weak mechanism compliance, the situation where specific requirements cannot be completed will occur. Therefore, how to provide a master robot for hand motion capture is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above drawbacks and provide a master robot for hand motion capture. The master robot is driven by a flexible cable, and has the advantages of simple structure, easy operation, convenient and efficient, good compliance, low cost and wide application range; at the same time, the operator can operate remotely outside the workshop, thus ensuring the safety of personnel.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: including a frame and a data glove suspended in the frame by a flexible cable;

[0006] The data glove includes a support handle, a thumb finger sleeve, an index finger sleeve and a finger sleeve group. The finger sleeve group is an integral structure formed by connecting a middle finger sleeve, a ring finger sleeve and a little finger sleeve. The upper end of the support handle is respectively connected to the thumb finger sleeve, the index finger sleeve and an upper connecting ball through flexible ropes. The upper connecting ball is respectively connected to the thumb finger sleeve and the index finger sleeve through flexible ropes. The index finger sleeve is connected to the finger sleeve group through a flexible rope. The lower end of the support handle is respectively connected to the thumb finger sleeve, the finger sleeve group and a lower connecting ball through flexible ropes. The lower connecting ball is respectively connected to the thumb finger sleeve and the finger sleeve group through flexible ropes;

[0007] The flexible cable includes a first flexible cable and a fourth flexible cable connected to the lower end of the support handle, a second flexible cable and a third flexible cable connected to the lower connecting ball, a fifth flexible cable and an eighth flexible cable connected to the upper end of the support handle, a sixth flexible cable and a seventh flexible cable connected to the upper connecting ball, a ninth flexible cable connected to the thumb finger sleeve, a tenth flexible cable connected to the index finger sleeve, and an eleventh flexible cable connected to the finger sleeve group. Each of the above flexible cables is respectively connected to a reel in a corresponding flexible cable driving device.

[0008] The described flexible cable drive device includes a servo motor and a drum connected to the servo motor. A fixed pulley reversing device and a movable pulley reversing device are further provided between the drum and the data glove. The fixed pulley reversing device includes a first pulley and a second pulley. The movable pulley reversing device includes a third pulley, a fourth pulley, and a flexible cable universal rotating device. The flexible cable universal rotating device includes a steering ball, a sixth pulley arranged inside the steering ball, a ball seat, and a fifth pulley arranged inside the ball seat. The steering ball and the ball seat form a spherical lower pair mechanism. A flexible cable inlet hole is provided on the ball seat, and a flexible cable outlet hole is provided on the steering ball. One end of the flexible cable is fixed to the drum, and the other end of the flexible cable sequentially winds around the first pulley, the second pulley, the third pulley, and the fourth pulley, then enters the ball seat through the flexible cable inlet hole, and sequentially winds around the fifth pulley and the sixth pulley, and then passes out through the flexible cable outlet hole and is connected to each connection point on the data glove. The flexible cable between the fifth pulley and the sixth pulley is always in the vertical direction.

[0009] The first pulley and the second pulley are fixed on a fixed pulley support plate, and the fixed axis of the first pulley is parallel to the drum axis. The fixed axis of the second pulley is perpendicular to the fixed axis of the first pulley. The raceway centerlines of the first pulley and the second pulley have a common tangent in the vertical direction.

[0010] The third pulley, the fourth pulley, and the ball seat are fixed on a movable pulley support plate. The fixed axes of the third pulley and the fourth pulley are both parallel to the second pulley. The raceway centerlines of the fourth pulley and the fifth pulley have a common tangent in the horizontal direction.

[0011] The steering ball and the ball seat are both of hollow structure. The fixed axis of the fifth pulley is fixedly connected to the inner surface of the ball seat. The two ends of the fixed axis of the sixth pulley are respectively slidably connected to the arc-shaped grooves symmetrically arranged on the inner surface of the steering ball. The arc-shaped grooves are semi-circular, and the radius of the arc-shaped grooves coincides with the radius of the sixth pulley.

[0012] The bottom surface of the steering ball is a plane and is open. The bottom surface of the steering ball is symmetrically provided with a cable inlet groove matching the flexible cable along the spherical surface upward. The width of the cable inlet groove is greater than the diameter of the flexible cable. The centerline of the cable inlet groove and the centerline of the raceway of the fifth pulley are located in the same vertical plane and perpendicular to the axle of the sixth pulley.

[0013] The frame is made of aluminum alloy profiles and includes an upper frame body and a lower frame body arranged in parallel. The upper frame body and the lower frame body are both regular pentagons. The three consecutive vertices corresponding to each other between the upper frame body and the lower frame body are respectively connected by a first column, a second column, and a third column. The remaining two vertices corresponding to each other in the upper frame body and the lower frame body are respectively connected to the adjacent columns by obliquely arranged support columns.

[0014] The cable drive devices corresponding to the first cable, the second cable, the third cable, and the fourth cable are respectively integrated in the lower frame body. The cable drive devices corresponding to the fifth cable, the sixth cable, the seventh cable, and the eighth cable are respectively integrated in the upper frame body. The cable drive device corresponding to the ninth cable is integrated in the first column. The cable drive devices corresponding to the tenth cable and the eleventh cable are integrated in the third column.

[0015] The beneficial effects of the present invention are as follows:

[0016] 1) The main robot of the present invention adopts a parallel mechanism and the drive mode is cable drive. Therefore, it has the advantages of simple transmission parts, convenient processing, smooth transmission, no noise, no vibration and impact, etc. At the same time, a drum is provided in each cable drive device, which can improve stability and accuracy.

[0017] 2) The main body of the cable universal transmission device adopted in the present invention is composed of a spherical lower pair, a fifth pulley and a sixth pulley. The sixth pulley is a movable pulley, and both ends of its fixed shaft are respectively slidably connected to the arc-shaped grooves symmetrically arranged on the inner surface of the steering ball in the spherical lower pair. Since the cables at both ends of the sixth pulley are always in a taut state, it is ensured that the center line of the fixed shaft of the movable pulley is always in the horizontal plane, that is, parallel to the bottom surface of the ball seat. At the same time, the arc-shaped groove is semi-circular, and the radius of the arc-shaped groove coincides with the radius of the sixth pulley, so that no matter how the cable coming out of the cable outlet hole moves, the cable between the fifth pulley and the sixth pulley is always vertical, that is, perpendicular to the bottom surface of the ball seat. Therefore, when the main robot is moving continuously, the cable universal transmission device of the present invention has many advantages such as smooth transmission, good cable guiding performance, and large movement space, improving the stability of cable transmission.

[0018] 3) When the main robot of the present invention is used for a working device, the main robot inputs hand data, and the sub-robot can reconstruct the actions of the main robot, realizing remote synchronous operation, with the advantages of high safety and high coordination, etc., which has great significance in the operation application scenarios of dangerous workshops. At the same time, due to the presence of a brake function in the servo motor, the obstacles encountered at the sub-robot end can be synchronously fed back to the main robot end, which has great significance in the application scenarios of realizing human-computer interaction virtual reality technology.

[0019] 4) When the master robot in the present invention is used in a rehabilitation device, the data glove of the master robot is connected to the hand of the rehabilitation therapist, and the data glove of the slave robot is connected to the hand of the rehabilitation patient. The rehabilitation therapist actively inputs the hand recovery training actions, and the rehabilitation patient completes the hand recovery training with the assistance of the data glove of the slave robot. During the entire rehabilitation training process, the rehabilitation training can be completed without complex operations at the technical level. Therefore, it has many advantages such as low learning cost, simple operation, strong practicability, and good coordination, and is particularly suitable for the home rehabilitation training scenario, which has great significance in the field of rehabilitation robot technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the schematic diagram of the overall structure of the present invention Figure 1 ;

[0021] Figure 2 is the schematic diagram of the overall structure of the present invention Figure 2 ;

[0022] Figure 3 is the schematic diagram of the structure of the frame body of the present invention;

[0023] Figure 4 is the schematic diagram of the structure of the data glove of the present invention Figure 1 ;

[0024] Figure 5 is the schematic diagram of the structure of the data glove of the present invention Figure 2 ;

[0025] Figure 6 is the schematic diagram of the structure of the data glove of the present invention Figure 3 ;

[0026] Figure 7 is the schematic diagram of the structures of the cable drive device, fixed pulley reversing device, and movable pulley reversing device of the present invention;

[0027] Figure 8 is the schematic diagram of the structure of the fixed pulley reversing device of the present invention Figure 1 ;

[0028] Figure 9 is the schematic diagram of the structure of the fixed pulley reversing device of the present invention Figure 2 ;

[0029] Figure 10 is the schematic diagram of the structure of the movable pulley reversing device of the present invention Figure 1 ;

[0030] Figure 11 is the schematic diagram of the structure of the movable pulley reversing device of the present invention Figure 2 ;

[0031] Figure 12 is the exploded schematic diagram of the cable universal rotating device of the present invention;

[0032] Figure 13 It is a schematic diagram of the internal structure of the flexible cable universal rotating device of the present invention;

[0033] Figure 14 It is a schematic diagram of the running direction of the flexible cable of the present invention.

[0034] The reference signs in the above-mentioned drawings are: frame body 1, upper frame body 11, lower frame body 12, first upright column 13, second upright column 14, third upright column 15, support column 16, data glove 2, supporting handle 21, thumb finger sleeve 22, index finger finger sleeve 23, finger sleeve group 24, upper connecting ball 25, lower connecting ball 26, first flexible cable 31, second flexible cable 32, third flexible cable 33, fourth flexible cable 34, fifth flexible cable 35, sixth flexible cable 36, seventh flexible cable 37, eighth flexible cable 38, ninth flexible cable 39, tenth flexible cable 310, eleventh flexible cable 311, servo motor 41, drum 42, fixed pulley reversing device 5, first pulley 51, second pulley 52, fixed pulley support plate 53, movable pulley reversing device 6, third pulley 61, fourth pulley 62, steering ball 63, flexible cable outlet hole 631, arc-shaped groove 632, wire inlet groove 633, ball seat 64, flexible cable inlet hole 641, fifth pulley 65, sixth pulley 66, movable pulley support plate 67. Detailed implementation manners

[0035] The present invention will be further described below with reference to the drawings:

[0036] As Figure 1 and Figure 2 shown, a master robot for hand motion capture includes a frame body 1 and a data glove 2 suspended in the frame body 1 by flexible cables.

[0037] Furthermore, as Figure 3 shown, in this embodiment, the frame body 1 is made of aluminum alloy profiles, and includes an upper frame body 11 and a lower frame body 12 arranged in parallel. Both the upper frame body 11 and the lower frame body 12 are regular pentagons. The three consecutive vertices corresponding to each other between the upper frame body 11 and the lower frame body 12 are respectively connected by a first upright column 13, a second upright column 14, and a third upright column 15. The remaining two vertices corresponding to each other in the upper frame body 11 and the lower frame body 12 are respectively connected to the adjacent upright columns by obliquely arranged support columns 16.

[0038] Furthermore, as Figure 4 , Figure 5 , Figure 6As shown in the figure, the data glove 2 includes a support handle 21, a thumb finger sleeve 22, an index finger sleeve 23, and a finger sleeve group 24. The finger sleeve group 24 is an integral structure formed by connecting a middle finger sleeve, a ring finger sleeve, and a little finger sleeve. The upper end of the support handle 21 is respectively connected to the thumb finger sleeve 22, the index finger sleeve 23, and the upper connecting ball 25 through flexible ropes. The upper connecting ball 25 is respectively connected to the thumb finger sleeve 22 and the index finger sleeve 23 through flexible ropes. The index finger sleeve 23 is connected to the finger sleeve group 24 through a flexible rope. The lower end of the support handle 21 is respectively connected to the thumb finger sleeve 22, the finger sleeve group 24, and the lower connecting ball 26 through flexible ropes. The lower connecting ball 26 is respectively connected to the thumb finger sleeve 22 and the finger sleeve group 24 through flexible ropes. In the data glove 2, the support handle 21, the thumb finger sleeve 22, the index finger sleeve 23, and the finger sleeve group 24 are connected by flexible ropes, ensuring the flexibility of the hand during movement and ensuring that there is no rigid impact on the user's hand. At the same time, the finger sleeve group 24 is not closed, ensuring that different users' hand sizes can be adapted.

[0039] Furthermore, the flexible cables include a first flexible cable 31 and a fourth flexible cable 34 connected to the lower end of the support handle 21, a second flexible cable 32 and a third flexible cable 33 connected to the lower connecting ball 26, a fifth flexible cable 35 and an eighth flexible cable 38 connected to the upper end of the support handle 21, a sixth flexible cable 36 and a seventh flexible cable 37 connected to the upper connecting ball 25, a ninth flexible cable 39 connected to the thumb finger sleeve 22, a tenth flexible cable 310 connected to the index finger sleeve 23, and an eleventh flexible cable 311 connected to the finger sleeve group 24. Each of the above flexible cables is respectively connected to a reel 42 in a corresponding flexible cable drive device.

[0040] Furthermore, a total of eleven groups of flexible cable drive devices are provided in the present invention, corresponding to the eleven flexible cables one by one. The structures of each flexible cable drive device are the same, and each includes a servo motor 41 and a reel 42 connected to the servo motor 41. The output shaft of the servo motor 41 is fixedly connected to the reel 42 through a semi-circular key. In this embodiment, the servo motor 41 uses a motor with an encoder and a braking function in the prior art, such as an Inovance motor with the model number MS1H1-05B30CB-*33*Z(-S). The reel 42 uses a reel with a return spring provided therein in the prior art, which can realize the automatic return of the flexible cable and keep the flexible cable in a tightened state all the time. In this embodiment, the flexible cable drive devices corresponding to the first flexible cable 31, the second flexible cable 32, the third flexible cable 33, and the fourth flexible cable 34 are respectively integrated in the lower frame 12. The flexible cable drive devices corresponding to the fifth flexible cable 35, the sixth flexible cable 36, the seventh flexible cable 37, and the eighth flexible cable 38 are respectively integrated in the upper frame 11. The flexible cable drive device corresponding to the ninth flexible cable 39 is integrated in the first column 13. The flexible cable drive devices corresponding to the tenth flexible cable 310 and the eleventh flexible cable 311 are integrated in the third column 15.

[0041] Even further, asFigure 7 As shown, a fixed pulley reversing device 5 and a movable pulley reversing device 6 are also provided between the winding drum 42 and the data glove 2. As Figure 8 、 Figure 9 shown, the fixed pulley reversing device 5 includes a first pulley 51 and a second pulley 52. The first pulley 51 and the second pulley 52 are fixed on a fixed pulley support plate 53, and the fixed axis of the first pulley 51 is parallel to the winding drum axis, and the fixed axis of the second pulley 52 is perpendicular to the fixed axis of the first pulley 51. The raceway center lines of the first pulley 51 and the second pulley 52 have a common tangent in the vertical direction, which can ensure the continuity of the flexible cable reversing process.

[0042] As Figure 10 、 Figure 11 shown, the movable pulley reversing device 6 includes a third pulley 61, a fourth pulley 62 and a flexible cable universal rotating device. As Figure 12 、 Figure 13 、 Figure 14 shown, the flexible cable universal rotating device includes a steering ball 63, a sixth pulley 66 arranged in the steering ball 63, a ball seat 64 and a fifth pulley 65 arranged in the ball seat 64, wherein: the steering ball 63 and the ball seat 64 form a spherical lower pair mechanism, the steering ball 63 is equivalent to a spherical lower pair moving part, and the ball seat 64 is equivalent to a spherical lower pair fixed part. The third pulley 61, the fourth pulley 62 and the ball seat 64 are fixed on a movable pulley support plate 67. The fixed axes of the third pulley 61 and the fourth pulley 62 are both parallel to the second pulley 52. The raceway center lines of the fourth pulley 62 and the fifth pulley 65 have a common tangent in the horizontal direction, which can ensure the continuity of the flexible cable turning process. A flexible cable inlet hole 641 is provided on the ball seat 64, and a flexible cable outlet hole 631 is provided on the steering ball 63. The steering ball 63 in the flexible cable universal rotating device can be rotated to any desired position so that the flexible cable outlet hole 631 and the flexible cable always remain concentric, making the movement of the flexible cable smoother, having a larger working space, and having no singular points.

[0043] In this embodiment, both the steering ball 63 and the ball seat 64 are hollow structures. The fixed axis of the fifth pulley 65 is fixedly connected to the inner surface of the ball seat 64. The two ends of the fixed axis of the sixth pulley 66 are respectively slidably connected to the arc-shaped grooves 632 symmetrically arranged on the inner surface of the steering ball 63. The arc-shaped grooves 632 are semi-circular, and the radius of the arc-shaped grooves 632 coincides with the radius of the sixth pulley 66. That is, the fixed axis of the sixth pulley 66 can move within the trajectory defined by the arc-shaped grooves 632 to ensure that no matter how the steering ball 63 rotates, the flexible cable routing between the fifth pulley 65 and the sixth pulley 66 is always in the vertical direction. Therefore, only one cable inlet groove 633 is needed for the inlet of the steering ball 63.

[0044] In this embodiment, the bottom surface of the steering ball 63 is a flat and open shape. Along the spherical surface upward from the bottom surface of the steering ball 63, wire grooves 633 matching with the flexible cable are symmetrically arranged. The width of the wire groove 633 is slightly larger than the diameter of the flexible cable. The center line of the wire groove 633 and the center line of the raceway of the fifth pulley 65 are located in the same vertical plane and perpendicular to the axle of the sixth pulley 66. In this way, no matter how the steering ball 63 rotates, the flexible cable will not touch the wire groove 633, that is, there is no interference between the two.

[0045] In this embodiment, the main body of the flexible cable universal transmission device is composed of a steering ball 63, a ball seat 64, a fifth pulley 65, and a sixth pulley 66. The fifth pulley 65 is a fixed pulley, and the sixth pulley 66 is a movable pulley. The two ends of the fixed shaft of the sixth pulley 66 are respectively slidably connected to the arc-shaped grooves 632 symmetrically arranged on the inner surface of the steering ball 63 in the spherical surface lower pair. Since the flexible cables at both ends of the sixth pulley 66 are always in a taut state, the central axis of the sixth pulley 66 is always in the horizontal plane, that is, parallel to the bottom surface of the ball seat 64. At the same time, the arc-shaped groove 632 is semi-circular, and the radius of the arc-shaped groove 632 coincides with the radius of the sixth pulley 66. Thus, no matter how the flexible cable emerging from the flexible cable outlet hole 631 moves, the section of the flexible cable between the fifth pulley 65 and the sixth pulley 66 is always vertical, that is, perpendicular to the bottom surface of the ball seat.

[0046] During the movement of the data glove 2, each flexible cable connected to the data glove 2 will be stretched or contracted under the coordinated action of the data glove 2 and the return spring in the winding drum 42, but is always in a taut state. When the data glove 2 rotates in one direction during the movement, due to the fact that the center line of the fixed shaft of the sixth pulley 66 is always in the horizontal plane, that is, parallel to the bottom surface of the ball seat 64, and the section of the flexible cable between the fifth pulley 65 and the sixth pulley 66 is always vertical, that is, perpendicular to the bottom surface of the ball seat 64, the section of the flexible cable between the fifth pulley 65 and the sixth pulley 66 is always in the wire groove 633 of the steering ball 63 and will not interfere with the steering ball 63, thus ensuring the smoothness of the steering process.

[0047] Furthermore, in the present invention, the routing directions of all the flexible cables are the same, which are: one end of the flexible cable is fixed to the winding drum 42, and the other end of the flexible cable sequentially winds around the first pulley 51, the second pulley 52, the third pulley 61, the fourth pulley 62, then enters the ball seat 64 through the flexible cable inlet hole 641, and sequentially winds around the fifth pulley 65 and the sixth pulley 66 and then passes through the flexible cable outlet hole 631, and then is connected to the corresponding connection points on the data glove 2. The specific routing directions of each flexible cable are as follows:

[0048] The first flexible cable: winding drum → first pulley → second pulley → third pulley → fourth pulley → flexible cable inlet hole → fifth pulley → sixth pulley → flexible cable outlet hole → lower end of the support handle.

[0049] The second flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the lower connecting ball.

[0050] The third flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the lower connecting ball.

[0051] The fourth flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the lower end of the supporting handle.

[0052] The fifth flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the upper end of the supporting handle.

[0053] The sixth flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the upper connecting ball.

[0054] The seventh flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the upper connecting ball.

[0055] The eighth flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the upper end of the supporting handle.

[0056] The ninth flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the thumb finger sleeve.

[0057] The tenth flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the index finger sleeve.

[0058] The eleventh flexible cable: drum → the first pulley → the second pulley → the third pulley → the fourth pulley → the flexible cable inlet hole → the fifth pulley → the sixth pulley → the flexible cable outlet hole → the finger sleeve set.

[0059] The working principle and process of the present invention are as follows:

[0060] During operation, two identical robots are used. One group is the master robot, which is placed in a safe area for remote control, and the other group is the slave robot, which is placed in the working area for actual operation.

[0061] 1. When the data glove of the master robot is used as the input end, since each servo motor is equipped with an encoder, the position and posture of the hand can be fed back to the encoder of the servo motor through the flexible cables connected to the servo motor and the data glove to form a data stream, that is, the master robot generates data on the position and posture of the hand. The slave robot connected to the master robot can reconstruct the actions of the master robot. At the same time, since the slave robot may encounter obstacles that the master robot has not encountered while reconstructing the actions of the master robot, and each servo motor has a braking function, the master robot can obtain the feedback from the slave robot. At the same time, when the action fed back from the slave robot end to the master robot end is too large, the system determines it as a dangerous operation and can cut off the connection with the slave robot, thus playing a role in protecting the safety of the operator.

[0062] 1. When the data glove of the master robot inputs a hand clenching action, the thumb finger sleeve, the index finger sleeve, and the finger sleeve group perform inward contraction. At this time, the support handle remains stationary. The second and third flexible cables contract to drive the lower connecting ball downward, and the sixth and seventh flexible cables contract to drive the upper connecting ball upward. The ninth flexible cable connected to the thumb finger sleeve, the tenth flexible cable connected to the index finger sleeve, and the eleventh flexible cable connected to the finger sleeve group are all stretched. The expansion and contraction and stretching of the above-mentioned flexible cables will be transmitted to the corresponding servo motors through the corresponding drums, causing the servo motors to move. At the same time, the encoders of the servo motors record the positions. During this process, the servo motors corresponding to the first, fourth, fifth, and eighth flexible cables remain stationary.

[0063] 2. When the data glove of the master robot inputs a hand stretching action, the thumb finger sleeve, the index finger sleeve, and the finger sleeve group perform outward stretching. At this time, the support handle remains stationary. The second and third flexible cables are stretched to drive the lower connecting ball upward, and the sixth and seventh flexible cables are stretched to drive the upper connecting ball downward. The ninth flexible cable connected to the thumb finger sleeve, the tenth flexible cable connected to the index finger sleeve, and the eleventh flexible cable connected to the finger sleeve group all contract. The expansion and contraction and stretching of the above-mentioned flexible cables will be transmitted to the corresponding servo motors through the corresponding drums, causing the servo motors to move. At the same time, the encoders of the servo motors record the positions. During this process, the servo motors corresponding to the first, fourth, fifth, and eighth flexible cables remain stationary.

[0064] 3. When the data glove of the master robot inputs a slight upward movement of the hand, the upper connecting ball, the lower connecting ball and the supporting handle move upward. At this time, the first flexible cable and the fourth flexible cable connected to the lower end of the supporting handle are stretched, the second flexible cable and the third flexible cable connected to the lower connecting ball are stretched, the sixth flexible cable and the seventh flexible cable connected to the upper connecting ball contract, the fifth flexible cable and the eighth flexible cable connected to the upper end of the supporting handle contract, the ninth flexible cable connected to the thumb finger sleeve contracts, the tenth flexible cable connected to the index finger finger sleeve and the eleventh flexible cable connected to the finger sleeve group are stretched. The expansion and contraction and stretching of the above flexible cables will be transmitted to the corresponding servo motors through the corresponding drums, causing the servo motors to move. At the same time, the encoders of the servo motors record the positions.

[0065] 4. When the data glove of the master robot inputs a slight downward movement of the hand, the upper connecting ball, the lower connecting ball and the supporting handle move downward. At this time, the first flexible cable and the fourth flexible cable connected to the lower end of the supporting handle contract, the second flexible cable and the third flexible cable connected to the lower connecting ball contract, the sixth flexible cable and the seventh flexible cable connected to the upper connecting ball are stretched, the fifth flexible cable and the eighth flexible cable connected to the upper end of the supporting handle are stretched, the ninth flexible cable connected to the thumb finger sleeve and the tenth flexible cable connected to the index finger finger sleeve are stretched, the eleventh flexible cable connected to the finger sleeve group contracts. The expansion and contraction and stretching of the above flexible cables will be transmitted to the corresponding servo motors through the corresponding drums, causing the servo motors to move. At the same time, the encoders of the servo motors record the positions.

[0066] 5. When the data glove of the master robot inputs a clockwise rotation movement of the hand, the first flexible cable and the fourth flexible cable connected to the lower end of the supporting handle and the second flexible cable and the third flexible cable connected to the lower connecting ball are stretched, the sixth flexible cable and the seventh flexible cable connected to the upper connecting ball and the fifth flexible cable and the eighth flexible cable connected to the upper end of the supporting handle are stretched, the ninth flexible cable connected to the thumb finger sleeve will first contract. If the clockwise rotation angle continues to increase, then the ninth flexible cable will be stretched, the tenth flexible cable connected to the index finger finger sleeve and the eleventh flexible cable connected to the finger sleeve group are stretched. The expansion and contraction and stretching of the above flexible cables will be transmitted to the corresponding servo motors through the corresponding drums, causing the servo motors to move. At the same time, the encoders of the servo motors record the positions.

[0067] 6. When the data glove of the master robot inputs a counterclockwise rotation action of the hand, the first and fourth flexible cables connected to the lower end of the support handle, and the second and third flexible cables connected to the lower connecting ball are all stretched. The sixth and seventh flexible cables connected to the upper connecting ball, and the fifth and eighth flexible cables connected to the upper end of the support handle are all stretched. The ninth flexible cable connected to the thumb finger sheath is always stretched. The tenth flexible cable connected to the index finger sheath and the eleventh flexible cable connected to the finger sheath group are all stretched. The telescoping and stretching of each of the above flexible cables will be transmitted to the corresponding servo motor through the corresponding reel, causing the servo motor to move. At the same time, the encoder of the servo motor records the position.

[0068] The various input actions of the data glove of the above-mentioned master robot can be carried out synchronously. Since the size of the data glove is known, the position and posture of the data glove can be uniquely determined by the positions recorded by each encoder, thus ensuring the accuracy of the movement process of the slave robot.

[0069] Second, when the data glove of the master robot is used in a rehabilitation device, each servo motor is controlled by a controller to independently complete an action to adjust the position and posture of the corresponding flexible cable, so as to achieve the function of hand rehabilitation training. At this time, the data glove of the master robot is connected to the hand of the rehabilitation therapist, and the data glove of the slave robot is connected to the hand of the rehabilitation patient. The rehabilitation therapist actively inputs the hand rehabilitation training action, and the rehabilitation patient completes the hand rehabilitation training with the assistance of the data glove of the slave robot, so as to achieve the purpose of hand rehabilitation training.

[0070] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solution of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A master robot for hand motion capture, characterized in that: It includes a frame body (1) and a data glove (2) suspended in the frame body (1) by flexible cables; The data glove (2) includes a support handle (21), a thumb finger sleeve (22), an index finger sleeve (23), and a finger sleeve group (24). The finger sleeve group (24) is an integral structure formed by connecting a middle finger sleeve, a ring finger sleeve, and a little finger sleeve. The upper end of the support handle (21) is respectively connected to the thumb finger sleeve (22), the index finger sleeve (23), and an upper connecting ball (25) through flexible ropes. The upper connecting ball (25) is respectively connected to the thumb finger sleeve (22) and the index finger sleeve (23) through flexible ropes. The index finger sleeve (23) is connected to the finger sleeve group (24) through a flexible rope. The lower end of the support handle (21) is respectively connected to the thumb finger sleeve (22), the finger sleeve group (24), and a lower connecting ball (26) through flexible ropes. The lower connecting ball (26) is respectively connected to the thumb finger sleeve (22) and the finger sleeve group (24) through flexible ropes; The flexible cables include a first flexible cable (31) and a fourth flexible cable (34) connected to the lower end of the support handle (21), a second flexible cable (32) and a third flexible cable (33) connected to the lower connecting ball (26), a fifth flexible cable (35) and an eighth flexible cable (38) connected to the upper end of the support handle (21), a sixth flexible cable (36) and a seventh flexible cable (37) connected to the upper connecting ball (25), a ninth flexible cable (39) connected to the thumb finger sleeve (22), a tenth flexible cable (310) connected to the index finger sleeve (23), and an eleventh flexible cable (311) connected to the finger sleeve group (24). Each of the above flexible cables is respectively connected to a reel (42) in a corresponding flexible cable driving device; The described flexible cable drive device includes a servo motor (41) and a winding drum (42) connected to the servo motor (41). A fixed pulley reversing device (5) and a movable pulley reversing device (6) are further provided between the winding drum (42) and the data glove (2). The fixed pulley reversing device (5) includes a first pulley (51) and a second pulley (52). The movable pulley reversing device (6) includes a third pulley (61), a fourth pulley (62) and a flexible cable universal rotation device. The flexible cable universal rotation device includes a steering ball (63), a sixth pulley (66) arranged inside the steering ball (63), a ball seat (64) and a fifth pulley (65) arranged inside the ball seat (64). The steering ball (63) and the ball seat (64) form a spherical lower pair mechanism. A flexible cable inlet hole (641) is provided on the ball seat (64), and a flexible cable outlet hole (631) is provided on the steering ball (63). One end of the flexible cable is fixed to the winding drum (42), and the other end of the flexible cable sequentially winds around the first pulley (51), the second pulley (52), the third pulley (61), the fourth pulley (62), then enters the ball seat (64) through the flexible cable inlet hole (641), and sequentially winds around the fifth pulley (65), the sixth pulley (66), and then passes through the flexible cable outlet hole (631) and is connected to each connection point on the data glove (2). The flexible cable between the fifth pulley (65) and the sixth pulley (66) is always in the vertical direction.

2. The master robot for hand motion capture according to claim 1, characterized in that: The described first pulley (51) and second pulley (52) are fixed on a fixed pulley support plate (53), and the fixed axis of the first pulley (51) is parallel to the winding drum axis. The fixed axis of the second pulley (52) is perpendicular to the fixed axis of the first pulley (51). The raceway center lines of the first pulley (51) and the second pulley (52) have a common tangent in the vertical direction.

3. The master robot for hand motion capture according to claim 1, characterized in that: The described third pulley (61), fourth pulley (62) and ball seat (64) are fixed on a movable pulley support plate (67). The fixed axes of the third pulley (61) and the fourth pulley (62) are both parallel to the second pulley (52). The raceway center lines of the fourth pulley (62) and the fifth pulley (65) have a common tangent in the horizontal direction.

4. The master robot for hand motion capture according to claim 1, wherein: The described steering ball (63) and ball seat (64) are both of hollow structures. The fixed axis of the fifth pulley (65) is fixedly connected to the inner surface of the ball seat (64). The two ends of the fixed axis of the sixth pulley (66) are respectively slidably connected to arc-shaped grooves (632) symmetrically arranged on the inner surface of the steering ball (63). The arc-shaped grooves (632) are semi-circular, and the radius of the arc-shaped grooves (632) coincides with the radius of the sixth pulley (66).

5. The master robot for hand motion capture according to claim 1 or 4, characterized in that: The bottom surface of the described steering ball (63) is a plane and is open. The bottom surface of the steering ball (63) is symmetrically provided with cable inlet grooves (633) matching the flexible cable along the spherical surface upward. The width of the cable inlet grooves (633) is greater than the diameter of the flexible cable. The center line of the cable inlet grooves (633) and the center line of the raceway of the fifth pulley (65) are located in the same vertical plane and are perpendicular to the axle of the sixth pulley (66).

6. The master robot for hand motion capture according to claim 1, characterized in that: The described frame body (1) is made of aluminum alloy profiles and includes an upper frame body (11) and a lower frame body (12) arranged in parallel. Both the upper frame body (11) and the lower frame body (12) are regular pentagons. The first column (13), the second column (14), and the third column (15) are respectively connected between three consecutive corresponding vertices of the upper frame body (11) and the lower frame body (12). The remaining two corresponding vertices of the upper frame body (11) and the lower frame body (12) are respectively connected to the adjacent columns through obliquely arranged support columns (16).

7. The master robot for hand motion capture according to claim 1, characterized in that: The cable drive devices corresponding to the first cable (31), the second cable (32), the third cable (33), and the fourth cable (34) are respectively integrated in the lower frame body (12). The cable drive devices corresponding to the fifth cable (35), the sixth cable (36), the seventh cable (37), and the eighth cable (38) are respectively integrated in the upper frame body (11). The cable drive device corresponding to the ninth cable (39) is integrated in the first column (13). The cable drive devices corresponding to the tenth cable (310) and the eleventh cable (311) are integrated in the third column (15).

Images