Data glove structure for bionic manipulation robots

Abstract

The present invention relates to the technical field of force-operated robots, and in particular to a data glove structure applied to a bionic operating robot, comprising a palm body and finger joints, each of the finger joints being mounted on the corresponding palm body, a finger joint cover being provided at the head of the finger joint, and an adjustment mechanism capable of adjusting the size of the finger cover being provided on the finger joint cover, and the size of the finger joint cover being adjustable by the adjustment mechanism. The data glove structure of the present invention integrates an adjustment mechanism capable of adjusting the size of the finger cover, and the size of the glove fingers can be adjusted by the adjustment mechanism to adapt to different people wearing it, thereby improving the adaptability and versatility of the product.

Description

Technical Field

[0001] The present invention relates to the technical field of force-operated robots, and in particular to a data glove structure applied to bionic operating robots. Background Art

[0002] With the development of science and technology, great progress has been made in the fields of robotics, force feedback technology and data glove technology. Robotics has been widely used in industrial production and other fields, especially in substations where bionic robots are operated. Force feedback technology is a technology that converts the feedback effects generated by computer simulation into real feelings through force, vibration, etc., allowing operators to experience the virtual environment more intuitively. Data glove technology is a device used to obtain hand movement information. Through data gloves, accurate capture and control of hand movements can be achieved.

[0003] Among the existing technologies, there are already some solutions that attempt to combine robotics, force feedback, and data glove technology to achieve a more intelligent and user-friendly operating experience. For example, one solution is to capture the operator's hand movements through data gloves, and then transmit these movement information to the robot so that the robot can perform the corresponding operation. At the same time, the force feedback information generated by the robot during the operation will also be transmitted to the operator through the data gloves, so that the operator can feel the force between the robot and the environment, thereby improving the accuracy and realism of the operation.

[0004] However, there are still some problems with the existing technology in practical applications. First, the existing data glove structure may not be able to adapt to the hand sizes of different people, resulting in discomfort and affecting the operating experience. Second, the existing data gloves may not provide sufficient force feedback, making it impossible for operators to accurately perceive the force between the robot and the environment, affecting the accuracy of the operation. In addition, the existing data gloves may not be able to interact with virtual reality technologies such as AR / VR, reducing the fun and immersion of the operation.

[0005] In view of this, the present invention provides a data glove structure applied to a bionic operating robot. Summary of the invention

[0006] The purpose of the present invention is to provide a data glove structure applied to a bionic operating robot in view of the deficiencies in the prior art.

[0007] In order to solve the above technical problems, the following technical solutions are adopted:

[0008] The data glove structure applied to a bionic operating robot comprises a palm body and finger joints, wherein each finger joint is mounted on the corresponding palm body, a finger joint cover is arranged at the head of the finger joint, and an adjusting mechanism capable of adjusting the size of the finger cover is arranged on the finger joint cover, and the size of the finger joint cover can be adjusted by the adjusting mechanism.

[0009] A further improvement based on the technical solution is that the knuckle cover is a closed-loop knuckle cover or an open-loop knuckle cover.

[0010] The closed-loop knuckle sleeve comprises a drawstring closed-loop knuckle sleeve;

[0011] The open-loop knuckle sleeve comprises an elastic open-loop knuckle sleeve.

[0012] A further improvement based on the technical solution is that the adjustment mechanism is a closed-loop finger sleeve adjustment mechanism with a strap, which includes an elastic strap, an adjustment base and an electric reel, one end of the elastic strap is fixed on the adjustment base of the finger sleeve, and the other end of the elastic strap is connected to a driving member, which drives the elastic strap to move and tighten or expand the elastic strap to adjust the size of the finger sleeve.

[0013] A further improvement based on the technical solution is that the driving member is a micro electric reel.

[0014] A further improvement based on the technical solution is that the adjustment mechanism is an open-type finger sleeve adjustment mechanism, which includes a first open-type finger sleeve, a second open-type finger sleeve, a transmission member and a driving member, wherein the transmission member includes a first transmission member arranged on the first open-type finger sleeve and a second transmission member arranged on the second open-type finger sleeve, the lower end of the first open-type finger sleeve is connected to the first transmission member, the lower end of the second open-type finger sleeve is connected to the second transmission member, an opening is formed between the first open-type finger sleeve and the second open-type finger sleeve, the first transmission member and the second transmission member cooperate with each other, wherein the first transmission member or the second transmission member is connected to the driving member, and when the driving member works, it drives the first transmission member and the second transmission member to rotate, and the first open-type finger sleeve and the second open-type finger sleeve are opened or tightened, thereby adjusting the size of the finger sleeve.

[0015] A further improvement based on the technical solution is that the driving element is a micro motor.

[0016] A further improvement based on the technical solution is that the transmission member includes a gear transmission member, the gear transmission member includes a first transmission gear on the first open finger sleeve and a second transmission gear arranged on the second open finger sleeve, the lower end of the first open finger sleeve is connected to the first transmission gear, the lower end of the second open finger sleeve is connected to the second transmission gear, the first transmission gear and the second transmission gear are meshed, and the first transmission gear or the second transmission gear is connected to a driving member.

[0017] A further improvement based on the technical solution is that a bending sensor is provided on the knuckle cover.

[0018] A further improvement based on the technical solution is that each of the finger joints is provided with a linear servo driver and a pressure sensor for driving the movement of the finger joint.

[0019] A further improvement based on the technical solution is that the knuckle cover includes a flexible material of silicone or polyurethane.

[0020] The above technical solution has the following beneficial effects:

[0021] 1. Strong adaptability: The data glove structure of the present invention integrates an adjustment mechanism that can adjust the size of the finger sleeves. The size of the glove fingers can be adjusted through the adjustment mechanism to adapt to different people, thereby improving the adaptability and versatility of the product. This structure can be worn on the hands like a glove, and can realize hand motion sensing and capture, AR / VR interaction, and each finger can provide 3N of active force and 5N of passive force. The remote operator of the substation can wear the data glove structure. Through remote data communication, the force between the robot manipulator (bionic hand) and the environment is transmitted to the data glove structure, and the operator can feel the real sense of being on the scene and the tactile feedback.

[0022] 2. Accurate force feedback: The data glove structure of the present invention has built-in sensitive pressure sensors and linear servo drivers, which can sense and transmit the force between the robot and the environment in real time, so that the operator can accurately perceive the force between the robot and the environment, thereby improving the accuracy of the operation.

[0023] 3. Strong interactivity: The data glove structure of the present invention can realize interaction with virtual reality technologies such as AR / VR, which increases the fun and immersiveness of the operation and improves the user experience.

[0024] In general, compared with the prior art, the present invention has better adaptability, force feedback accuracy, interactivity and communication stability, and can provide a more intelligent and humanized operating experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the external structure of the closed-loop data glove structure according to Example 1 of the present invention.

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure of the closed-loop data glove structure according to Example 1 of the present invention.

[0028] Figure 3 This is a schematic diagram of the front view of the closed-loop data glove structure according to Example 1 of the present invention.

[0029] Figure 4 This is a schematic diagram of the rear view structure of the closed-loop data glove structure according to Example 1 of the present invention.

[0030] Figure 5 This is a left-side structural schematic diagram of the closed-loop data glove structure of Example 1 of the present invention.

[0031] Figure 6 It is a right-side structural schematic diagram of the closed-loop data glove structure of Example 1 of the present invention.

[0032] Figure 7 Schematic diagram of the top view of the closed-loop data glove structure according to Example 1 of the present invention.

[0033] Figure 8 This is a schematic diagram of the bottom-up structure of the closed-loop data glove structure according to Example 1 of the present invention.

[0034] Fig. 9 This is a schematic diagram of the internal structure of the closed-loop data glove structure according to Example 1 of the present invention.

[0035] Fig.10 This is a schematic diagram of the structure of a finger joint connected to a finger joint sleeve according to embodiment 1 of the present invention.

[0036] Fig.11 This is a schematic diagram of the structure of the knuckle cover according to Example 1 of the present invention.

[0037] Fig.12 This is a schematic diagram of the principle structure of the closed-loop knuckle cover according to Example 1 of the present invention.

[0038] Fig.13 This is a schematic diagram of the three-dimensional structure of the open-loop data glove structure according to Embodiment 2 of the present invention.

[0039] Fig.14 This is a schematic diagram of the internal structure of the open-loop data glove structure according to Example 2 of the present invention.

[0040] Fig.15 This is a schematic structural diagram of a finger joint connected to a finger joint sleeve according to embodiment 2 of the present invention.

[0041] Fig.16 It is a schematic diagram of the three-dimensional structure of the knuckle cover according to embodiment 2 of the present invention.

[0042] Fig.17 It is a schematic side view of the structure of the knuckle cover according to embodiment 2 of the present invention.

[0043] Fig.18 Embodiment 2 of the present invention Fig.17 Schematic diagram of the cross-sectional structure of AA.

[0044] Fig.19 This is a schematic diagram of the principle structure of an open-loop knuckle cover according to Example 2 of the present invention.

[0045] Markings in the figure:

[0046] 1-palm body; 2-finger joints; 3-palm cover; 4-finger joint cover; 5-adjustment mechanism; 6-bending sensor; 7-linear servo drive; 8-pressure sensor.

[0047] 41- Closed-loop knuckle sleeve; 42- Open-loop knuckle sleeve.

[0048] 50-micro motor; 51-elastic band; 52-adjusting base; 53-driving member; 54-electric reel; 55-first opening finger sleeve; 56-second opening finger sleeve; 57-first transmission member; 58-second transmission member; 59-opening. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention. Example 1

[0050] See also Figure 1-12 The data glove structure applied to a bionic operating robot includes a palm body 1 and finger joints 2. Each of the finger joints 2 is installed on the corresponding palm body 1. A palm cover 3 is provided on the palm body 1. A finger joint cover 4 is provided on the head of the finger joint 2. An adjusting mechanism 5 for adjusting the size of the finger cover is provided on the finger joint cover 4. The size of the finger joint cover 4 can be adjusted by the adjusting mechanism 5.

[0051] As a further description of this embodiment, the finger joint cover 4 is a closed-loop finger joint cover 4 , and the closed-loop finger joint cover 4 includes a belt closed-loop finger joint cover 41 .

[0052] As a further explanation of this embodiment, the adjustment mechanism 5 is a band closed-loop finger sleeve adjustment mechanism 5, which includes an elastic band 51, an adjustment base 52 and a driving member 53. One end of the elastic band 51 is fixed on the adjustment base 52 of the finger joint sleeve 4, and the other end of the elastic band 51 is connected to the driving member 53. The elastic band is driven by the driving member 53 to tighten or expand the elastic band 51, thereby adjusting the size of the finger joint sleeve 4. The driving member 53 is a micro electric reel 54, and a bending sensor 6 is provided on the finger joint sleeve 4.

[0053] An adjustment mechanism 5 for adjusting the finger sleeve is provided on each finger. The size of the glove finger can be adjusted through the adjustment mechanism 5, so that different people can wear it conveniently. The adjustment mechanism 5 is a closed-loop finger sleeve adjustment mechanism 5, and the electric finger sleeve adjustment mechanism 5 includes an elastic band 51, an adjustment base 52, an electric reel 54 and a bending sensor. One end of the elastic band 51 is fixed on the adjustment base 52 of the finger joint sleeve 4, and the other end of the elastic band 51 is connected to the electric reel 54. The elastic band 51 is provided with a bending sensor 6. The electric reel 54 drives the elastic band 51 to move, and the elastic band 51 can be tightened or unfolded to adapt to different operators.

[0054] As a further illustration of this embodiment, each of the finger joints 2 is provided with a linear servo driver 7 and a pressure sensor 8 for driving the finger joint 2 to move.

[0055] As a further illustration of this embodiment, the knuckle cover 4 is made of a flexible material such as silicone or polyurethane to ensure the comfort of the wearer.

[0056] Among them, the structure of the robot bionic hand motion control based on force feedback mainly detects the interaction force between the bionic hand and the environment in real time through sensors, converts these force information into electrical signals, and processes these signals through control algorithms to control the movement of the bionic hand.

[0057] As a further illustration of this embodiment, the data glove structure also includes a user storage unit, which is used to store the data information of the operator, so that when used for the second time, the knuckle cover 4 can be switched to the size of the operator's finger more quickly through the adjustment mechanism 5.

[0058] As a further explanation of this embodiment, in order to improve the function of the data glove structure, the data glove structure is connected to a signal transmission unit, which uses Bluetooth 4.0 and RS232 to enable the data glove structure to communicate with the manipulator (bionic hand) of the bionic operation robot. The data glove structure has a built-in sensitive pressure sensor 8. This structure can be worn on the hand like a glove, and can realize hand motion sensing and capture, AR / VR interaction, and each finger can provide 3N of active force and 5N of passive force. The remote operator of the substation can wear the data glove structure. Through remote data communication, the force between the manipulator (bionic hand) of the bionic operation robot and the environment is transmitted to the data glove structure, and the operator can feel the real sense of being on the scene and the tactile feedback.

[0059] Among them, high-sensitivity and high-resolution force sensors are selected to measure and sense the interactive force with the external environment, and the force sensing layout and calibration method are optimized, and the accuracy and stability of force perception are improved through continuous experiments. The data of the force sensor is collected, and the algorithm suitable for the motion control of the bionic hand is studied and designed. The control algorithm can adjust the motion of the bionic hand to achieve the expected interactive effect. Currently, the commonly used force feedback control algorithms include position-based force control, impedance-based force control, etc., to achieve precise and flexible motion control.

[0060] As a further explanation of this embodiment, in order to improve the function of the data glove structure, the data glove structure is connected to a manipulator of a bionic manipulation robot through a signal transmission unit, and the manipulator is provided with a force sensing unit, a control unit and an execution unit.

[0061] Force sensing system: Through the force sensor installed on the manipulator of the bionic manipulation robot, the interaction force between the manipulator of the bionic manipulation robot and the environment is sensed in real time.

[0062] Control system: Based on the received force information, the corresponding control instructions are calculated through the control algorithm to control the movement of the manipulator of the bionic operating robot.

[0063] Execution system: According to the control instructions, it drives the manipulator of the bionic manipulation robot to perform corresponding actions.

[0064] The specific implementation steps of this embodiment are as follows:

[0065] Step 1: The knuckle 2 integrates 5 linear servo drivers 7, which are DC24V, rated power 200W, and maximum speed 3000rpm, and can provide stable power output. The knuckle 2 is also equipped with a sensitive pressure sensor 8, model FSR402, which can accurately sense a pressure change of 0.1N. The knuckle 2 communicates with the manipulator (bionic hand) of the bionic operating robot through Bluetooth 4.0 and RS232 to achieve data transmission.

[0066] Step 2: An adjusting mechanism 5 for adjusting the finger sleeve is provided on each finger of the knuckle sleeve 4. The adjusting mechanism 5 can be adjusted according to the hand size of the wearer to suit different people.

[0067] Step 3: Wear and use the data gloves. The wearer wears the gloves on his hands and adjusts the size of the glove fingers through the adjustment mechanism 5 to ensure that the gloves fit tightly to the hands. Then, the gloves are paired with the manipulator (bionic hand) of the bionic operating robot through Bluetooth 4.0 and RS232 to achieve data transmission. During the operation, the gloves will sense the wearer's hand movements in real time and transmit the data to the manipulator (bionic hand) of the bionic operating robot, so that the manipulator (bionic hand) of the bionic operating robot can accurately perform the corresponding operations. At the same time, the force between the manipulator (bionic hand) of the bionic operating robot and the environment will also be fed back to the data glove structure through data transmission, so that the wearer can feel the real sense of being on the scene and the tactile feedback.

[0068] The above are the specific implementation steps of this embodiment. Through this method, a data glove structure that can adapt to different hand sizes can be realized, thereby improving wearing comfort and operating experience. At the same time, the interaction between data gloves and virtual reality technologies such as AR / VR can also be realized, thereby increasing the fun and immersion of the operation.

[0069] Since this embodiment can be widely used in application fields such as robot operation and virtual reality interaction. First, the data glove structure of the present invention can be adjusted according to the hand size of the operator, which improves the comfort of wearing and the accuracy of operation, and has great advantages for robot operators who need to wear data gloves for a long time to perform fine operations. Secondly, the data gloves of the present invention can provide sufficient force feedback, so that the operator can accurately perceive the force between the robot and the environment, which has important practical value for the operating robots of substations that need to accurately control the force. Finally, the data gloves of the present invention can realize interaction with virtual reality technologies such as AR / VR, which increases the fun and immersion of operation, and has broad market demand for fields such as virtual reality. Example 2

[0070] See also Figure 13-Figure 19 The difference from Example 1 is that the finger joint cover 4 is an open-loop finger joint cover 4 , and the open-loop finger joint cover 4 includes an elastic open-loop finger joint cover 42 .

[0071] As a further explanation of this embodiment, the adjustment mechanism 5 is an open-type finger sleeve adjustment mechanism 5, which includes a first open finger sleeve 55, a second open finger sleeve 56, a transmission member and a driving member 53. The transmission member includes a first transmission member 57 arranged on the first open finger sleeve 55 and a second transmission member 58 arranged on the second open finger sleeve 56. The lower end of the first open finger sleeve 55 is connected to the first transmission member 57, and the lower end of the second open finger sleeve 56 is connected to the second transmission member 58. An opening 59 is formed between the first open finger sleeve 55 and the second open finger sleeve 56. The first transmission member 57 and the second transmission member 58 cooperate with each other, wherein the first transmission member 57 or the second transmission member 58 is connected to the driving member 53. When the driving member 53 works, it drives the first transmission member 57 and the second transmission member 58 to rotate, and the first open finger sleeve 55 and the second open finger sleeve 56 are opened or tightened, thereby adjusting the size of the finger joint sleeve 4.

[0072] As a further description of this embodiment, the driving member 53 is a micro motor 50 .

[0073] As a further explanation of this embodiment, the transmission member includes a gear transmission member, which includes a first transmission gear on the first open finger sleeve 55 and a second transmission gear arranged on the second open finger sleeve 56. The lower end of the first open finger sleeve 55 is connected to the first transmission gear, and the lower end of the second open finger sleeve 56 is connected to the second transmission gear. The first transmission gear and the second transmission gear are meshed with each other, and the first transmission gear or the second transmission gear is connected to a driving member 53.

[0074] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A data glove structure applied to a bionic operating robot, comprising a palm body and finger joints, wherein each finger joint is mounted on a corresponding palm body, and characterized in that: The head of the finger joint is provided with a finger joint cover, and the finger joint cover is provided with an adjustment mechanism capable of adjusting the size of the finger cover, and the size of the finger joint cover can be adjusted by the adjustment mechanism; The knuckle sleeve is a closed-loop knuckle sleeve or an open-loop knuckle sleeve. The closed-loop knuckle sleeve comprises a drawstring closed-loop knuckle sleeve; The open-loop knuckle sleeve comprises an elastic open-loop knuckle sleeve; Each of the finger joints is provided with a linear servo driver and a pressure sensor for driving the finger joint movement; The adjustment mechanism is a band-type closed-loop finger sleeve adjustment mechanism, which includes an elastic band, an adjustment base, and an electric reel. One end of the elastic band is fixed to the adjustment base of the finger sleeve, and the other end of the elastic band is connected to a driving member. The driving member drives the elastic band to move, tightens or expands the elastic band, and thus adjusts the size of the finger sleeve. The adjustment mechanism is an open-type finger sleeve adjustment mechanism, which includes a first open-type finger sleeve, a second open-type finger sleeve, a transmission member and a driving member, wherein the transmission member includes a first transmission member arranged on the first open-type finger sleeve and a second transmission member arranged on the second open-type finger sleeve, the lower end of the first open-type finger sleeve is connected to the first transmission member, the lower end of the second open-type finger sleeve is connected to the second transmission member, an opening is formed between the first open-type finger sleeve and the second open-type finger sleeve, the first transmission member and the second transmission member cooperate with each other, wherein the first transmission member or the second transmission member is connected to the driving member, and when the driving member works, the first transmission member and the second transmission member are driven to rotate, so as to open or tighten the first open-type finger sleeve and the second open-type finger sleeve, thereby adjusting the size of the finger sleeve; Each finger can provide 3N of active force and 5N of passive force; when the remote operator of the substation wears the data glove structure, the force between the robot manipulator and the environment is transmitted to the data glove structure through remote data communication, and the operator feels the real sense of being on the scene and the tactile feedback.

2. The data glove structure for bionic operating robots according to claim 1 is characterized in that: The driving element of the belt closed-loop finger sleeve adjustment mechanism is a micro electric reel.

3. The data glove structure for bionic operating robots according to claim 1 is characterized in that: The driving element of the open-type finger sleeve adjustment mechanism is a micro motor.

4. The data glove structure for bionic operating robots according to claim 1 is characterized in that: The transmission member includes a gear transmission member, which includes a first transmission gear on the first open finger sleeve and a second transmission gear arranged on the second open finger sleeve, the lower end of the first open finger sleeve is connected to the first transmission gear, the lower end of the second open finger sleeve is connected to the second transmission gear, the first transmission gear and the second transmission gear are meshed, and the first transmission gear or the second transmission gear is connected to a driving member.

5. The data glove structure applied to a bionic operating robot according to any one of claims 1 to 4, characterized in that: The knuckle cover is provided with a bending sensor.

6. The data glove structure applied to a bionic operating robot according to any one of claims 1 to 4, characterized in that: The finger joint cover is made of a flexible material such as silicone or polyurethane.

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