Remote control handle

Abstract

The invention provides a remote control handle which comprises a control circuit board, a force feedback module, a force transmission piece and a finger fixing piece used for fixing fingers, and the force feedback module is electrically connected with the control circuit board; the force transmission piece is fixedly connected with the output end of the force feedback module; the finger fixing part is arranged on the side, away from the force feedback module, of the force transmission part. The remote control handle solves the problem that an existing remote control handle cannot obtain grabbing feedback, and consequently misoperation is caused.

Description

Technical Field

[0001] The present invention relates to the technical field of motion capture, and in particular to a remote control handle. Background Art

[0002] The remote control handle is an important tool for controlling the robot arm and the dexterous hand installed on the robot arm. In recent years, the rapid development of service robots, space robots, and special operation robots has put forward higher requirements on the control performance of robots. The remote control handle has gradually become a popular way to control the actions of robots because of its easy operation and simple and flexible control. The existing remote control handles can give the robot relevant instructions and perform corresponding operations through the user's operation. However, the existing remote control handle can only give the robot an execution instruction but cannot give the user a feedback, which will cause the user to easily cause improper operation and cause task failure in the process of using the handle to control the robot. For example, when the robot is controlled by the handle to grab a water cup, if there is no good grabbing feedback, it is easy for the robot to "excessively force" and cause the water cup to break. Summary of the invention

[0003] Aiming at the problem that the existing remote control handle cannot obtain grasping feedback, resulting in improper operation, the present invention provides a remote control handle.

[0004] The present invention provides a remote control handle, comprising a control circuit board, a force feedback module, a force transmission member and a finger fixing member for fixing fingers, wherein the force feedback module is electrically connected to the control circuit board; the force transmission member is connected to an output end of the force feedback module; and the finger fixing member is arranged on a side of the force transmission member away from the force feedback module. Optionally, the finger fixing member includes a strap and two buckles, the two buckles are arranged opposite to each other on two side edges of the force transmission member, and two ends of the strap are respectively connected to the two buckles.

[0005] Optionally, a clamping hole is provided on the buckle, and clamping hooks are provided at both ends of the strap, and the clamping hooks are clamped in the clamping hole.

[0006] Optionally, the strap is an elastic band. Optionally, the force transmitting member includes a thumb force transmitting member and at least one non-thumb force transmitting member; the force feedback module includes a thumb force feedback member and at least one non-thumb force feedback member, the output end of the thumb force feedback member is fixedly connected to the thumb force transmitting member, and the output end of the non-thumb force feedback member is fixedly connected to the non-thumb force transmitting member.

[0007] Optionally, the thumb force transmission member and the non-thumb force transmission member both include a phalangeal segment and a fingertip segment, the finger fixing member is disposed on the phalangeal segment, the fingertip segment is connected to the phalangeal segment, and the fingertip segment is bent from one end of the phalangeal segment to a side away from the finger fixing member; The non-thumb force transmission member also includes an extension section, which is arranged at one end of the phalangeal segment away from the fingertip segment, and the extension section is parallel to the tangent surface of the phalangeal segment. The non-thumb force transmission member is connected to the extension section, and the thumb force feedback member is connected to the phalangeal segment of the thumb force transmission member.

[0008] Optionally, the remote control handle further includes a shell, a first accommodating cavity is arranged in the shell, the force feedback module is arranged in the first accommodating cavity, and the force transmission member is arranged on the outer periphery of the shell and a gap is formed between the force transmission member and the shell.

[0009] Optionally, the outer shell is cylindrical, and a tangent surface of the outer shell facing the extension section is parallel to the extension section. Optionally, at least two card slots are arranged on the circumferential surface of the housing, and one end of the thumb force transmitting member and the non-thumb force transmitting member are respectively embedded in the two card slots.

[0010] Optionally, the remote control handle further includes a mounting seat, a second accommodating cavity is disposed in the mounting seat, the control circuit board is disposed in the second accommodating cavity, and the second accommodating cavity is communicated with the first accommodating cavity.

[0011] Optionally, the remote control handle also includes a power supply assembly, the power supply assembly includes a battery and a battery compartment, the battery compartment is arranged in the first accommodating cavity, the battery is arranged in the battery compartment, and the battery is electrically connected to the force feedback module and the control circuit board respectively.

[0012] Optionally, the remote control handle further includes an interface for clamping an external device, and the interface is arranged on the housing.

[0013] Optionally, the remote control handle further includes a switch button, wherein the switch button is disposed on the housing and is electrically connected to the control circuit board.

[0014] In the present invention, by setting a force feedback module, the remote control handle can feedback the contact induction of the robot's dexterous hand, thereby improving the user's control over the robot's behavior and action, and improving the robot's control performance. By setting the force transmission member to be connected to the output end of the force feedback module, the finger fixed to the force transmission member through the finger fixing member can adjust the grasping force of the robot's dexterous hand accordingly according to the force feedback transmitted to the force transmission member by the force feedback module. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic structural diagram of a remote control handle provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of a force feedback remote control handle provided by an embodiment of the present invention from another angle; Figure 3 It is a structural schematic diagram of a force feedback remote control handle provided by an embodiment of the present invention without displaying the outer shell; Figure 4 It is a schematic structural diagram of a force transmission member of a remote control handle provided in one embodiment of the present invention.

[0015] The reference numerals in the drawings of the specification are as follows: 1. Control circuit board; 11. First circuit board; 12. Second circuit board; 2. Force feedback module; 21. Thumb force feedback component; 22. Non-thumb force feedback component; 3. Force transmission part; 31. Thumb force transmission part; 32. Non-thumb force transmission part; 321. Phalangeal segment; 322. Fingertip segment; 323. Extension segment; 4. Finger fixing piece; 41. Buckle; 411. Clamp hole; 5. housing; 51. first accommodating cavity; 52. card slot; 6. Mounting seat; 7. Battery compartment; 8. Interface; 9. Switch button. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. 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 present invention.

[0017] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0018] like Figure 1-Figure 4 As shown, a remote control handle according to an embodiment of the present invention comprises a control circuit board 1, a force feedback module 2, a force transmission member 3 and a finger fixing member 4 for fixing a finger, wherein the force feedback module 2 is electrically connected to the control circuit board 1. The force transmission member 3 is connected to an output end of the force feedback module 2. The finger fixing member 4 is arranged on a side of the force transmission member 3 away from the force feedback module 2. In this embodiment, by setting the force feedback module 2, the remote control handle can feedback the contact induction of the robot's dexterous hand, thereby improving the user's control over the robot's behavior and action, and improving the robot's control performance. By setting the force transmission member 3 to be connected to the output end of the force feedback module 2, the finger fixed to the force transmission member 3 through the finger fixing member 4 can adjust the grasping force of the robot's dexterous hand according to the force feedback transmitted to the force transmission member 3 by the force feedback module 2.

[0019] Specifically, the working principle of the remote control handle is as follows: when the user wears the remote control handle and gives the robot a command to grab or other actions, the force sensor on the robot's dexterous hand will transmit the signal to the control circuit board 1 of the remote control handle via Bluetooth. The control circuit board 1 processes the signal transmitted from the dexterous hand. After a series of signal processing, the remote control handle provides a corresponding force feedback signal to the force feedback module 2 based on the information of the signal. The force feedback module 2 gives force feedback to the user by controlling the rotation of the force transmission member 3. Therefore, the user can adjust the grasping force of the robot's dexterous hand according to the force feedback given by the force feedback module 2. When the rotation direction of the force transmission member 3 is inconsistent with the actual operation direction of the human finger, it manifests as resistance, which means that the controlled dexterous hand grasps the object, and the object is held firmly and cannot be pressed any further. like Figure 2 As shown, in some embodiments of the present invention, the finger fixing member 4 includes a strap (not shown) and two buckles 41, the two buckles 41 are relatively arranged at the two side edges of the force transmission member 3, and the two ends of the strap are respectively connected to the two buckles 41. By setting the buckles 41 to limit the space for finger movement, and by setting the strap to fix the finger, it is convenient to wear the finger without affecting the flexibility of the finger. like Figure 2 As shown, in some embodiments of the present invention, the buckle 41 is provided with a clamping hole 411, and hooks (not shown) are provided at both ends of the strap, and the hooks are clamped in the clamping holes 411. The clamping holes 411 and the hooks are provided to facilitate installation and removal of the strap.

[0020] It should be noted here that the binding strap can be tied to the hook, or fixedly connected to the hook, or one end of the binding strap can be fixedly connected to the hook, and the other end can be engaged with another hook.

[0021] like Figure 2 As shown, in some embodiments of the present invention, the binding strap is an elastic band. When a finger passes through the space between the force transmission member 3 and the elastic band, the elastic band will make the finger close to the force transmission member 3, thereby achieving the purpose of clamping the finger.

[0022] like Figure 2As shown, in some embodiments of the present invention, the force transmission member 3 includes a thumb force transmission member 31 and at least one non-thumb force transmission member 32. The force feedback module 2 includes a thumb force feedback member 21 and at least one non-thumb force feedback member 22, the output end of the thumb force feedback member 21 is fixedly connected to the thumb force transmission member 31, and the output end of the non-thumb force feedback member 22 is fixedly connected to the non-thumb force transmission member 32. Specifically, four non-thumb force transmission members 32 and four non-thumb force feedback members 22 are provided to achieve fine force feedback. like Figure 2 As shown, in some embodiments of the present invention, the thumb force transmission member 31 and the non-thumb force transmission member 32 both include a phalangeal segment 321 and a fingertip segment 322, the finger fixing member 4 is disposed on the phalangeal segment 321, the fingertip segment 322 is connected to the phalangeal segment 321, and the fingertip segment 322 is bent from one end of the phalangeal segment 321 to a side away from the finger fixing member 4. Specifically, the fingertip segment 322 and the phalangeal segment 321 are integrally disposed, conforming to the curvature of the human finger. The non-thumb force transmission member 32 further includes an extension section 323, which is disposed at one end of the phalangeal segment 321 away from the fingertip segment 322, and the extension section 323 is parallel to the tangent surface of the phalangeal segment 321, the non-thumb force transmission member 32 is connected to the extension section 323, and the thumb force feedback member 21 is connected to the phalangeal segment 321 of the thumb force transmission member 31. Specifically, the fingertip segment 322, the phalangeal segment 321 and the extension section 323 are ergonomic in structure, improve the user's comfort, and meet the use needs of people of different ages and different palm sizes.

[0023] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, the remote control handle also includes a shell 5, a first accommodating cavity 51 is arranged in the shell 5, the force feedback module 2 is arranged in the first accommodating cavity 51, and the force transmission member 3 is arranged on the outer periphery of the shell 5, and a gap is formed between the shell 5 to facilitate the rotation of the force transmission member 3. like Figure 2 As shown, in some embodiments of the present invention, the shell 5 is cylindrical, and the tangent surface of the shell 5 facing the extension section 323 is parallel to the extension section 323 to avoid interference between the extension section 323 and the shell 5 when rotating.

[0024] like Figure 2 As shown, in some embodiments of the present invention, at least two slots 52 are provided on the circumferential surface of the housing 5 , and one end of the thumb force transmitting member 31 and the non-thumb force transmitting member 32 are respectively embedded in the two slots 52 .

[0025] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, the remote control handle further includes a mounting seat 6, a second accommodating cavity (not shown in the figure) is arranged in the mounting seat 6, the control circuit board 1 is arranged in the second accommodating cavity, and the second accommodating cavity is communicated with the first accommodating cavity 51. Specifically, the control circuit board 1 includes a first circuit board 11 and a second circuit board 12, the first circuit board 11 is arranged at the junction of the first accommodating cavity 51 and the second accommodating cavity, the second circuit board 12 is arranged in the second accommodating cavity, and the first circuit board 11 and the second circuit board 12 are arranged in parallel. The mounting seat 6 can be conical or cylindrical, and the mounting seats 6 of different shapes are matched according to the shapes of the first circuit board 11 and the second circuit board 12. like Figure 2 As shown, in some embodiments of the present invention, the remote control handle further includes a power supply assembly, the power supply assembly includes a battery (not shown) and a battery compartment 7, the battery compartment 7 is disposed in the first accommodation cavity 51, the battery is disposed in the battery compartment 7, and the battery is electrically connected to the force feedback module 2 and the control circuit board 1 respectively. Specifically, the battery compartment 7 is vertically disposed in the first accommodation cavity 51 and is perpendicular to the first circuit board 11.

[0026] like Figure 1 As shown, in some embodiments of the present invention, the remote control handle further includes an interface 8 for clamping an external device, and the interface 8 is provided on the housing 5. Specifically, the external device may be a sensor or a sensing device, which may provide relevant perception information, for example, a gyroscope may provide posture information to the controlled object, and a camera may also provide posture information and environmental information to the controlled object.

[0027] like Figure 1 As shown, in some embodiments of the present invention, the remote control handle further includes a switch button 9, which is disposed on the housing 5 and is electrically connected to the control circuit board 1 and the battery, respectively. Specifically, the switch button 9 is perpendicular to the tangential surface of the housing 5 and controls the opening of the remote control handle by means of a card-closing button.

[0028] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A remote control handle, characterized in that: It includes a control circuit board, a force feedback module, a force transmission member and a finger fixing member for fixing a finger, wherein the force feedback module is electrically connected to the control circuit board; the force transmission member is connected to the output end of the force feedback module; and the finger fixing member is arranged on a side of the force transmission member away from the force feedback module.

2. The remote control handle according to claim 1, characterized in that: The finger fixing member includes a strap and two buckles. The two buckles are arranged on the two side edges of the force transmission member opposite to each other, and the two ends of the strap are respectively connected to the two buckles.

3. The remote control handle according to claim 2, characterized in that: The buckle is provided with a clamping hole, and both ends of the strap are provided with clamping hooks, and the clamping hooks are clamped in the clamping hole.

4. The remote control handle according to claim 2, characterized in that: The binding belt is an elastic belt.

5. The remote control handle according to claim 1, characterized in that: The force transmission member includes a thumb force transmission member and at least one non-thumb force transmission member; the force feedback module includes a thumb force feedback member and at least one non-thumb force feedback member, the output end of the thumb force feedback member is fixedly connected to the thumb force transmission member, and the output end of the non-thumb force feedback member is fixedly connected to the non-thumb force transmission member.

6. The remote control handle according to claim 5, characterized in that: The thumb force transmission member and the non-thumb force transmission member both include a phalangeal segment and a fingertip segment, the finger fixing member is arranged on the phalangeal segment, the fingertip segment is connected to the phalangeal segment, and the fingertip segment is bent from one end of the phalangeal segment to a side away from the finger fixing member; The non-thumb force transmission member also includes an extension section, which is arranged at one end of the phalangeal segment away from the fingertip segment, and the extension section is parallel to the tangent surface of the phalangeal segment. The non-thumb force transmission member is connected to the extension section, and the thumb force feedback member is connected to the phalangeal segment of the thumb force transmission member.

7. The remote control handle according to claim 6, characterized in that: The remote control handle also includes a shell, a first accommodating cavity is arranged in the shell, the force feedback module is arranged in the first accommodating cavity, and the force transmission member is arranged on the outer periphery of the shell and a gap is formed between the force transmission member and the shell.

8. The remote control handle according to claim 7, characterized in that: The shell is cylindrical, and a tangent surface of the shell facing the extension section is parallel to the extension section.

9. The remote control handle according to claim 7, characterized in that: At least two card slots are arranged on the peripheral surface of the housing, and one end of the thumb force transmitting member and the non-thumb force transmitting member are respectively embedded in the two card slots.

10. The remote control handle according to claim 7, characterized in that: The remote control handle also includes a mounting seat, a second accommodating cavity is arranged in the mounting seat, the control circuit board is arranged in the second accommodating cavity, and the second accommodating cavity is communicated with the first accommodating cavity.

11. The remote control handle according to claim 7, characterized in that: The remote control handle also includes a power supply component, which includes a battery and a battery compartment. The battery compartment is arranged in the first accommodating cavity, and the battery is arranged in the battery compartment. The battery is electrically connected to the force feedback module and the control circuit board respectively.

12. The remote control handle according to claim 7, characterized in that: The remote control handle also includes an interface for clamping external equipment, and the interface is arranged on the shell.

13. The remote control handle according to claim 7, characterized in that: The remote control handle also includes a switch button, which is arranged on the housing and is electrically connected to the control circuit board.

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