A remote control handle

Abstract

The application provides a remote control handle, which comprises a control circuit board, a force feedback module, a force transmission member and a finger fixing member for fixing fingers, the force feedback module is electrically connected with the control circuit board, the force transmission member is fixedly connected with 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. The remote control handle solves the problem that the existing remote control handle cannot obtain grabbing feedback, thereby causing improper operation.

Description

Technical Field

[0001] This invention relates to the field of motion capture technology, and more particularly to a remote control handle. Background Technology

[0002] Remote control handles are essential tools for controlling robotic arms and dexterous hands mounted on them. The rapid development of service robots, space robots, and special-purpose robots in recent years has placed higher demands on robot control performance. Remote control handles, due to their ease of operation and simple, flexible control, have gradually become a popular method for controlling robot actions. Existing remote control handles allow users to give the robot relevant instructions and execute corresponding operations. However, existing remote control handles can only provide the robot with an execution command without providing feedback to the user. This can easily lead to improper operation and task failure when using the handle to control the robot. For example, when using a handle to manipulate a robot to grab a cup, without good feedback, the robot may "excessively force" the cup, causing it to break. Summary of the Invention

[0003] To address the problem that existing remote control handles cannot obtain grasping feedback, leading to improper operation, this invention provides a remote control handle.

[0004] The present invention provides a remote control handle, including a control circuit board, a force feedback module, a force transmission component, and a finger fixing component for fixing a finger. The force feedback module is electrically connected to the control circuit board; the force transmission component is connected to the output end of the force feedback module; and the finger fixing component is disposed on the side of the force transmission component opposite to the force feedback module.

[0005] Optionally, the finger fixing member includes a strap and two buckles, the two buckles being disposed opposite each other on the two sides of the force transmission member, and the two ends of the strap being connected to the two buckles respectively.

[0006] Optionally, the buckle is provided with a buckle hole, and the two ends of the strap are provided with hooks, which are engaged in the buckle hole.

[0007] Optionally, the strap is an elastic band.

[0008] Optionally, the force transmission component includes a thumb force transmission component and at least one non-thumb force transmission component; the force feedback module includes a thumb force feedback component and at least one non-thumb force feedback component, the output end of the thumb force feedback component is fixedly connected to the thumb force transmission component, and the output end of the non-thumb force feedback component is fixedly connected to the non-thumb force transmission component.

[0009] Optionally, both the thumb force transmission component and the non-thumb force transmission component include a phalanx segment and a fingertip segment, the finger fixing component is disposed on the phalanx segment, the fingertip segment is connected to the phalanx segment, and the fingertip segment bends from one end of the phalanx segment toward the side away from the finger fixing component;

[0010] The non-thumb force transmission component further includes an extension section, which is located at the end of the finger bone segment away from the fingertip segment, and the extension section is parallel to the tangential plane of the finger bone segment. The non-thumb force transmission component is connected to the extension section, and the thumb force feedback component is connected to the finger bone segment of the thumb force transmission component.

[0011] Optionally, the remote control handle further includes a housing, a first receiving cavity is provided inside the housing, the force feedback module is disposed in the first receiving cavity, and the force transmission element is disposed on the outer periphery of the housing and forms a gap with the housing.

[0012] Optionally, the outer casing is cylindrical, and the tangential plane of the outer casing facing the extension is parallel to the extension.

[0013] Optionally, at least two slots are provided on the circumferential surface of the outer casing, and one end of the thumb force transmission component and one end of the non-thumb force transmission component are respectively embedded in the two slots.

[0014] Optionally, the remote control handle further includes a mounting base, the mounting base having a second accommodating cavity, the control circuit board being disposed within the second accommodating cavity, and the second accommodating cavity communicating with the first accommodating cavity.

[0015] Optionally, the remote control handle further includes a power supply assembly, which includes a battery and a battery compartment. The battery compartment is disposed within the first accommodating cavity, and the battery is disposed within the battery compartment. The battery is electrically connected to the force feedback module and the control circuit board, respectively.

[0016] Optionally, the remote control handle further includes an interface for mounting external devices, the interface being disposed on the housing.

[0017] Optionally, the remote control handle further includes a switch button, which is disposed on the housing and electrically connected to the control circuit board.

[0018] In this invention, by incorporating a force feedback module, the remote control handle can provide feedback on the contact sensing of the robot's dexterous hand, thereby improving the user's control over the robot's actions and enhancing the robot's control performance. By connecting a force transmission component to the output of the force feedback module, the fingers fixed to the force transmission component via finger anchors can adjust the grasping force of the robot's dexterous hand according to the force feedback transmitted from the force feedback module. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a remote control handle provided in an embodiment of the present invention;

[0020] Figure 2 This is a structural schematic diagram of a force feedback remote control handle provided in one embodiment of the present invention from another angle;

[0021] Figure 3 This is a schematic diagram of the structure of a force feedback remote control handle (without showing the outer shell) according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the force transmission component of a remote control handle according to an embodiment of the present invention.

[0023] The reference numerals in the accompanying drawings are as follows:

[0024] 1. Control circuit board; 11. First circuit board; 12. Second circuit board;

[0025] 2. Force feedback module; 21. Thumb force feedback component; 22. Non-thumb force feedback component;

[0026] 3. Force transmission component; 31. Thumb force transmission component; 32. Non-thumb force transmission component; 321. Finger bone segment; 322. Finger tip segment; 323. Extension segment;

[0027] 4. Finger fixing component; 41. Buckle; 411. Locking hole;

[0028] 5. Outer shell; 51. First receiving cavity; 52. Card slot;

[0029] 6. Mounting bracket;

[0030] 7. Battery compartment;

[0031] 8. Interface;

[0032] 9. Switch button. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0034] To illustrate the technical solution of the present invention, specific embodiments are described below.

[0035] like Figures 1-4As shown, a remote control handle according to an embodiment of the present invention includes a control circuit board 1, a force feedback module 2, a force transmission component 3, and a finger fixing component 4 for fixing a finger. The force feedback module 2 is electrically connected to the control circuit board 1. The force transmission component 3 is connected to the output terminal of the force feedback module 2. The finger fixing component 4 is disposed on the side of the force transmission component 3 opposite to the force feedback module 2.

[0036] In this embodiment, by setting up a force feedback module 2, the remote control handle can provide feedback on the contact sensing of the robot's dexterous hand, thereby improving the user's control over the robot's actions and enhancing the robot's control performance. By connecting the force transmission component 3 to the output end of the force feedback module 2, the fingers fixed to the force transmission component 3 by the finger fixing component 4 can adjust the grasping force of the robot's dexterous hand according to the force feedback transmitted from the force feedback module 2 to the force transmission component 3.

[0037] Specifically, the remote control works as follows: When the user wears the remote control and gives commands to the robot to grasp or perform other actions, the force sensor on the robot's dexterous hand transmits a signal via Bluetooth to the control circuit board 1 of the remote control. The control circuit board 1 processes the signal transmitted from the dexterous hand. After a series of signal processing steps, the remote control provides a corresponding force feedback signal to the force feedback module 2 based on the signal information. The force feedback module 2 then controls the force transmission component 3 to rotate, providing force feedback to the user. Therefore, the user can adjust the grasping force of the robot's dexterous hand according to the force feedback provided by the force feedback module 2. When the rotation direction of the force transmission component 3 is inconsistent with the actual operating direction of the user's fingers, resistance is generated, indicating that the controlled dexterous hand has grasped the object and is firmly held, making it impossible to press it down further.

[0038] 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 disposed opposite to each other on the two sides 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, the space for finger movement is limited, and by setting the strap, the finger is fixed, which facilitates the wearing of the finger and does not affect the finger's flexibility.

[0039] like Figure 2 As shown, in some embodiments of the present invention, the buckle 41 is provided with a locking hole 411, and the two ends of the strap are provided with hooks (not shown in the figure), which are engaged in the locking hole 411. The locking hole 411 and the hooks facilitate the installation and removal of the strap.

[0040] It should be noted that the strap can be tied to the hook, fixedly connected to the hook, or one end of the strap can be fixedly connected to the hook and the other end can be hooked to another hook.

[0041] like Figure 2 As shown, in some embodiments of the present invention, the 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 cause the finger to adhere tightly to the force transmission member 3, thereby achieving the purpose of locking the finger.

[0042] like Figure 2 As shown, in some embodiments of the present invention, the force transmission component 3 includes a thumb force transmission component 31 and at least one non-thumb force transmission component 32. The force feedback module 2 includes a thumb force feedback component 21 and at least one non-thumb force feedback component 22. The output end of the thumb force feedback component 21 is fixedly connected to the thumb force transmission component 31, and the output end of the non-thumb force feedback component 22 is fixedly connected to the non-thumb force transmission component 32. Specifically, four non-thumb force transmission components 32 and four non-thumb force feedback components 22 are provided to achieve precise force feedback.

[0043] like Figure 2 As shown, in some embodiments of the present invention, both the thumb-transmitting component 31 and the non-thumb-transmitting component 32 include a phalanx segment 321 and a fingertip segment 322. The finger fixing component 4 is disposed on the phalanx segment 321, and the fingertip segment 322 is connected to the phalanx segment 321, with the fingertip segment 322 bending from one end of the phalanx segment 321 toward the side opposite to the finger fixing component 4. Specifically, the fingertip segment 322 and the phalanx segment 321 are integrally formed, conforming to the curvature of the human finger.

[0044] The non-thumb force transmission component 32 further includes an extension section 323, which is located at the end of the phalanx segment 321 away from the fingertip segment 322, and the tangential plane of the extension section 323 is parallel to that of the phalanx segment 321. The non-thumb force transmission component 32 is connected to the extension section 323, and the thumb force feedback component 21 is connected to the phalanx segment 321 of the thumb force transmission component 31. Specifically, the fingertip segment 322, the phalanx segment 321, and the extension section 323 are ergonomically designed, improving user comfort and meeting the needs of people of different ages and hand sizes.

[0045] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, the remote control handle further includes a housing 5, a first receiving cavity 51 is provided inside the housing 5, the force feedback module 2 is disposed in the first receiving cavity 51, and the force transmission member 3 is disposed on the outer periphery of the housing 5 and a gap is formed between it and the housing 5 to facilitate the rotation of the force transmission member 3.

[0046] like Figure 2As shown, in some embodiments of the present invention, the outer shell 5 is cylindrical, and the tangential surface of the outer shell 5 facing the extension segment 323 is parallel to the extension segment 323, so as to avoid interference between the extension segment 323 and the outer shell 5 when the extension segment 323 rotates.

[0047] 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 outer shell 5, and one end of the thumb force transmission member 31 and the non-thumb force transmission member 32 are respectively embedded in the two slots 52.

[0048] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, the remote control handle further includes a mounting base 6, which has a second accommodating cavity (not shown in the figure). The control circuit board 1 is disposed within the second accommodating cavity, and the second accommodating cavity communicates 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 disposed at the junction of the first accommodating cavity 51 and the second accommodating cavity, and the second circuit board 12 is disposed within the second accommodating cavity. The first circuit board 11 and the second circuit board 12 are arranged in parallel. The mounting base 6 can be conical or cylindrical, and different shapes of mounting bases 6 can be matched according to the shapes of the first circuit board 11 and the second circuit board 12.

[0049] like Figure 2 As shown, in some embodiments of the present invention, the remote control handle further includes a power supply assembly, which includes a battery (not shown) and a battery compartment 7. The battery compartment 7 is disposed within the first accommodating cavity 51, and the battery is disposed within the battery compartment 7. 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 within the first accommodating cavity 51 and perpendicular to the first circuit board 11.

[0050] like Figure 1 As shown, in some embodiments of the present invention, the remote control handle further includes an interface 8 for mounting external devices, the interface 8 being disposed on the housing 5. Specifically, the external device can be a sensor or sensing device that can provide relevant sensing information. For example, a gyroscope can provide attitude information of the controlled object, and a camera can also provide attitude information of the controlled object and environmental information.

[0051] 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 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 via a locking / unlocking mechanism.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A remote control handle, characterized in that, The device includes a control circuit board, a force feedback module, a force transmission component, and a finger fixation component for fixing the finger. The force feedback module is electrically connected to the control circuit board. The force transmission component is connected to the output terminal of the force feedback module. The finger fixation component is located on the side of the force transmission component opposite to the force feedback module. The force transmission component includes a thumb force transmission component and at least one non-thumb force transmission component. Both the thumb force transmission component and the non-thumb force transmission component include a phalanx segment and a fingertip segment. The finger fixation component is disposed on the phalanx segment. The fingertip segment is connected to the phalanx segment, and the fingertip segment bends from one end of the phalanx segment toward the side away from the finger fixation component. The non-thumb force transmission component further includes an extension section, which is located at the end of the finger bone segment away from the fingertip segment, and the extension section is parallel to the tangential plane of the finger bone segment. The non-thumb force transmission component is connected to the extension section.

2. The remote control handle according to claim 1, characterized in that, The finger fixing component includes a strap and two buckles. The two buckles are disposed opposite to each other on the two sides of the force transmission component, 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 buckle hole, and the two ends of the strap are provided with hooks, which are engaged in the buckle hole.

4. The remote control handle according to claim 2, characterized in that, The strap is an elastic band.

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

6. The remote control handle according to claim 5, characterized in that, The thumb force feedback device is connected to the finger bone segment of the thumb force transmission device.

7. The remote control handle according to claim 6, characterized in that, The remote control handle also includes a housing, a first receiving cavity is provided inside the housing, the force feedback module is disposed in the first receiving cavity, and the force transmission component is disposed on the outer periphery of the housing, with a gap between it and the housing.

8. The remote control handle according to claim 7, characterized in that, The outer shell is cylindrical, and the tangential plane of the outer 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 slots are provided on the circumferential surface of the outer shell, and one end of the thumb force transmission component and one end of the non-thumb force transmission component are respectively embedded into the two slots.

10. The remote control handle according to claim 7, characterized in that, The remote control handle also includes a mounting base, in which a second accommodating cavity is provided, and the control circuit board is disposed in the second accommodating cavity, which is in communication with the first accommodating cavity.

11. The remote control handle according to claim 7, characterized in that, The remote control also includes a power supply assembly, which includes a battery and a battery compartment. The battery compartment is disposed within the first accommodating cavity, and the battery is disposed within 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 mounting external devices, which is located on the housing.

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

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