Detection device and wearable equipment

Abstract

The invention provides a detection device and wearable equipment. The detection device comprises a root connecting rod, a driving bevel gear, a driven bevel gear, a first driven bevel gear and a second driven bevel gear, the root connecting rod is provided with a first rotating axis and a second rotating axis; the first driven bevel gear is meshed with the driving bevel gear and the follow-up bevel gear respectively; the second driven bevel gear is meshed with the driving bevel gear and the follow-up bevel gear, and the rotating axis of the second driven bevel gear is a first rotating axis; the first driven bevel gear and the second driven bevel gear are located on the two sides of the root connecting rod respectively. The rotation of the first driven bevel gear is detected through the first detection element, the rotation of the second driven bevel gear is detected through the second detection element, and the rotation of the first driven bevel gear is detected through the data detected by the first detection element and the second detection element. And obtaining a rotation angle of the root connecting rod around the first rotation axis and / or a rotation angle of the root connecting rod around the second rotation axis.

Description

Technical Field

[0001] The present invention relates to a detection device and a wearable device, belonging to the technical field of robots. Background Art

[0002] The force feedback gloves can detect the bending and lateral swing angles of each of the user's fingers. Using the above real-time finger angle data, the angles of the hand and knuckles can be reproduced in real and virtual world application scenarios.

[0003] For example, the real-time finger angle data detected by the force feedback glove can be used to remotely operate a real external robotic dexterous hand and reproduce the angle state of the user's hand finger joints in real time; and can also reproduce the angle state of the user's hand finger joints in real time in virtual reality.

[0004] In addition, when the VR positioning device is fixedly connected to the glove to obtain additional hand spatial posture data, a relatively complete user hand state can be simulated and reproduced in real time in the virtual reality world to achieve interaction with objects in the virtual world; wherein, the user hand state may include the spatial posture of the hand and the angle state of each finger joint of the hand.

[0005] In some force feedback gloves in the prior art, tendons are generally used to detect the bending angle of each finger and transmit the force feedback of grasping. One end of the tendon is fixed and wrapped around the rotating part of the spool for multiple turns, and the other end is passed through a guide ring arranged at the back of the hand and the finger joints, and finally bound to the upper part of the distal knuckle of the glove. The bending action of the finger will drive the stretching and contraction of the tendon, which will cause the rotation of the spool. The rotation angle of the spool is detected by a potentiometer or a rotary encoder arranged coaxially with the spool, and the bending angle state of the hand can be determined. By limiting the rotational movement of the above-mentioned spool by the steering wheel of the servo, the effect of stopping the stretching of the tendon can be produced, thereby limiting the movement of the hand in the grasping direction to simulate the force effect of grasping. A coil spring is arranged between the rotating part and the fixed part of the spool, so that the tendon also has a certain contraction preload in the initial state when the finger is not bent.

[0006] This type of force feedback gloves has the following disadvantages: (1) Adding side swing angle detection will greatly increase the complexity of the system: the existing technical solution has the ability to detect the bending angle of each finger, but when adding side swing angle detection according to project requirements, the system complexity and module size will increase to a certain extent, which will make the layout design in the cramped space of the back of the hand difficult. After adding a side swing shaft to the glove module, if the side swing detection in the design scheme uses the original bending detection tendon rope, it will not be possible to decouple the bending movement from the side swing movement, and the side swing angle will be difficult to detect accurately. For example, when the actual finger is side swinging, the change in the tendon rope length may cause the bobbin to contract or relax during bending, or it may cause the side swing shaft to rotate as intended by the design (so that a potentiometer or rotary encoder coaxially arranged with the side swing shaft can be used for angle detection). However, this uncertain state will make the side swing angle detection ineffective.

[0007] If the design adds an additional decoupled tendon or mechanism to detect the side-swing motion, it will increase the complexity of the system, and it will be difficult to perform a good layout design when the layout space on the back of the hand is limited.

[0008] (2) In the prior art, a coil spring is arranged in the bobbin structure. The purchased coil spring with a smaller preload force is larger in size, which will result in a larger module size.

[0009] (3) The tendon ropes in the prior art lack steering guidance. During the bending and relaxation of the fingers, the friction between the tendon ropes and the surrounding components will reduce their service life, and there is a risk of the tendon ropes breaking. Adding a pulley block to guide the tendon ropes will increase the size and complexity of the module.

[0010] (4) The gloves are flexible as a whole, and the pre-tensioning of the tendon rope is in different states when being worn and taken off; in order to ensure that the tendon rope does not loosen, the complexity and structural size of its guide and limit structure will be further increased. Summary of the invention

[0011] The present disclosure provides a detection device and a wearable device.

[0012] According to one aspect of the present disclosure, there is provided a detection device, comprising: a root connecting rod having a first axis of rotation and a second axis of rotation; A driving bevel gear, wherein the driving bevel gear is arranged on the root connecting rod, and the axis of the driving bevel gear coincides with the second rotation axis; A follower bevel gear, the follower bevel gear is rotatably disposed on the root connecting rod, and the rotation axis of the follower bevel gear coincides with the second rotation axis; a first driven bevel gear, the first driven bevel gear is meshed with the driving bevel gear and the driven bevel gear respectively, and the rotation axis of the first driven bevel gear is the first rotation axis; and a second driven bevel gear, the second driven bevel gear is meshed with the driving bevel gear and the driven bevel gear respectively, and the rotation axis of the second driven bevel gear is the first rotation axis; wherein the first driven bevel gear and the second driven bevel gear are respectively located on both sides of the root connecting rod; The rotation of the first driven bevel gear is detected by a first detection element, the rotation of the second driven bevel gear is detected by a second detection element, and the rotation angle of the root connecting rod around the first rotation axis and / or the rotation angle of the root connecting rod around the second rotation axis are obtained through the data detected by the first detection element and the second detection element.

[0013] According to the detection device of at least one embodiment of the present disclosure, when the root connecting rod rotates around the first rotation axis, the first driven bevel gear and the second driven bevel gear have the same rotation direction; when the root connecting rod rotates around the second rotation axis, the first driven bevel gear and the second driven bevel gear have opposite rotation directions.

[0014] According to the detection device of at least one embodiment of the present disclosure, the first detection element is a rotary encoder, and / or the second detection element is a rotary encoder.

[0015] According to the detection device of at least one embodiment of the present disclosure, a first driving gear is provided on the root connecting rod, and when the root connecting rod rotates along the first rotation axis, the first driving gear is driven to rotate around the first rotation axis; the first driving gear is meshed with the first driven gear; so that the first driven gear can provide damping to the root connecting rod when it rotates around the first rotation axis.

[0016] According to the detection device of at least one embodiment of the present disclosure, the rotation axis of the first driven gear is parallel to the first rotation axis.

[0017] According to the detection device of at least one embodiment of the present disclosure, along the first rotation axis, the first driving gear includes a first end and a second end opposite to the first end, wherein the outer peripheral surface of the teeth of the first driving gear is formed as a spherical surface protruding outward from the first end to the second end.

[0018] According to the detection device of at least one embodiment of the present disclosure, the first rotation axis and the second rotation axis have an intersection point, and the intersection point is formed as the center of the spherical surface of the teeth of the first driving gear.

[0019] According to the detection device of at least one embodiment of the present disclosure, along the first rotation axis, the first driving gear includes a first end and a second end opposite to the first end, wherein the first driving gear is a cylindrical gear, the axis of the cylindrical gear is the first rotation axis, and the first end and the second end of the first driving gear are formed as a rounded structure.

[0020] According to the detection device of at least one embodiment of the present disclosure, the first end and the second end of the first driving gear are both provided with a limiting structure, and the limiting structure is used to limit the swing of the first driving gear to ensure its smooth engagement with the first driven gear.

[0021] According to the detection device of at least one embodiment of the present disclosure, the teeth of the first driving gear are symmetrical about a reference plane, wherein the reference plane is a plane passing through the second rotation axis and perpendicular to the first rotation axis.

[0022] According to at least one embodiment of the present disclosure, the detection device further includes: A second driving gear, the second driving gear is coaxially arranged with the first driven gear and rotates synchronously; a second driven gear, the second driven gear meshing with the second driving gear and driven to rotate by the second driven gear; and A steering gear is detachably connected to the second driven gear, wherein when the steering gear is separated from the second driven gear, the steering gear does not apply damping to the second driven gear, and when the steering gear is coupled to the second driven gear, the steering gear provides damping to the second driven gear.

[0023] According to the detection device of at least one embodiment of the present disclosure, the servo motor includes an output shaft, a first stop plate is provided on the output shaft, wherein the first stop plate extends from the end face of the output shaft along the axial direction of the output shaft by a preset distance; the second driven gear includes a rotating shaft, a second stop plate is provided on the rotating shaft, and the second stop plate extends from the end face of the rotating shaft along the axial direction of the rotating shaft by a preset distance, wherein the first stop plate can cooperate with the second stop plate so that the servo motor can apply damping to the second driven gear.

[0024] According to another aspect of the present disclosure, a wearable device is provided, which includes the above-mentioned detection device.

[0025] According to at least one embodiment of the present disclosure, the wearable device further includes: The main body part, the detection device is arranged on the main body part, and the root connecting rod has a first rotation axis and a second rotation axis relative to the main body part.

[0026] According to the wearable device of at least one embodiment of the present disclosure, one of the detection devices is rotatably provided on the main body via a rod component, and the detection device has a third rotation axis relative to the main body.

[0027] According to the wearable device of at least one embodiment of the present disclosure, the rod component is connected to the main body via a rotating shaft, wherein a torsion spring is provided on the rotating shaft, one end of the torsion spring is connected to the main body, and the other end is connected to the rod component. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0029] Figure 1 It is a schematic structural diagram of a wearable device according to one embodiment of the present disclosure.

[0030] Figure 2 2 is a schematic structural diagram of a wearable device according to another embodiment of the present disclosure.

[0031] Figure 3 It is a schematic structural diagram of a detection device according to one embodiment of the present disclosure.

[0032] Figure 4 It is a partial structural schematic diagram of a detection device according to one embodiment of the present disclosure.

[0033] Figures 5 to 7 It is a schematic diagram of the internal structure of a detection device according to one embodiment of the present disclosure.

[0034] Figure 8 It is a schematic structural diagram of a detection device corresponding to the thumb according to an embodiment of the present disclosure.

[0035] The specific reference numerals in the figure are: 10. Wearable devices 100 Gloves 200 Main body 201 Shell 202 Circuit Board 203 Battery Module 300 Detection Device 301 Framework 302 root connecting rod 303 Intermediate connecting rod 304 Finger tip parts 305 driving bevel gear 306 Follower bevel gear 307 First driven bevel gear 308 Second driven bevel gear 309 Shaft components 310 First detection element 311 Second detection element 312 First driving gear 313 First driven gear 314 Second driving gear 315 Second driven gear 315A Second stopper 316 Servo 316A Output shaft 400 Rod Parts 401 Torsion spring. DETAILED DESCRIPTION

[0036] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0039] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0040] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0041] For descriptive purposes, the present disclosure may use spatially relative terms such as "under," "beneath," "under," "down," "over," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as "under" or "beneath" other components or features would subsequently be positioned "over" the other components or features. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0042] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0043] Figure 1 It is a schematic structural diagram of a wearable device according to one embodiment of the present disclosure. Figure 2 2 is a schematic structural diagram of a wearable device according to another embodiment of the present disclosure.

[0044] like Figure 1 and Figure 2As shown, the wearable device 10 of the present disclosure may be a glove, that is, a wearable device 10 formed as a hand. Accordingly, the wearable device 10 may also be referred to as an exoskeleton force feedback glove.

[0045] The wearable device 10 of the present disclosure includes components such as a glove 100 , a main body 200 , and a detection device 300 .

[0046] Specifically, the glove 100 of the present invention is formed as a five-finger glove structure in the conventional sense. When the user uses the wearable device 10 of the present invention, he can insert his hand into the inside of the glove 100 and operate the wearable device 10 of the present invention. Specifically, at this time, when the fingers of the user's hand are in motion, the wearable device 10 of the present invention can detect the movements of each finger, and the wearable device 10 of the present invention can also provide damping to the user's fingers to simulate gripping an object.

[0047] The main body 200 of the present disclosure can be arranged on the glove 100; in a specific embodiment, the main body 200 can be arranged on the back of the glove 100, so that the main body 200 of the present disclosure will not affect the normal movement of the human hand. In a preferred embodiment, the main body 200 may include components such as a housing 201, a circuit board 202, and a battery module 203, wherein the circuit board 202 and the battery module 203 are arranged inside the housing 201. In the present disclosure, the battery module 203 may include a battery holder and a battery arranged in the battery holder, and the battery is preferably a 18650 battery, and the wearable device 10 of the present disclosure is provided with electrical energy through the battery.

[0048] The detection device 300 is disposed on the main body 200, and the root connecting rod 302 of the detection device 300 has a first rotation axis and a second rotation axis relative to the main body 200. That is, the detection device 300 of the present disclosure can move along with the pitching motion and the swinging motion of the finger, and can detect the amplitude of the pitching motion and the swinging motion of the finger.

[0049] In a specific embodiment, when the finger generates a pitching motion, the root connecting rod 302 rotates relative to the main body 200 around a first rotation axis; similarly, when the finger generates a swinging motion, the root connecting rod 302 rotates relative to the main body 200 around a second rotation axis. The first rotation axis and the second rotation axis are perpendicular to each other.

[0050] In order to accurately simulate the movements of a human hand, the detection device 300 disclosed in the present invention can be set to five, one of the five detection devices 300 is connected to the shell portion 201 of the main body 200 through the rod component 400, so that the movement of the thumb can be detected by the detection device 300; the remaining four detection devices 300 of the five detection devices 300 are directly set in the shell portion 201 of the main body 200, thereby, the four detection devices 300 can detect the movements of the index finger, middle finger, ring finger and little finger.

[0051] Figure 3 It is a schematic structural diagram of a detection device according to one embodiment of the present disclosure. Figure 4 It is a partial structural schematic diagram of a detection device according to one embodiment of the present disclosure.

[0052] like Figure 3 and Figure 4 As shown, the detection device 300 of the present disclosure may include a frame portion 301, a root connecting rod 302, an intermediate connecting rod 303, and a finger end component 304. In actual use, the frame portion 301 can be directly fixed to the housing portion 201 of the main body 200; or the frame portion 301 can be rotatably disposed on the main body 200 through a rod component 400, so that the detection device 300 has a third rotation axis relative to the main body 200.

[0053] For example, Figure 8 The rod part 400 shown is connected to the main body 200 via a rotating shaft, wherein a torsion spring 401 is provided on the rotating shaft, one end of the torsion spring 401 is connected to the main body 200, and the other end is connected to the rod part 400, thereby forming a thumb force feedback structure through the torsion spring 401, and thereby enabling the wearable device 10 of the present disclosure to provide an additional degree of rotational freedom for the thumb. Moreover, the torsion spring 401 of the present disclosure can provide a force for the thumb to rest against the palm, thereby reducing the collision discomfort caused by the frequent separation and contact between the thumb and the detection device 300 corresponding to the thumb and the user's palm during actual use.

[0054] In a preferred embodiment, the rod component 400 can be integrally formed with the frame portion 301 .

[0055] One end of the root connecting rod 302 of the present disclosure is rotationally connected to the frame part 301, and the root connecting rod 302 has a first rotation axis and a second rotation axis; that is, one end of the root connecting rod 302 of the present disclosure can rotate around the first rotation axis and / or around the second rotation axis relative to the frame part 301.

[0056] The other end of the root link 302 is hinged to one end of the intermediate link 303, and the other end of the intermediate link 303 is hinged to the finger end part 304, and the finger end part 304 can be fixed to the end of the finger of the glove 100, so that the root link 302, the intermediate link 303 and the finger end part 304 of the present disclosure can simulate various joints of the finger. In a preferred embodiment, the pivot axis between the root link 302 and the intermediate link 303, and the pivot axis between the intermediate link 303 and the finger end part 304 are parallel or substantially parallel to the first rotation axis.

[0057] In a specific embodiment, the finger end member 304 can be fixed to the glove 100 by sewing, bonding, clamping, and separate Velcro fastening.

[0058] Those skilled in the art should know that the lengths of the root connecting rod 302 and the middle connecting rod 303 of the detection device 300 corresponding to different fingers may be different to adapt to the different lengths of each finger.

[0059] Figures 5 to 7 It is a schematic diagram of the internal structure of a detection device according to one embodiment of the present disclosure.

[0060] like Figures 5 to 7 As shown, the detection device 300 of the present disclosure further includes components such as a driving bevel gear 305, a driven bevel gear 306, a first driven bevel gear 307, and a second driven bevel gear 308. Accordingly, the driving bevel gear 305, the driven bevel gear 306, the first driven bevel gear 307, and the second driven bevel gear 308 of the present disclosure can be formed into a differential transmission structure, and the movement of the finger can be accurately detected through the differential transmission structure.

[0061] Specifically, the active bevel gear 305 of the present invention is arranged on the root connecting rod 302, and the axis of the active bevel gear 305 coincides with the second rotation axis; the follower bevel gear 306 is rotatably arranged on the root connecting rod 302, and the rotation axis of the follower bevel gear 306 coincides with the second rotation axis; that is, the axis of the active bevel gear 305 of the present invention coincides with the rotation axis of the follower bevel gear 306 (or is on the same straight line).

[0062] Those skilled in the art should know that as the root link 302 rotates around the first rotation axis, the second rotation axis will be at different positions. At this time, the second rotation axis at different positions can be formed into the following reference plane, which can be a roughly vertical plane.

[0063] Specifically, if Figure 7As shown, the root connecting rod 302 of the present disclosure is formed with a hole structure, the center line of the hole structure is the above-mentioned first rotation axis, and a radial direction of the hole structure is the above-mentioned second rotation axis.

[0064] At this time, the driving bevel gear 305 can be fixed to the root connecting rod 302, and the driving bevel gear 305 and the driven bevel gear 306 are both located inside the hole structure. And preferably, the driving bevel gear 305 and the driven bevel gear 306 have the same tooth shape and number of teeth.

[0065] The first driven bevel gear 307 is meshed with the active bevel gear 305 and the follower bevel gear 306 respectively, and the rotation axis of the first driven bevel gear 307 is the first rotation axis; the second driven bevel gear 308 is meshed with the active bevel gear 305 and the follower bevel gear 306 respectively, and the rotation axis of the second driven bevel gear 308 is the first rotation axis; wherein, the first driven bevel gear 307 and the second driven bevel gear 308 are respectively located on both sides of the root connecting rod 302; thus, the root connecting rod 302 of the detection device 300 disclosed in the present invention only has the first rotation axis and the second rotation axis.

[0066] In a specific embodiment, a shaft component 309 is provided on the frame portion 301 of the present disclosure, and the axis of the shaft component 309 is the same as the first rotation axis. At this time, the first driven bevel gear 307 and the second driven bevel gear 308 can be rotatably provided on the shaft component 309 so that the first driven bevel gear 307 and the second driven bevel gear 308 can rotate independently. At this time, both ends of the shaft component 309 can be fixed to the frame portion 301.

[0067] In a preferred embodiment, the first driven bevel gear 307 and the second driven bevel gear 308 of the present disclosure have the same number of teeth and tooth shape.

[0068] The rotation of the first driven bevel gear 307 is detected by the first detection element 310, the rotation of the second driven bevel gear 308 is detected by the second detection element 311, and the rotation angle of the root connecting rod 302 around the first rotation axis and / or the rotation angle of the root connecting rod 302 around the second rotation axis is obtained through the data detected by the first detection element 310 and the second detection element 311.

[0069] In a specific embodiment, the first detection element 310 is a rotary encoder, and / or the second detection element 311 is a rotary encoder.

[0070] When the detection device 300 disclosed in the present invention is in use, when the root connecting rod 302 rotates around the first rotation axis, that is, when the finger makes a bending movement, the active bevel gear 305 will rotate around the first rotation axis together with the root connecting rod 302 (equivalent to the active bevel gear 305 generating an orbital revolution). At this time, the first driven bevel gear 307 and the second driven bevel gear 308 will be driven by the active bevel gear 305 and generate the same direction and rotation speed.

[0071] Furthermore, the rotation of the first driven bevel gear 307 and the second driven bevel gear 308 is transmitted to the rotary encoder through their respective gear transmission structures. At this time, the rotary encoder can obtain the rotation direction and rotation angle of the first driven bevel gear 307 and the second driven bevel gear 308, and the rotary encoder can determine the bending angle of the finger based on the original zero point.

[0072] On the other hand, when the root connecting rod 302 rotates around the second rotation axis, that is, when the finger makes a swinging motion, the driving bevel gear 305 will swing together with the root connecting rod 302 (equivalent to the driving bevel gear 305 generating self-rotation relative to the first driven bevel gear 307 and the second driven bevel gear 308). At this time, the first driven bevel gear 307 and the second driven bevel gear 308 will be driven by the driving bevel gear 305 and generate opposite directions and the same rotation speed.

[0073] Similarly, the rotation of the first driven bevel gear 307 and the second driven bevel gear 308 is transmitted to the rotary encoder through their respective gear transmission structures. At this time, the rotary encoder can obtain the rotation direction and rotation angle of the first driven bevel gear 307 and the second driven bevel gear 308, and the rotary encoder can determine the swing angle of the finger based on the original zero point.

[0074] Based on the same working principle, when a finger has a composite motion of bending and swinging, the bending angle and swinging angle of the finger can be calculated respectively according to the sum and difference of the data detected by the first detection element and the data detected by the second detection element. Thus, the detection device 300 disclosed in the present invention can realize the decoupling of the bending motion and swinging of the finger, and accordingly, can conveniently detect the bending angle and swinging angle of the finger.

[0075] The force feedback function of the detection device 300 disclosed in the present invention can be realized through the following structure.

[0076] Specifically, if Figure 6As shown, a first driving gear 312 is provided on the root connecting rod 302. When the root connecting rod 302 rotates along the first rotation axis, the first driving gear 312 is driven to rotate around the first rotation axis. The first driving gear 312 is meshed with the first driven gear 313. The first driven gear 313 can provide damping to the root connecting rod 302 when it rotates around the first rotation axis.

[0077] The first driven gear 313 of the present disclosure can be rotatably disposed on the frame portion 301; and the rotation axis of the first driven gear 313 is parallel to the first rotation axis. In a preferred embodiment, the first driven gear 313 of the present disclosure can be a spur gear.

[0078] Refer to Figure 6 , along the first rotation axis, the first driving gear 312 includes a first end and a second end opposite to the first end, wherein the outer peripheral surface (outer surface) of the teeth of the first driving gear 312 is formed as a spherical surface protruding outward from the first end to the second end, so that when the root connecting rod 302 of the present disclosure rotates around the second rotation axis, that is, when the root connecting rod 302 generates a swinging motion, the first driving gear 312 can always maintain meshing with the first driven gear 313 without being disengaged. Accordingly, through the structure set in this way, the first driving gear 312 and the first driven gear 313 will not affect the swinging of the root connecting rod 302.

[0079] More specifically, the first rotation axis and the second rotation axis have an intersection point, and the intersection point is formed as the center of the spherical surface of the teeth of the first driving gear 312 .

[0080] In another embodiment, the first driving gear 312 may be a cylindrical gear, and the first end and the second end of the cylindrical gear are both formed into a rounded structure. In this case, the first driving gear 312 can maintain meshing with the first driven gear 313 without disengagement.

[0081] More preferably, a limiting structure is provided at the first end and the second end of the first driving gear 313. The limiting structure can be a self-lubricating PTFE or POM material installed on both sides of the first driving gear 313. At this time, the limiting structure can be used to limit the swing of the first driving gear 312, thereby ensuring the smooth engagement of the first driving gear 312 and the first driven gear 313.

[0082] More preferably, the teeth of the first driving gear 312 are symmetrical about a reference plane, wherein the reference plane is a plane passing through the second rotation axis and perpendicular to the first rotation axis.

[0083] Refer to Figure 4 The detection device 300 of the present disclosure further includes a second driving gear 314 , a second driven gear 315 and a steering gear 316 .

[0084] The second driving gear 314 is coaxially arranged with the first driven gear 313 and rotates synchronously; the second driven gear 315 is meshed with the second driving gear 314 and is driven to rotate by the second driven gear 315; the steering gear 316 is detachably connected to the second driven gear 315, wherein when the steering gear 316 is separated from the second driven gear 315, the steering gear 316 does not apply damping to the second driven gear 315, and when the steering gear 316 is combined with the second driven gear 315, the steering gear 316 provides damping to the second driven gear 315.

[0085] The servo 316 includes an output shaft 316A, on which a first stopper is provided, wherein the first stopper extends from the end face of the output shaft along the axis direction of the output shaft by a preset distance (not shown in the figure); the second driven gear 315 includes a rotating shaft, on which a second stopper 315A is provided, wherein the second stopper 315A extends from the end face of the rotating shaft along the axis direction of the rotating shaft by a preset distance, wherein the first stopper can cooperate with the second stopper 315A, so that the servo 316 can apply damping to the second driven gear 315. That is, the first stopper and the second stopper of the present disclosure have the same or intersecting motion envelopes, thereby, the first stopper and the second stopper can contact with each other with pressure and transmit torque, and at this time, the damping applied to the root connecting rod 302 can be controlled by controlling the output torque value of the servo 316.

[0086] Specifically, when force feedback is needed, such as when an actual dexterous hand operated by a human touches a real object, or when a virtual human hand in virtual reality touches an interactive object, the wearable device of the present invention rotates the first stop plate of the servo 316 to a position in contact with the second stop plate, thereby achieving force feedback on the root connecting rod 302 through the servo 316, thereby being able to produce an effect of hindering further movement of the human hand, thereby enabling the fingers to generate force feedback in the bending direction.

[0087] In the present disclosure, the output shaft of the servo 316 and the first stopper may be formed integrally, thereby reducing assembly parts and overall dimensions through a customized servo solution.

[0088] In addition, when force feedback is not required, the first stop plate and the second stop plate can be disengaged, so that the human hand does not need to rotate the servo when there is no force feedback command, thereby reducing operational resistance.

[0089] Generally speaking, the wearable device disclosed in the present invention can determine the angles of finger bending and finger lateral swing in a decoupled manner through the setting of the differential transmission structure; through the setting of the connecting rod structure, it has better rigidity than the tendon rope, and can more sensitively transmit the movement of finger bending and lateral swing to the rotary encoder at the differential transmission structure, so as to better realize the angle detection of bending and lateral swing.

[0090] At the same time, the connection between the fingertip part and the glove disclosed in the present invention is more secure, and there is no series of pulley guides in the tendon rope solution to guide the tendon rope to reduce friction. At the same time, the tendon rope will not loosen from the pulley block and other running paths during use, and the change of the tendon rope pre-tightening force during long-term use will not cause the change of the angle detection value and the regular angle calibration; moreover, the structure disclosed in the present invention also reduces the design of adjusting the initial pre-tightening force that is difficult to adjust in a small space, such as a coil spring.

[0091] In addition, the wearable device disclosed in the present invention can achieve intermittent contact force feedback through the setting of a clutchable servo, so that when the human hand is unable to feedback the command, it does not need to rotate the servo, thereby reducing the operating resistance.

[0092] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0094] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A detection device, characterized in that: include: a root connecting rod having a first axis of rotation and a second axis of rotation; A driving bevel gear, wherein the driving bevel gear is arranged on the root connecting rod, and the axis of the driving bevel gear coincides with the second rotation axis; A follower bevel gear, the follower bevel gear is rotatably disposed on the root connecting rod, and the rotation axis of the follower bevel gear coincides with the second rotation axis; a first driven bevel gear, the first driven bevel gear is meshed with the driving bevel gear and the driven bevel gear respectively, and the rotation axis of the first driven bevel gear is the first rotation axis; as well as a second driven bevel gear, the second driven bevel gear is meshed with the driving bevel gear and the driven bevel gear respectively, and the rotation axis of the second driven bevel gear is the first rotation axis; wherein the first driven bevel gear and the second driven bevel gear are respectively located on both sides of the root connecting rod; The rotation of the first driven bevel gear is detected by a first detection element, the rotation of the second driven bevel gear is detected by a second detection element, and the rotation angle of the root connecting rod around the first rotation axis and / or the rotation angle of the root connecting rod around the second rotation axis are obtained through the data detected by the first detection element and the second detection element.

2. The detection device according to claim 1, characterized in that: When the root connecting rod rotates around the first rotation axis, the first driven bevel gear and the second driven bevel gear have the same rotation direction; when the root connecting rod rotates around the second rotation axis, the first driven bevel gear and the second driven bevel gear have opposite rotation directions.

3. The detection device according to claim 1, characterized in that: The first detection element is a rotary encoder, and / or the second detection element is a rotary encoder.

4. The detection device according to claim 1, characterized in that: The root connecting rod is provided with a first driving gear. When the root connecting rod rotates along the first rotation axis, the first driving gear is driven to rotate around the first rotation axis. The first driving gear is meshed with the first driven gear so that damping can be provided to the root connecting rod when it rotates around the first rotation axis through the first driven gear.

5. The detection device according to claim 4, characterized in that: The rotation axis of the first driven gear is parallel to the first rotation axis.

6. The detection device according to claim 4, characterized in that: Along the first rotation axis, the first driving gear includes a first end and a second end opposite to the first end, wherein the outer peripheral surface of the teeth of the first driving gear is formed as a spherical surface protruding outward from the first end to the second end.

7. The detection device according to claim 6, characterized in that: The first rotation axis and the second rotation axis have an intersection point, and the intersection point is formed as a center of a spherical surface of the teeth of the first driving gear.

8. The detection device according to any one of claims 1 to 7, characterized in that: Along the first rotation axis, the first driving gear includes a first end and a second end opposite to the first end, wherein the first driving gear is a cylindrical gear, the axis of the cylindrical gear is the first rotation axis, and the first end and the second end of the first driving gear are formed into a rounded structure; Optionally, both the first end and the second end of the first driving gear are provided with a limiting structure, and the limiting structure is used to limit the swing of the first driving gear to ensure smooth meshing with the first driven gear; Optionally, the teeth of the first driving gear are symmetrical about a reference plane, wherein the reference plane is a plane passing through the second rotation axis and perpendicular to the first rotation axis; Optionally, it also includes: A second driving gear, the second driving gear is coaxially arranged with the first driven gear and rotates synchronously; a second driven gear, the second driven gear meshing with the second driving gear and driven to rotate by the second driven gear; and a steering gear, the steering gear being detachably connected to the second driven gear, wherein when the steering gear is separated from the second driven gear, the steering gear does not apply damping to the second driven gear, and when the steering gear is coupled to the second driven gear, the steering gear provides damping to the second driven gear; Optionally, the servo includes an output shaft, on which a first stop plate is provided, wherein the first stop plate extends a preset distance from the end face of the output shaft along the axial direction of the output shaft; the second driven gear includes a rotating shaft, on which a second stop plate is provided, wherein the second stop plate extends a preset distance from the end face of the rotating shaft along the axial direction of the rotating shaft, wherein the first stop plate can cooperate with the second stop plate so that the servo can apply damping to the second driven gear.

9. A wearable device, characterized in that: A detection device comprising any one of claims 1-8.

10. The wearable device according to claim 9, characterized in that: Also includes: A main body, the detection device is arranged on the main body, and the root connecting rod has a first rotation axis and a second rotation axis relative to the main body; Optionally, one of the detection devices is rotatably disposed on the main body via a rod component, and the detection device has a third rotation axis relative to the main body; Optionally, the rod component is connected to the main body via a rotating shaft, wherein a torsion spring is provided on the rotating shaft, one end of the torsion spring is connected to the main body, and the other end is connected to the rod component.

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