Detection device and wearable device

Abstract

The present disclosure provides a detection device and a wearable device. 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 has a first rotation axis and a second rotation axis; the first driven bevel gear meshes with the driving bevel gear and the driven bevel gear respectively; the second driven bevel gear meshes 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; wherein 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.

Description

Technical Field

[0001] The present disclosure relates to a detection device and a wearable device, belonging to the field of robotics technology. Background Art

[0002] Force feedback gloves can detect the bending and sideways 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 status of the user's hand finger joints in real time; and it can also reproduce the angle status 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 can 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 multiple times, and the other end passes through a guide ring arranged on the back of the hand and the finger joints, and is finally bound to the upper part of the distal knuckle of the glove. The bending movement 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 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 stretching effect of the tendon can be produced, thereby limiting the movement of the hand in the grasping direction to simulate the force perception 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:

[0007] (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 axis to the glove module, if the side swing detection in the design scheme uses the original tendon rope for bending detection, 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. If the actual finger is side swinging, the change in the tendon rope length may cause the spool to contract or expand during bending, or it may cause the side swing axis to rotate as intended by the design (so that a potentiometer or rotary encoder arranged coaxially with the side swing axis can be used for angle detection). However, this uncertain state will make the side swing angle detection ineffective.

[0008] If the design adds additional decoupled tendons or mechanisms to detect side-sway motion, the system complexity will increase, and it will be difficult to perform a good layout design when the layout space on the back of the hand is limited.

[0009] (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.

[0010] (3) The tendon ropes in the existing technology 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 tendon rope breakage. Adding a pulley set to guide the tendon ropes will increase the size and complexity of the module.

[0011] (4) The gloves are flexible as a whole. The pre-tension 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 limit structure will be further increased. Summary of the Invention

[0012] The present disclosure provides a detection device and a wearable device.

[0013] According to one aspect of the present disclosure, there is provided a detection device comprising:

[0014] a root connecting rod having a first axis of rotation and a second axis of rotation;

[0015] A driving bevel gear, the driving bevel gear is provided on the root connecting rod, and the axis of the driving bevel gear coincides with the second rotation axis;

[0016] A follower bevel gear, the follower bevel gear being rotatably disposed on the root connecting rod, and the rotation axis of the follower bevel gear coincides with the second rotation axis;

[0017] a first driven bevel gear, the first driven bevel gear being meshed with the driving bevel gear and the follower bevel gear respectively, and the rotation axis of the first driven bevel gear being the first rotation axis; and

[0018] a second driven bevel gear, the second driven bevel gear being meshed with the driving bevel gear and the follower bevel gear respectively, and the rotation axis of the second driven bevel gear being the first rotation axis; wherein the first driven bevel gear and the second driven bevel gear are respectively located on either side of the root connecting rod;

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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 engaged 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.

[0023] 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.

[0024] 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.

[0025] 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, and the intersection is formed as the center of the spherical surface of the teeth of the first driving gear.

[0026] 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 into a rounded structure.

[0027] According to the detection device of at least one embodiment of the present disclosure, a limiting structure is provided at the first end and the second end of the first driving gear, which is used to limit the swing of the first driving gear to ensure its smooth engagement with the first driven gear.

[0028] 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.

[0029] According to at least one embodiment of the present disclosure, the detection device further includes:

[0030] a second driving gear, the second driving gear being coaxially arranged with the first driven gear and rotating synchronously;

[0031] a second driven gear, the second driven gear being engaged with the second driving gear and being driven to rotate by the second driven gear; and

[0032] a servo, the servo being detachably connected to the second driven gear, wherein when the servo is detached from the second driven gear, the servo does not apply damping to the second driven gear, and when the servo is coupled to the second driven gear, the servo provides damping to the second driven gear.

[0033] According to the detection device of at least one embodiment of the present disclosure, the servo 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 to enable the servo to apply damping to the second driven gear.

[0034] According to another aspect of the present disclosure, a wearable device is provided, which includes the above-mentioned detection device.

[0035] According to at least one embodiment of the present disclosure, a wearable device further includes:

[0036] The 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.

[0037] 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.

[0038] 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

[0039] 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.

[0040] Figure 1 Schematic diagram of a wearable device according to one embodiment of the present disclosure.

[0041] Figure 2 2 is a schematic structural diagram of a wearable device according to another embodiment of the present disclosure.

[0042] Figure 3 It is a schematic structural diagram of a detection device according to one embodiment of the present disclosure.

[0043] Figure 4 It is a partial structural diagram of a detection device according to one embodiment of the present disclosure.

[0044] 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.

[0045] Figure 8 2 is a schematic structural diagram of a detection device corresponding to the thumb according to an embodiment of the present disclosure.

[0046] The specific reference numerals in the figure are:

[0047] 10 Wearable devices

[0048] 100 gloves

[0049] 200 Main body

[0050] 201 Shell

[0051] 202 circuit board

[0052] 203 battery module

[0053] 300 Detection Device

[0054] 301 Framework Department

[0055] 302 root connecting rod

[0056] 303 intermediate connecting rod

[0057] 304 fingertip parts

[0058] 305 driving bevel gear

[0059] 306 follower bevel gear

[0060] 307 First driven bevel gear

[0061] 308 Second driven bevel gear

[0062] 309 shaft components

[0063] 310 first detection element

[0064] 311 Second detection element

[0065] 312 First driving gear

[0066] 313 First driven gear

[0067] 314 Second driving gear

[0068] 315 Second driven gear

[0069] 315A Second stopper

[0070] 316 Servo

[0071] 316A output shaft

[0072] 400 rod parts

[0073] 401 torsion spring. DETAILED DESCRIPTION

[0074] The present disclosure will be 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 intended to explain the relevant content and are not intended to limit the present disclosure. It should also be noted that, for ease of description, only the portions relevant to the present disclosure are shown in the accompanying drawings.

[0075] 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.

[0076] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / examples may be further combined, separated, interchanged, and / or rearranged without departing from the technical concepts of the present disclosure.

[0077] 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 indicated, 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 order described. In addition, the same figure numbers represent the same components.

[0078] When a component is referred to as being “on,” “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 present. For this purpose, the term “connected” may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0079] For descriptive purposes, the present disclosure may use spatially relative terms such as "below," "beneath," "under," "down," "above," "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 drawings is turned over, a component described as "below" or "beneath" another component or feature would then be positioned "above" the other component or feature. Thus, the exemplary term "below" 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 as such, the spatially relative descriptors used herein should be interpreted accordingly.

[0080] The terms used herein are for the purpose of describing specific embodiments and are not intended to be restrictive. As used herein, 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, the features, integral bodies, steps, operations, parts, assemblies and / or their groups stated are explained, but the presence or addition of one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups is not excluded. It should also be noted that, as used herein, 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.

[0081] Figure 1 Schematic 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.

[0082] like Figure 1 and Figure 2 As shown, the wearable device 10 of the present disclosure can be a glove, that is, a wearable device 10 formed as a hand. Accordingly, the wearable device 10 can also be called an exoskeleton force feedback glove.

[0083] The wearable device 10 of the present disclosure includes components such as a glove 100 , a main body 200 , and a detection device 300 .

[0084] Specifically, the glove 100 of the present disclosure is formed as a five-finger glove structure in the conventional sense. When the user uses the wearable device 10 of the present disclosure, he or she can insert the hand into the inside of the glove 100 and operate the wearable device 10 of the present disclosure. Specifically, at this time, when the fingers of the user's hand are in motion, the wearable device 10 of the present disclosure can detect the movements of each finger, and the wearable device 10 of the present disclosure can also provide damping to the user's fingers to simulate gripping an object.

[0085] The main body 200 of the present disclosure can be set in the glove 100; in a specific embodiment, the main body 200 can be set at the back of the hand of the glove 100, thereby, 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 an 18650 battery, and the wearable device 10 of the present disclosure is provided with power by the battery.

[0086] The detection device 300 is disposed on the main body 200, and the root link 302 of the detection device 300 has a first rotation axis and a second rotation axis relative to the main body 200. In other words, the detection device 300 of the present disclosure can move in accordance with the pitch and swing motions of the finger and can detect the amplitude of the pitch and swing motions of the finger.

[0087] In a specific embodiment, when the finger generates a pitch motion, the root link 302 rotates relative to the main body 200 about a first rotation axis. Similarly, when the finger generates a swing motion, the root link 302 rotates relative to the main body 200 about a second rotation axis. The first rotation axis and the second rotation axis are perpendicular to each other.

[0088] In order to accurately simulate the movements of the human hand, the detection device 300 disclosed in the present invention can be set to 5, one of the 5 detection devices 300 is connected to the shell part 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 5 detection devices 300 are directly set in the shell part 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.

[0089] 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 diagram of a detection device according to one embodiment of the present disclosure.

[0090] like Figure 3 and Figure 4As shown, the detection device 300 of the present disclosure may include a frame portion 301, a base connecting rod 302, an intermediate connecting rod 303, and a fingertip 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 via a rod component 400, so that the detection device 300 has a third rotation axis relative to the main body 200.

[0091] For example, Figure 8 The rod component 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 component 400. Thus, the torsion spring 401 can form a thumb force feedback structure, 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, reducing the collision discomfort caused by the thumb and the corresponding detection device 300 frequently separating and contacting with the user's palm during actual use.

[0092] In a preferred embodiment, the rod component 400 can be integrally formed with the frame portion 301 .

[0093] One end of the root link 302 of the present disclosure is rotationally connected to the frame portion 301, and the root link 302 has a first rotation axis and a second rotation axis; that is, one end of the root link 302 of the present disclosure can rotate around the first rotation axis and / or around the second rotation axis relative to the frame portion 301.

[0094] 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 component 304. The finger end component 304 can be fixed to the end of the finger of the glove 100. Thus, the root link 302, the intermediate link 303, and the finger end component 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 component 304 are both parallel or substantially parallel to the first rotation axis.

[0095] In a specific embodiment, the finger end member 304 can be fixed to the glove 100 by sewing, bonding, clamping, or separate Velcro fastening.

[0096] 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.

[0097] Figures 5 to 7It is a schematic diagram of the internal structure of a detection device according to one embodiment of the present disclosure.

[0098] 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 form a differential transmission structure, and the differential transmission structure can be used to accurately detect finger movements.

[0099] 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).

[0100] 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.

[0101] Specifically, if Figure 7 As 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.

[0102] 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.

[0103] The first driven bevel gear 307 is respectively engaged with the driving bevel gear 305 and the follower bevel gear 306, and the rotation axis of the first driven bevel gear 307 is the first rotation axis; the second driven bevel gear 308 is respectively engaged with the driving bevel gear 305 and the follower bevel gear 306, 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.

[0104] In a specific embodiment, an axis component 309 is provided on the frame portion 301 of the present disclosure, and the axis of the axis 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 axis 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 axis component 309 can be fixed to the frame portion 301.

[0105] 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.

[0106] The rotation of the first driven bevel gear 307 is detected by the first detection element 310, and the rotation of the second driven bevel gear 308 is detected by the second detection element 311. 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 are obtained through the data detected by the first detection element 310 and the second detection element 311.

[0107] In a specific embodiment, the first detection element 310 is a rotary encoder, and / or the second detection element 311 is a rotary encoder.

[0108] When the detection device 300 of the present disclosure is in use, when the root connecting rod 302 rotates around the first rotation axis, that is, when the finger performs a bending movement, the driving bevel gear 305 will rotate around the first rotation axis together with the root connecting rod 302 (equivalent to the driving 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 driving bevel gear 305 and generate the same direction and speed.

[0109] 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.

[0110] 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 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 speed.

[0111] 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. The rotary encoder can determine the swing angle of the finger based on the original zero point.

[0112] Based on the same working principle, when the finger has a composite motion of bending and swinging, the bending angle and swinging angle of the finger can be calculated separately 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.

[0113] The force feedback function of the detection device 300 disclosed herein can be implemented through the following structure.

[0114] Specifically, if Figure 6 As 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 engaged with the first driven gear 313; and the first driven gear 313 can provide damping to the root connecting rod 302 when rotating around the first rotation axis.

[0115] 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.

[0116] Refer again Figure 6 Along the first rotation axis, the first driving gear 312 includes a first end and a second end opposite the first end. The outer peripheral surface (outer surface) of the teeth of the first driving gear 312 is formed as an outwardly convex spherical surface from the first end to the second end. Consequently, when the root connecting rod 302 of the present disclosure rotates about the second rotation axis, i.e., when the root connecting rod 302 swings, the first driving gear 312 can always remain engaged with the first driven gear 313, preventing disengagement. Accordingly, with this structure, the first driving gear 312 and the first driven gear 313 will not affect the swinging motion of the root connecting rod 302.

[0117] 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 .

[0118] In another embodiment, the first driving gear 312 may be a cylindrical gear, and the first and second ends of the cylindrical gear are both formed into a rounded structure. In this case, the first driving gear 312 can maintain engagement with the first driven gear 313 without disengagement.

[0119] 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.

[0120] 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.

[0121] Refer again 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 .

[0122] The second driving gear 314 is coaxially arranged with the first driven gear 313 and rotates synchronously; the second driven gear 315 is engaged 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 engaged with the second driven gear 315, the steering gear 316 provides damping to the second driven gear 315.

[0123] The servo 316 includes an output shaft 316A, on which a first stopper is provided. The first stopper extends a predetermined distance (not shown) from the end face of the output shaft along the axis of the output shaft. The second driven gear 315 includes a rotating shaft, on which a second stopper 315A is provided. The second stopper 315A extends a predetermined distance from the end face of the rotating shaft along the axis of the rotating shaft. The first stopper cooperates with the second stopper 315A to enable the servo 316 to apply damping to the second driven gear 315. In other words, the first and second stopper of the present disclosure have the same or intersecting motion envelopes. Thus, the first and second stopper can contact each other under pressure and transmit torque. In this case, the damping applied to the root link 302 can be controlled by controlling the output torque value of the servo 316.

[0124] Specifically, when force feedback is required, 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 piece of the servo 316 to a position of contact with the second stop piece, thereby achieving force feedback on the root connecting rod 302 through the servo 316, thereby producing the effect of hindering further movement of the human hand, thereby enabling the fingers to produce force feedback in the bending direction.

[0125] In the present disclosure, the output shaft of the servo 316 and the first stopper can be formed integrally, thereby reducing assembly parts and overall size through a customized servo solution.

[0126] 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.

[0127] 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, which can better realize the angle detection of bending and lateral swing.

[0128] 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 out of the pulley block and other running paths during use, and the angle detection value will not change due to the change of the tendon rope preload during long-term use and the regular angle calibration; moreover, the structure disclosed in the present invention also reduces the design of adjusting the initial preload force, which is difficult to do in a small space, such as a coil spring.

[0129] In addition, the wearable device disclosed herein can achieve intermittent contact force feedback through the setting of a clutchable servo, so that when the human hand is unable to provide feedback instructions, it does not need to rotate the servo, thereby reducing operational resistance.

[0130] 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" 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 expressions 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 an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0131] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0132] Those skilled in the art will appreciate that the above embodiments are merely intended to clearly illustrate the present disclosure and are not intended to limit the scope of the present disclosure. Other changes or modifications may be made based on the above disclosure, and such 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, the driving bevel gear is provided 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 being 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, wherein the first driven bevel gear is meshed with the driving bevel gear and the follower 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 being meshed with the driving bevel gear and the follower bevel gear respectively, and the rotation axis of the second driven bevel gear being the first rotation axis; wherein the first driven bevel gear and the second driven bevel gear are respectively located on either side 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 engaged with the first driven gear. The first driven gear can provide damping to the root connecting rod when it rotates around the first rotation axis.

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 an outer peripheral surface of the teeth of the first driving gear is formed as an outwardly convex spherical surface 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 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 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.

9. The detection device according to claim 8, characterized in that 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 smooth engagement between the first driving gear and the first driven gear.

10. The detection device according to claim 6 or 8, characterized in that: 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.

11. The detection device according to claim 4, characterized in that: Also includes: a second driving gear, the second driving gear being coaxially arranged with the first driven gear and rotating synchronously; a second driven gear, the second driven gear being engaged with the second driving gear and being driven to rotate by the second driven gear; as well as a servo, the servo being detachably connected to the second driven gear, wherein when the servo is detached from the second driven gear, the servo does not apply damping to the second driven gear, and when the servo is coupled to the second driven gear, the servo provides damping to the second driven gear.

12. The detection device according to claim 11, characterized in that: 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.

13. A wearable device, characterized in that: The invention comprises the detection device according to any one of claims 1 to 12.

14. The wearable device according to claim 13, wherein: Also includes: The 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.

15. The wearable device according to claim 14, wherein: One of the detection devices is rotatably disposed on the main body via a rod member, such that the detection device has a third rotation axis relative to the main body.

16. The wearable device according to claim 15, wherein: 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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