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Minitype finger joint force feedback unit

A feedback unit and joint force technology, applied in manipulators, manufacturing tools, etc., can solve the problems of expensive force feedback data gloves, complex systems, and difficult maintenance

Inactive Publication Date: 2015-04-29
苏茂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the disadvantages of the existing force feedback data gloves, such as high price, complex system, and difficult maintenance, and proposes a combination of an external angle sensor and a joint two-way active drive device, which is used to detect the movement information of human hand joints. At the same time, it also converts the feedback force sensory information into a force or torque that directly acts on the human hand, which greatly simplifies the complex force feedback data glove system

Method used

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  • Minitype finger joint force feedback unit
  • Minitype finger joint force feedback unit
  • Minitype finger joint force feedback unit

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: as image 3 As shown, the micro-finger joint force feedback unit includes a driving part 111, and the driving part 111 includes a micro-motor 40 and a clutch, and the clutch is composed of a clutch friction plate 41, a friction plate slide bar 42, a return tension spring 43, The clutch cover 44 is composed of the friction plate sliding rod 42 and the shaft of the micro motor 40, and the two clutch friction plates 41 are inserted into the two ends of the friction plate sliding bar 42 respectively, and a return tension spring is connected between the two clutch friction plates 41 43. The clutch cover 44 is inserted into the shaft of the micro motor 40, and the clutch cover 44 is in sliding contact with the shaft of the micro motor 40, and the clutch cover 44 is provided with transmission gears. Action implementation process: when the rotation speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 ove...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 and image 3 As shown, the miniature finger joint force feedback unit includes a driving component 111 , an angle sensor 18 , a rocker arm 19 , a gear case cover 51 , a gear case cover 52 and a knuckle base 53 . The knuckle base 53 is provided with a hole seat M and a row of mounting holes Q for ball heads 20 or screws 24, and the angle sensor 18 is fixed in the hole seat M of the knuckle base 53 by screws 36, The shaft of the angle sensor 18 in the hole seat M is fixedly connected with the rocking arm 19 by a screw 35, the gear axis on the rocking arm 19 coincides with the axis of the rocking arm rotation, and the gear of the rocking arm 19 is decelerated The cooperation of the gear set 60 is meshed with the gear of the driving part 111, the driving part 111 is installed on the knuckle base 53, the other end of the rocker arm 19 is fixed to the ball head 20, and the ball head 20 is connected to the correspondi...

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Abstract

The invention discloses a minitype finger joint force feedback unit and relates to a device capable of detecting human finger motion states and feeding force applied on the corresponding human finger joints of a manipulator back. In order to solve the problem that a joint measuring mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complicated and bloated in the structure and difficulty to maintain and overcome the defect that bidirectional active driving cannot be realized and price is high, the joint detecting mechanism and the force feedback mechanism are integrated, and joint measuring points are arranged in the unique and ingenious connection mode. Accordingly, when operating the equipment, operators can keep most flexibly use the detected fingers, motion states can be accurately detected, the finger joints of the manipulator can be controlled to be coordinative to the corresponding finger joints of the operators, and stress conditions of the manipulator in the specific operating environment can be fed back to the operators so as to enhance field feeling of virtual or remote operation.

Description

technical field [0001] The invention relates to a device which detects the movement state of human fingers and has the function of two-way feedback force. Background technique [0002] Due to the development of science and technology, robots are gradually being used in an increasing range. As a reliable and mature robot, teleoperation robots are widely used in various dangerous, complex and inaccessible environments. It uses a very reliable control method, which is directly controlled by the operator's instructions. As the tasks performed by teleoperated robots become more and more complex, people put forward higher requirements for their flexibility while pursuing reliability, and it is necessary to implement teleoperation on complex manipulators to control the movement of multiple fingers of the manipulator. Multiple joints move together to achieve specific functions, which requires the use of data gloves, and the data glove with force feedback function is the most effect...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J3/00
Inventor 苏茂
Owner 苏茂
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