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Little finger force feedback device

A feedback device, little finger technology, applied in manipulators, manufacturing tools, etc., can solve the problems of complex system, difficult maintenance, and expensive force feedback data gloves, etc.

Inactive Publication Date: 2015-06-03
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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Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0018] Specific implementation mode one: as figure 2 As shown, the little finger force feedback device 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, and a clutch cover 44. The friction plate slide bar 42 is fixedly connected to the shaft of the micro motor 40, the two clutch friction plates 41 are inserted into the two ends of the friction plate slide bar 42 respectively, and a return tension spring 43 is connected between the two clutch friction plates 41, and the clutch The 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 ...

specific Embodiment approach 2

[0019] Specific implementation mode two: as figure 1 , Figure 4 and Figure 5 As shown, the metacarpophalangeal joint detection driving mechanism 108 includes a driving component 111 , a rocker arm 27 , a metacarpophalangeal joint base 29 , a connecting rod 38 , a gear case cover 50 and two angle sensors 18 . The bottom of metacarpophalangeal joint base 29 (embedded bearing 39) is affixed to the shaft of an angle sensor 18 by screws 36, and said metacarpophalangeal joint base 29 can rotate around the axis of bottom angle sensor 18. The outer edge of the base 29 bottom is provided with a gear 59, the axis of the gear 59 coincides with the axis of the angle sensor 18 at the bottom of the metacarpophalangeal joint base 29, and another angle sensor 18 is fixed on the bottom of the metacarpophalangeal joint base 29 by a screw 35. In the hole seat L, the shaft of the angle sensor 18 and one end of the rocking arm 27 (embedded bearing 23) are fixedly connected by a screw 36, and t...

specific Embodiment approach 3

[0020] Specific implementation mode three: as figure 1 , Figure 6 and Figure 7 As shown, the little finger joint detection driving mechanism 110 includes a driving component 111 , an angle sensor 18 , a rocker arm 19 , a gear case cover 57 and a knuckle base 58 . The knuckle base 58 is provided with a hole seat P and a row of mounting holes R for the screws 24, the angle sensor 18 is fixed in the hole seat P of the knuckle base 58 by screws 36, and the hole seat The shaft of the angle sensor 18 in the P is fixedly connected with the rocking arm 19 by a screw 35, and 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 passes through the reduction gear set 60. Cooperate with the gear of the driving part 111 , the driving part 111 is installed on the knuckle base 58 , and the other end of the rocker arm 19 is fixedly connected to the ball head 20 .

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Abstract

The invention discloses a little finger force feedback device, and relates to a device capable of detecting the motion state of hand fingers and feeding back force borne by corresponding finger joints of a slave hand. The device solves the problems that according to an existing force feedback device, a joint measuring mechanism and a force feedback mechanism are separated, a system is complex in structure and bloated, maintenance is difficult, double-direction active driving cannot be achieved, and price is high. A joint detection mechanism and the force feedback mechanism are integrated, and the unique connecting mode and the ingenious joint measuring point layout are adopted, so that when an operator uses the device, the detected fingers can be kept flexible to be greatest extent; the motion state can be precisely detected, so that the motion of the corresponding finger joints of the controlled slave hand and the motion of the corresponding finger joints of the operator are coordinated consistently; and the stress condition of the slave hand in the specific working environment can be fed back to the operator, so that the virtual reality or the remote operation immediacy sense can be enhanced.

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): B25J3/00B25J19/00
Inventor 苏茂
Owner 苏茂
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