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Human hand little finger joint detecting and driving mechanism

A driving mechanism and little finger technology, applied in manipulators, manufacturing tools, etc., can solve problems such as difficult maintenance, expensive force feedback data gloves, and complex systems

Inactive Publication Date: 2016-11-23
钦州市科海奇科技有限公司
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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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  • Human hand little finger joint detecting and driving mechanism
  • Human hand little finger joint detecting and driving mechanism
  • Human hand little finger joint detecting and driving mechanism

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: as image 3 As shown, the detection driving mechanism of the little finger joint of the human hand includes a driving part 111, and the driving part 111 includes a motor 40 and a clutch device. 43. The clutch device cover 44 is composed of the friction plate slide bar 42 and the shaft of the motor 40. The two clutch device friction plates 41 are respectively inserted into the two ends of the friction plate slide bar 42. The two clutch device friction plates 41 are connected with Return extension spring 43, clutch device cover 44 is inserted into the shaft of motor 40, is sliding contact between the shaft of clutch device cover 44 and motor 40, and clutch device cover 44 is provided with transmission gear. Action implementation process: when the rotation speed of the motor 40 is higher than a certain value, the two friction plates 41 of the clutch device overcome the pulling force of the return tension spring 43 and slide to the two ends...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 with image 3 As shown, the human little finger joint detection driving mechanism 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 ball head 20 or the screw 24, and the angle sensor 18 is fixed in the hole seat P of the knuckle base 58 by a screw 36, The shaft of the angle sensor 18 in the hole seat P is fixedly connected to the rocker arm 19 by a screw 35, the gear axis on the rocker arm 19 coincides with the axis of rotation of the rocker arm, and the gear of the rocker arm 19 is reduced by deceleration. The gear set 60 is engaged with the gears of the driving part 111, the driving part 111 is installed on the knuckle base 58, the other end of the rocker arm 19 is fixed to the ball head 20, and the ball head 20 is connected to the corresponding measured...

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Abstract

The invention discloses a human hand little finger joint detecting and driving mechanism, and relates to a device used for detecting the motion state of a human hand little finger and feeding back the force applied to little finger joints of a slave hand. The human hand little finger joint detecting and driving mechanism aims at overcoming the defects that an existing force feedback device joint measuring mechanism is separated from a force feedback mechanism, a system is complicated, the structure is bloated, maintenance is hard, bidirectional active driving cannot be achieved, and the cost is high. A joint detecting mechanism is integrated with a force feedback mechanism; further, a unique connection mode and an ingenious joint measuring point layout are adopted; an operator can keep the most flexibility of detected fingers when the mechanism is used, the motion state can be accurately detected, and the little finger joints of the controlled slave hand and corresponding little finger joints of the operator can be consistent in action; and furthermore the stress situation of the slave hand in a specific working environment can be fed back to the operator, so that the sense of immediacy for virtual reality or remote operation is enhanced.

Description

technical field [0001] The invention relates to a device which detects the movement state of the little finger of human hand 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 ...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 苏茂
Owner 钦州市科海奇科技有限公司
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