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Index finger distal knuckle driver

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

Inactive Publication Date: 2018-03-06
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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  • Index finger distal knuckle driver
  • Index finger distal knuckle driver
  • Index finger distal knuckle driver

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: as image 3 As shown, the far knuckle driver of the index finger includes a driving part 111, and the driving part 111 includes a micromotor 40 and a clutch device, and the clutch device is composed of a clutch device friction plate 41, a friction plate slide bar 42, and a return tension spring. 43. The clutch device cover 44 is composed of the friction plate sliding rod 42 and the shaft of the micro motor 40, and the two clutch device friction plates 41 are inserted into the two ends of the friction plate sliding rod 42 respectively, and the two clutch device friction plates 41 are connected Return extension spring 43 is arranged, and clutch device cover 44 is inserted into the axle of micromotor 40, is sliding contact between the axle of clutch device cover 44 and micromotor 40, and clutch device cover 44 is provided with transmission gear. Action implementation process: when the rotation speed of the micro motor 40 is higher than a c...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 with image 3 As shown, the index finger distal knuckle driver includes a driving component 111 , an angle sensor 18 , a rocker arm 19 , a gear box 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 Component connecti...

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Abstract

The invention discloses an index finger distal knuckle driver and relates to a device for detecting the movement state of a distal knuckle of a hand and feeding back force borne by a distal knuckle ofa slave hand. In order to overcome the defects that a knuckle measurement mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complex, the structure is not simple, maintenance is difficult, bidirectional active driving cannot be achieved and the price is high, a knuckle detection mechanism and a force feedback mechanism are integrated into awhole, the unique connection mode and the ingenious knuckle measurement point layout are adopted, when an operator uses the device, a detected finger can keep flexible to the greatest extent, the movement state can be detected accurately, the distal knuckle of the controlled slave hand can keep collaborative and consistent action with the distal knuckle of the corresponding finger of the operator,the borne force condition of the slave hand in the specific working environment can be fed back to the operator, and the virtual reality or teleoperation immediacy sense is enhanced.

Description

technical field [0001] The invention relates to a device which detects the motion state of the far knuckle 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 is t...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0241
Inventor 苏茂
Owner 苏茂
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