CN116852336A - Upper body teleoperation force feedback equipment for double-arm robot - Google Patents
Upper body teleoperation force feedback equipment for double-arm robot Download PDFInfo
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- CN116852336A CN116852336A CN202310916628.5A CN202310916628A CN116852336A CN 116852336 A CN116852336 A CN 116852336A CN 202310916628 A CN202310916628 A CN 202310916628A CN 116852336 A CN116852336 A CN 116852336A
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- joint module
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- 210000000707 wrist Anatomy 0.000 claims abstract description 55
- 229910000831 Steel Inorganic materials 0.000 claims description 54
- 239000010959 steel Substances 0.000 claims description 54
- 210000000245 forearm Anatomy 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 26
- 210000000323 shoulder joint Anatomy 0.000 claims description 23
- 230000003993 interaction Effects 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 4
- 230000002452 interceptive effect Effects 0.000 claims 1
- 241000282414 Homo sapiens Species 0.000 abstract description 25
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000005540 biological transmission Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 210000001364 upper extremity Anatomy 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 231100000817 safety factor Toxicity 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention discloses upper body teleoperation force feedback equipment for a double-arm robot. The invention comprises a wearable arm exoskeleton and a wearable back support, wherein the wearable arm exoskeleton is respectively arranged on two sides of the wearable back support. Each wearable arm exoskeleton is a seven-degree-of-freedom arm skeleton and is formed by sequentially connecting a three-degree-of-freedom wrist assembly, a one-degree-of-freedom elbow assembly and a three-degree-of-freedom shoulder assembly. The sudden stop and the refined teleoperation function of the exoskeleton can be controlled by operating the handle; capturing the motion angle of a human body through the joint module, and feeding back a certain acting force of the human body by the joint module motor according to the environment information of the remote robot; the back gesture sensor can capture back movement information of a human body, and the upper body teleoperation function of the double-arm robot can be realized by combining the movement information of the double arms. The invention realizes the teleoperation function of the upper body of the double-arm robot and enhances the flexibility of the teleoperation double-arm robot.
Description
Technical Field
The invention relates to upper body exoskeleton equipment in the field of exoskeleton robots, in particular to upper body teleoperation force feedback equipment for a double-arm robot.
Background
With the continuous development of robot technology, various robots are widely applied to aspects of human production and living. However, due to the development limitation of the hardware and software of the robot, the robot cannot realize high intelligence, can not effectively analyze and process complex environments like human beings and timely respond to emergency conditions, and cannot realize some fine operation functions. For example, in special working scenes such as aerospace, nuclear waste treatment, deep sea detection, remote equipment detection and maintenance, remote surgery and the like, operators cannot perform on-site operation due to objective condition limitation or personal safety factors, and the operation environment and tasks are complex and changeable and need flexible treatment, so that the operation cannot be effectively implemented by means of the existing robot system.
In this case, a teleoperated robotic system provides a solution. The intelligent and decision-making ability of human beings and the execution ability of the robot can be effectively combined through the teleoperation system, and the advantages of the two parties are fully exerted. Existing teleoperation schemes fall broadly into two categories: master-slave teleoperation system based on desktop teleoperation equipment and master-slave teleoperation system based on isomorphic mechanical arms. The desktop teleoperation device has small working space and no mobility. The isomorphic mechanical arm requires the mechanical arms with the same structure to be adopted by both the master and the slave, has large weight and high cost, is not intuitive, and is uncoordinated with the movement of the upper limbs and the arms of the human body. The upper limb exoskeleton teleoperation force feedback device can realize better coordinated motion with arms of a human body, the working space is large, synchronous motion of an operator and a remote robot can be realized when the operator wears the exoskeleton device to perform teleoperation tasks, visual effects are achieved, and meanwhile, the acting force of the remote robot is fed back through the exoskeleton to provide a sense of presence for operators.
Disclosure of Invention
The invention aims to provide upper body teleoperation force feedback equipment for a double-arm robot, which aims to solve the problems that the existing teleoperation equipment is heavy, does not have mobility and has poor coordination with arms of a human body, realize the upper body teleoperation function of the double-arm robot and enhance the flexibility of the teleoperation double-arm robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention comprises a wearable arm exoskeleton and a wearable back support, wherein at least one wearable arm exoskeleton is arranged on the peripheral side of the wearable back support, each wearable arm exoskeleton is a seven-degree-of-freedom arm skeleton and is formed by sequentially connecting a three-degree-of-freedom wrist assembly, a one-degree-of-freedom elbow assembly and a three-degree-of-freedom shoulder assembly.
The three-degree-of-freedom shoulder assembly comprises a first joint module, a first shoulder joint connecting rod, a second joint module and a large arm rotation mechanism;
the first joint module is fixedly arranged on one side of the upper portion of the wearable back support, one end of the first shoulder joint connecting rod is fixedly connected with an output shaft of the first joint module, the other end of the first shoulder joint connecting rod is fixedly provided with the second joint module, an output shaft of the second joint module is fixedly connected with the upper portion of the second shoulder joint connecting rod, and the lower portion of the second shoulder joint connecting rod is connected with the big arm slewing mechanism.
The large arm slewing mechanism comprises a large arm upper connecting rod, a guide rail component, a large arm lower connecting rod, a second steel wire rope driven wheel and a third joint module;
the upper part of the large arm upper connecting rod is fixedly connected with the lower part of the second shoulder joint connecting rod, a third joint module is fixedly arranged on the outer side of the lower part of the large arm upper connecting rod, an output shaft of the third joint module is coaxially and fixedly connected with a second steel wire rope driven wheel, the guide rail component comprises a guide rail sliding block and a semicircular guide rail, the semicircular guide rail is arranged on the inner side of the lower part of the large arm upper connecting rod through the guide rail sliding block, a groove is formed in the outer circumferential side surface of the semicircular guide rail, two ends of the second steel wire rope are respectively fixed on two side surfaces of the semicircular guide rail, the middle part of the second steel wire rope is wound in the second steel wire rope driven wheel, and the second steel wire rope between the second steel wire rope driven wheel and the semicircular guide rail is in a tensioning state; the elbow component with one degree of freedom is fixedly arranged below the large arm lower connecting rod.
The upper part of the large-arm lower connecting rod is provided with a semicircular frame, and the size of the semicircular frame is larger than that of the semicircular guide rail.
The one-degree-of-freedom elbow assembly comprises an elbow forearm connecting rod, a fourth joint module and an elbow forearm connecting rod;
the elbow large arm connecting rod is fixedly connected with the lower part of the three-degree-of-freedom shoulder assembly, a fourth joint module is fixedly arranged on the elbow large arm connecting rod, an output shaft of the fourth joint module is connected with the elbow forearm connecting rod, and the elbow forearm connecting rod is fixedly connected with the three-degree-of-freedom wrist assembly.
The wrist assembly with three degrees of freedom comprises a man-machine interaction operation handle, a tail end connecting rod, a seventh joint module, a seventh joint connecting rod, a sixth joint module, a sixth joint connecting rod and a wrist rotation mechanism;
the wrist rotation mechanism is connected with the elbow component with one degree of freedom, and the sixth joint connecting rod is fixedly connected with the wrist rotation mechanism; the output shaft of the seventh joint module is fixedly connected with the tail end connecting rod, and the tail end connecting rod is connected with the man-machine interaction operation handle.
The wrist rotation mechanism comprises a forearm inner ring, a wrist rotation first connecting rod, a bearing, a forearm outer ring, a wrist rotation second connecting rod, a first steel wire rope, a fifth joint module and a first steel wire rope driven wheel.
One end part of the wrist rotation first connecting rod is fixedly connected with the sixth joint connecting rod, the other end part of the wrist rotation first connecting rod is fixedly connected with the end surface of the small arm inner ring, the small arm inner ring is in transition fit with the inner ring of the bearing, the small arm outer ring is sleeved outside the outer ring of the bearing, the wrist rotation second connecting rod is fixedly installed on the outer end surface of the small arm outer ring, the wrist rotation second connecting rod is connected with a degree-of-freedom elbow component, a fifth joint module is fixedly installed in the wrist rotation second connecting rod, an output shaft of the fifth joint module is coaxially fixedly connected with the first steel wire rope driven wheel, two ends of the first steel wire rope are respectively fixedly installed on the small arm inner ring, the middle part of the first steel wire rope is wound in the first steel wire rope driven wheel, and the first steel wire rope between the small arm inner ring and the first steel wire rope driven wheel is in a tensioning state.
The wearable back support comprises a back connecting plate, a waist support frame, an adjustable right shoulder strap and an adjustable left shoulder strap;
the left and right sides of the central axis of the back connecting plate are respectively provided with an adjustable left shoulder strap and an adjustable right shoulder strap, the lower part of the back connecting plate is provided with a waist support frame, and an adjustable waistband is arranged in the waist support frame.
The middle part of back connecting plate has seted up the installation notch for place mobile battery package, controller and attitude sensor.
The joint module comprises a joint servo motor, an absolute value encoder and a torque sensor, wherein the absolute value encoder is used for collecting the rotation angle of the joint servo motor, and the torque sensor is used for measuring the torque of the joint servo motor.
The beneficial effects of the invention are as follows:
the invention has compact and portable overall structure, seven degrees of freedom of the exoskeleton are arranged to be in line with skeleton distribution of a human body, and can achieve better cooperative movement with the human body, and each connecting rod has adjustability and strong adaptability. The exoskeleton each joint module can capture the motion gesture of a human body and can also feed back a certain acting force to the human body, and the torque sensor arranged on the exoskeleton each joint module can improve the torque control precision. The transmission system of the two slewing mechanisms of the exoskeleton adopts a steel wire rope transmission mode, and is lighter and more accurate than a tooth gear transmission mode. The invention wears the two exoskeletons on the body by using the wearable back support, so that the teleoperation equipment has mobility. The remote control function of the upper body of the remote robot can be realized by combining the sensing and remote control of the double arms and the sensing of the gesture sensor at the back, the complete man-machine synchronization of the remote robot and an operator can be realized, and the intuitiveness is strong.
Drawings
Fig. 1 is a schematic diagram of an upper body teleoperation force feedback device for a double-arm robot according to the present invention;
FIG. 2 is a view of a three degree of freedom shoulder assembly;
FIG. 3 is a diagram of a three degree of freedom wrist assembly;
FIG. 4 is a schematic view of a wrist swing mechanism;
FIG. 5 is a side rear view of the wrist swing mechanism;
FIG. 6 is a rear view of the wearable back support;
in the figure: the wearable back support 100, the back connecting plate 101, the mounting hole 1011, the mounting groove 102, the lumbar support bracket 103, the adjustable right shoulder strap 110, the adjustable left shoulder strap 120, the adjustable waist strap 130, the wearable arm exoskeleton 200, the three-degree-of-freedom shoulder assembly 210, the first joint module 211, the first shoulder joint link 212, the second joint module 213, the second shoulder joint link 214, the third joint module 215, the upper arm link 216, the second wire rope driven wheel 217, the lower arm link 218, the second wire rope 219, the guide rail slider 220, the guide rail 221, the one-degree-of-freedom elbow assembly 230, the elbow large arm link 231, the fourth joint module 232, the elbow forearm link 233, the three-degree-of-freedom wrist assembly 240, the man-machine interaction handle 241, the end link 242, the seventh joint coupler 243, the seventh joint module 244, the seventh joint coupler 245, the sixth joint coupler 246, the sixth joint link 247, the sixth joint link 248, the first wire rope driven wheel 249, the third joint module 250, the first wire rope 251, the first wire rope 253, the first lid 252, the front lid 252, the bearing lid 254, the lower arm lid 256, the lower arm lid 257, the wrist lid 258, and the lower lid.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the invention aims to provide upper body teleoperation force feedback equipment for a double-arm robot, which aims to solve the problems that the existing teleoperation equipment is heavy, does not have mobility and has poor coordination with arms of a human body, realize the upper body teleoperation function of the double-arm robot and enhance the flexibility of the teleoperation double-arm robot.
As shown in fig. 1, the present invention includes a wearable arm exoskeleton 200 and a wearable back support 100, and one wearable arm exoskeleton (200) is installed at each side of the wearable back support (100). Each wearable arm exoskeleton 200 is a seven-degree-of-freedom arm skeleton, and corresponds to seven-degree-of-freedom motion of a human arm, and is formed by sequentially connecting a three-degree-of-freedom wrist assembly 240, a one-degree-of-freedom elbow assembly 230 and a three-degree-of-freedom shoulder assembly 210. The wrist assembly 240, the elbow assembly 230, and the shoulder assembly 210 correspond to wrist movement, elbow movement, and shoulder movement of the upper limb of the human body, respectively, and the wrist assembly 240, the elbow assembly 230, and the shoulder assembly 210 are sequentially connected by links. All be equipped with a plurality of screw holes at a plurality of millimeters of intervals on each connecting rod in order to adjust the length, the crowd of the different physical dimensions of adaptation different heights is dressed and is used, adjusts conveniently. When the two arms of an operator move, the remote robot is controlled to move correspondingly, the absolute value encoder on the joint module transmits the acquired joint movement information to the upper computer, the upper computer drives the remote robot to move correspondingly, when the remote robot and the environment generate force information, the force information is sent to the joint servo motor in the joint module through the upper computer, and the joint servo motor performs back driving to realize force feedback. The operator can back up the wearable back support 100, nest the arms in the wearable arm exoskeleton 200, and begin teleoperation of the remote robot.
As shown in fig. 1 and 2, the three degree of freedom shoulder assembly 210 includes a first joint module 211, a first shoulder joint link 212, a second shoulder joint link 214, a second joint module 213, and a forearm swing mechanism; the first joint module 211 is fixedly installed on one side of the upper portion of the back connecting plate 101 of the wearable back support 100, the first shoulder joint connecting rod 212 is an L-shaped connecting rod, one end of the first shoulder joint connecting rod 212 is fixedly connected with an output shaft of the first joint module 211, the other end of the first shoulder joint connecting rod 212 is fixedly provided with the second joint module 213, an output shaft of the second joint module 213 is fixedly connected with the upper portion of the second shoulder joint connecting rod 214, and the lower portion of the second shoulder joint connecting rod 214 is connected with the upper portion of the upper arm connecting rod 216 of the large arm slewing mechanism.
The large arm slewing mechanism comprises a large arm upper connecting rod 216, a guide rail component, a large arm lower connecting rod 218, a second steel wire rope 219, a second steel wire rope driven wheel 217 and a third joint module 215; the upper portion of the upper arm connecting rod 216 is fixedly connected with the lower portion of the second shoulder joint connecting rod 214, a third joint module 215 is fixedly installed on the outer side of the lower portion of the upper arm connecting rod 216, an output shaft of the third joint module 215 is fixedly connected with a second steel wire rope driven wheel 217 coaxially, a guide rail component comprises a guide rail sliding block 220 and a semicircular guide rail 221, the semicircular guide rail 221 is installed on the inner side of the lower portion of the upper arm connecting rod 216 through the guide rail sliding block 220, the upper arm connecting rod 216 is provided with threaded holes and is connected with the two guide rail sliding blocks 220 through bolts, a lower arm connecting rod 218 is fixedly installed under the semicircular guide rail 221, the upper portion of the lower arm connecting rod 218 is arranged to be a semicircular ring frame and is matched with the shape of the semicircular guide rail 221, and the semicircular guide rail 221 is arranged to conform to the movement range of human body large arm internal rotation on one hand, and interference between the lower arm connecting rod and a human body is avoided. The semicircular guide rail 221 is provided with a groove on the outer circumferential side surface, so that the steel wire rope is limited conveniently, and the deviation and the sliding of the steel wire rope are prevented from affecting the transmission effect. Bolts with two ends of the second steel wire rope 219 fixed on two side surfaces of the semicircular guide rail 221 respectively, wherein the middle part of the second steel wire rope 219 is wound in the second steel wire rope driven wheel 217, the second steel wire rope 219 is wound in the second steel wire rope driven wheel 217 at least one circle, and the second steel wire rope 219 between the second steel wire rope driven wheel 217 and the semicircular guide rail 221 is in a tensioning state; the second wire rope driven pulley 217 is threaded on the surface so that the second wire rope 219 is wound and transmits friction. When the human body drives the large arm lower connecting rod 218 to move around the axis of the human body arm, the second steel wire rope 219 fixed on the large arm lower connecting rod pulls the second steel wire rope driven wheel 217 to move, and therefore the transmission of the movement is completed. An elbow forearm link 231 of a one degree of freedom elbow assembly 230 is fixedly mounted under the forearm lower link 218. The transmission mode of the large arm slewing mechanism adopts steel wire rope transmission, and compared with gear transmission, the weight is reduced, the cost is reduced and the transmission precision is improved.
The one degree of freedom elbow assembly 230 includes an elbow forearm link 233, a fourth joint module 232, and an elbow forearm link 231; the elbow large arm connecting rod 231 is fixedly connected with the lower part of the large arm lower connecting rod 218 of the three-degree-of-freedom shoulder assembly 210, the elbow large arm connecting rod 231 is fixedly provided with a fourth joint module 232, an output shaft of the fourth joint module 232 is connected with the elbow large arm connecting rod 231, and the elbow front arm connecting rod 233 is fixedly connected with a wrist rotation second connecting rod 257 of a wrist rotation mechanism in the three-degree-of-freedom wrist assembly 240.
As shown in fig. 3, 4 and 5, the three degree of freedom wrist assembly 240 includes a human-machine interaction handle 241, a tip link 242, a seventh joint module 244, a seventh joint coupling 243, a seventh joint link 245, a sixth joint module 247, a sixth joint coupling 246, a sixth joint link 248 and a wrist swing mechanism;
the wrist rotation second link 257 of the wrist rotation mechanism is connected with the elbow forearm link 233 of the elbow component (230) with one degree of freedom, and the sixth joint link 248 is fixedly connected with the wrist rotation first link 252 of the wrist rotation mechanism; a sixth joint module 247 is fixedly arranged in the sixth joint connecting rod (248), an output shaft of the sixth joint module 247 is fixedly connected with a seventh joint connecting rod 245 through a sixth joint coupler 246, a seventh joint module 244 is fixedly arranged in the seventh joint connecting rod 245, an output shaft of the seventh joint module 244 is fixedly connected with a tail end connecting rod 242 through the seventh joint coupler 243, the tail end connecting rod 242 is connected with a man-machine interaction operating handle 241, and the man-machine interaction operating handle 241 is arranged at the front side of an operator; wherein, two fastening screw holes are respectively arranged on the seventh joint coupling 243 and the sixth joint coupling 246, and the fastening screw holes are used for fixing the shaft extension ends of the motors of the seventh joint module 244 and the sixth joint module 247.
The man-machine interaction operation handle 241 is arranged at the tail end of the exoskeleton of the wearable arm 200, and the shape of the man-machine interaction operation handle is a curved shape which accords with the ergonomics, so that the man can grasp the hand conveniently. The man-machine interaction operation handle is provided with two buttons and a rocker, the first button is used for controlling the clamping jaw of the remote robot to realize the opening and closing operation function, the second button is used for realizing the scram function of the upper body teleoperation force feedback device, and the rocker is used for realizing the function of the fine teleoperation of the upper body teleoperation force feedback device.
The wrist rotation mechanism comprises a forearm inner ring 254, a wrist rotation first connecting rod 252, a bearing front cover 253, a bearing 255, a forearm outer ring 256, a wrist rotation second connecting rod 257, a bearing rear cover 258, a first steel wire rope 251, a fifth joint module 250 and a first steel wire rope driven wheel 249. One end of the wrist rotation first connecting rod 252 is fixedly connected with the sixth joint connecting rod 248, the other end of the wrist rotation first connecting rod 252 is fixedly connected with the end face of the forearm inner ring 254, the forearm inner ring 254 is in transition fit with the inner ring of the bearing 255, the forearm inner ring 254 and the inner ring of the bearing 255 rotate coaxially, and the bearing 255 is a thin-wall bearing. The two end faces of the inner forearm ring 254 are respectively provided with threaded holes, the front bearing cover 253 and the rear bearing cover 258 are connected with the inner forearm ring 254 through screws, one end of the inner forearm ring 254 matched with the inner ring of the bearing 255 is provided with a boss to limit the inner ring of the bearing 255, the outer ring of the bearing 255 is sleeved with the outer forearm ring 256, the outer forearm ring 256 is in transition fit with the outer ring of the bearing 255, one end of the outer forearm ring 256 matched with the outer ring of the bearing 255 is provided with a stop dog to limit the outer ring of the bearing 255, the outer end face of the outer forearm ring 256 is fixedly provided with a wrist rotation second connecting rod 257, the wrist rotation second connecting rod 257 is connected with the elbow front arm connecting rod 233 of the elbow assembly 230, a fifth joint module 250 is fixedly arranged in the wrist rotation second connecting rod 257, an output shaft of the fifth joint module 250 is fixedly connected with the driven wheel 249 of a first steel wire rope, the axis of the driven wheel 249 is parallel to the axis of the bearing 255, two ends of the driven wheel 249 of the first steel wire rope 251 are respectively fixedly arranged in the inner forearm ring 254 through a wire locking device, the surface of the driven wheel 249 is provided with threads to wind the first steel rope 251, and at least one first steel rope is wound around the driven wheel 249, at least one first steel rope is wound around the first steel rope, and at least one driven wheel 251 is wound around the first steel rope, and at least one driven steel rope is wound around the driven wheel, at least one steel rope is. The first wire rope 251 between the forearm inner ring 254 and the first wire rope driven wheel 249 is in tension.
The joint module comprises a joint servo motor, an absolute value encoder and a torque sensor, wherein the absolute value encoder is used for collecting the rotation angle of the joint servo motor, and the torque sensor is used for measuring the torque of the joint servo motor.
As shown in fig. 6, the wearable back support 100 includes a back connection plate 101, a lumbar support bracket 103, an adjustable right shoulder strap 110, and an adjustable left shoulder strap 120; mounting holes 1011 are respectively formed on two sides of the back connecting plate 101 and are used for mounting the first joint module 211 of the wearable arm exoskeleton 200. The left and right sides of the central axis of the back connection plate 101 are respectively provided with an adjustable left shoulder strap 120 and an adjustable right shoulder strap 110, the lower part of the back connection plate 101 is provided with a waist support frame 103, and an adjustable waistband 130 is arranged in the waist support frame 103. The operator can wear the teleoperated force feedback device on the body through the adjustable left shoulder strap 120 and the adjustable right shoulder strap 110, and the adjustable waist strap 130 can prevent deflection of the device, enhancing stability. The back connecting plate 101 is attached to the back of the human body and is filled with a flexible buffer material. The insides of the adjustable right shoulder strap 110, the adjustable left shoulder strap 120 and the adjustable waist strap 103 are filled with soft cushioning materials, so that comfort is enhanced.
The middle of the back connection plate 101 is provided with a mounting notch 102 for placing a mobile battery pack, a controller, and an attitude sensor. The gesture sensor is arranged at the central axis on the back connecting plate 101, the control of turning over, bending down and the like of the slave robot is realized by resolving the gesture sensor to distinguish various gesture behaviors of the back of the human body, one surface of the back connecting plate 101 is attached to the back of the human body, and the width dimension of the back connecting plate is consistent with the width dimension of the back of the human body.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (10)
1. The utility model provides a teleoperation force feedback equipment towards upper body of both arms robot, its characterized in that includes wearable arm ectoskeleton (200) and wearable back support (100), and at least one wearable arm ectoskeleton (200) is installed in the week side of wearable back support (100), and every wearable arm ectoskeleton (200) is seven degrees of freedom arm skeletons, by three degree of freedom wrist subassembly (240), one degree of freedom elbow subassembly (230) and three degree of freedom shoulder subassembly (210) link to each other in proper order and constitute.
2. The upper body teleoperated force feedback device for a two-arm robot of claim 1, wherein the three degree of freedom shoulder assembly (210) comprises a first joint module (211), a first shoulder joint link (212), a second shoulder joint link (214), a second joint module (213), and a forearm swing mechanism;
the first joint module (211) is fixedly arranged on one side of the upper portion of the wearable back support (100), one end of the first shoulder joint connecting rod (212) is fixedly connected with an output shaft of the first joint module (211), the other end of the first shoulder joint connecting rod (212) is fixedly provided with the second joint module (213), an output shaft of the second joint module (213) is fixedly connected with the upper portion of the second shoulder joint connecting rod (214), and the lower portion of the second shoulder joint connecting rod (214) is connected with the big arm rotating mechanism.
3. A teleoperated force feedback device for an upper body of a two-arm robot according to claim 2, characterized in that the boom swing mechanism comprises a boom upper link (216), a rail member, a boom lower link (218), a second wire rope (219), a second wire rope driven wheel (217) and a third joint module (215);
the upper part of the large arm upper connecting rod (216) is fixedly connected with the lower part of the second shoulder joint connecting rod (214), a third joint module (215) is fixedly arranged on the outer side of the lower part of the large arm upper connecting rod (216), an output shaft of the third joint module (215) is fixedly connected with a second steel wire rope driven wheel (217) coaxially, a guide rail component comprises a guide rail sliding block (220) and a semicircular guide rail (221), the semicircular guide rail (221) is arranged on the inner side of the lower part of the large arm upper connecting rod (216) through the guide rail sliding block (220), a groove is formed in the outer circumferential side surface of the semicircular guide rail (221) of the large arm lower connecting rod (218) fixedly arranged below the semicircular guide rail (221), two ends of a second steel wire rope (219) are respectively fixed on two side surfaces of the semicircular guide rail (221), and the middle part of the second steel wire rope (219) is wound in the second steel wire rope driven wheel (217), and the second steel wire rope (219) between the second steel wire rope driven wheel (217) and the semicircular guide rail (221) is in a tensioning state; a degree of freedom elbow assembly (230) is fixedly mounted under the large arm lower link (218).
4. A teleoperated force feedback device for an upper body of a two-arm robot according to claim 3, characterized in that the upper part of the lower large arm link (218) is provided as a semi-circular ring frame, the semi-circular ring frame being larger in size than the semi-circular guide rail (221).
5. A teleoperated force feedback device for an upper body of a two-arm robot according to claim 1, characterized in that the one degree of freedom elbow assembly (230) comprises an elbow forearm link (233), a fourth joint module (232) and an elbow forearm link (231);
the elbow large arm connecting rod (231) is fixedly connected with the lower part of the three-degree-of-freedom shoulder assembly (210), a fourth joint module (232) is fixedly installed on the elbow large arm connecting rod (231), an output shaft of the fourth joint module (232) is connected with the elbow front arm connecting rod (233), and the elbow front arm connecting rod (233) is fixedly connected with the three-degree-of-freedom wrist assembly (240).
6. The upper body teleoperational force feedback device for a two-arm robot of claim 1, wherein the three degree of freedom wrist assembly (240) comprises a human-machine interactive operation handle (241), a tip link (242), a seventh joint module (244), a seventh joint link (245), a sixth joint module (247), a sixth joint link (248), and a wrist swing mechanism;
the wrist rotation mechanism is connected with a freedom elbow component (230), and a sixth joint connecting rod (248) is fixedly connected with the wrist rotation mechanism; a sixth joint module (247) is fixedly arranged in the sixth joint connecting rod (248), an output shaft of the sixth joint module (247) is fixedly connected with a seventh joint connecting rod (245), a seventh joint module (244) is fixedly arranged in the seventh joint connecting rod (245), an output shaft of the seventh joint module (244) is fixedly connected with a tail end connecting rod (242), and the tail end connecting rod (242) is connected with a man-machine interaction operating handle (241).
7. The upper body teleoperation force feedback device for a double-arm robot according to claim 6, wherein the wrist rotation mechanism comprises a forearm inner ring (254), a wrist rotation first connecting rod (252), a bearing (255), a forearm outer ring (256), a wrist rotation second connecting rod (257), a first wire rope (251), a fifth joint module (250) and a first wire rope driven wheel (249).
One end part of a wrist rotation first connecting rod (252) is fixedly connected with a sixth joint connecting rod (248), the other end part of the wrist rotation first connecting rod (252) is fixedly connected with the end surface of a small arm inner ring (254), the small arm inner ring (254) is in transition fit with the inner ring of a bearing (255), a small arm outer ring (256) is sleeved outside the outer ring of the bearing (255), a wrist rotation second connecting rod (257) is fixedly arranged on the outer end surface of the small arm outer ring (256), the wrist rotation second connecting rod (257) is connected with a degree-of-freedom elbow component (230), a fifth joint module (250) is fixedly arranged in the wrist rotation second connecting rod (257), the output shaft of the fifth joint module (250) is coaxially fixedly connected with a first steel wire rope driven wheel (249), two ends of the first steel wire rope (251) are respectively fixedly arranged in the small arm inner ring (254), the middle part of the first steel wire rope (251) is wound in the first steel wire rope driven wheel (249), and the first steel wire rope (251) between the small arm inner ring (254) and the first steel wire rope driven wheel (249) is in a tensioning state.
8. The upper body teleoperated force feedback device for a two-arm robot of claim 1, wherein the wearable back support (100) comprises a back connection plate (101), a lumbar support frame (103), an adjustable right shoulder strap (110) and an adjustable left shoulder strap (120);
the left side and the right side of the central axis of the back connecting plate (101) are respectively provided with an adjustable left shoulder strap (120) and an adjustable right shoulder strap (110), the lower part of the back connecting plate (101) is provided with a waist support frame (103), and an adjustable waistband (130) is arranged in the waist support frame (103).
9. The upper body teleoperation force feedback device for a double-arm robot according to claim 1, wherein the middle part of the back connection board (101) is provided with a mounting notch (102) for placing a mobile battery pack, a controller, and an attitude sensor.
10. The upper body teleoperation force feedback device for a double-arm robot according to claim 1, wherein the joint module comprises a joint servo motor, an absolute value encoder for acquiring a rotation angle of the joint servo motor, and a torque sensor for measuring a torque of the joint servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310916628.5A CN116852336A (en) | 2023-07-25 | 2023-07-25 | Upper body teleoperation force feedback equipment for double-arm robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310916628.5A CN116852336A (en) | 2023-07-25 | 2023-07-25 | Upper body teleoperation force feedback equipment for double-arm robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426951A (en) * | 2023-12-21 | 2024-01-23 | 江西求是高等研究院 | Wearable upper limb rehabilitation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426951A (en) * | 2023-12-21 | 2024-01-23 | 江西求是高等研究院 | Wearable upper limb rehabilitation device |
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