CN1586831A - Six-freedom remote control arm with gravity compensation and length regulation - Google Patents

Six-freedom remote control arm with gravity compensation and length regulation Download PDF

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Publication number
CN1586831A
CN1586831A CN 200410062753 CN200410062753A CN1586831A CN 1586831 A CN1586831 A CN 1586831A CN 200410062753 CN200410062753 CN 200410062753 CN 200410062753 A CN200410062753 A CN 200410062753A CN 1586831 A CN1586831 A CN 1586831A
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CN
China
Prior art keywords
arm
mechanism
operator
data
joint
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CN 200410062753
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Chinese (zh)
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CN1319703C (en
Inventor
黄强
张雷
刘秋生
王兴毅
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北京理工大学
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Priority to CNB2004100627531A priority Critical patent/CN1319703C/en
Publication of CN1586831A publication Critical patent/CN1586831A/en
Application granted granted Critical
Publication of CN1319703C publication Critical patent/CN1319703C/en

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Abstract

The present invention relates to data arm mechanism for remote operation job of robot. The data arm mechanism is one mechanical arm with six rotating joints, and each of rotating joints is provided with one potentiometer as angle sensor. The data arm has gravitational compensation mechanism and may be worn by operator for leading motion or may be drawn to required state without being worn, and it may stop in any position without need of auxiliary outside force. The data arm has length regulating mechanism for person of different arm length to wear. The present invention can detect the rotation angles of total six freedoms of the shoulder joint, elbow joint and wrist joint of the operator, and is suitable for control platform of remote operated robot and for being worn onto arm of the operator.

Description

Has the distant operation arm of gravity compensation and length-adjustable 6DOF

Affiliated technical field:

The invention belongs to the robot field, the arm that is mainly used in robot carries out distant operation control.It is applicable to teleoperation robot control platform, can be worn at extractions of taking exercises on people's the arm, acquisition operator's movable information.

Background technology:

Distant operation is an important technology of robot application, pass through remote-controlled operation platform, operating personnel can monitor and control distant place robot and finish various job tasks, thus make robot can replace human that can't touch at some in addition some jeopardize under the environment of human health or life security and finish various tasks.

General arm and the hand of relying on finished the complicated operations task in the mankind's various operation tasks.At present, be design and the arm mechanism of robot arm isomorphism to the common method of the distant operation of arm, arm mechanism is other to be put or is sleeved on operator's the arm.The operator wears arm mechanism and operates.System extracts the arm mechanism operating data and controls robot arm and move and finish distant operation task.Such arm mechanism mainly contains following shortcoming:

1. owing to the arm mechanism gravity effect, make troubles to operation.The operator need apply external force to arm and be used for keeping its operating position to overcome gravity for complete operation in operating process, is not easy to long-time operation; The operator removes external force later on because the effect of gravity is arranged, and arm returns to the sagging state of nature, can not keep operating position, is not easy to carry out continued operation.

2. arm mechanism length is fixed, the needs of the person's that is difficult to adapt to the different operating different arm length.Because natural person's arm length is different, might size not match on the fixing distant operator arm mechanism of mechanism's length is worn to different operating person's the arm, be difficult to realize accurate operation.

Summary of the invention:

For the problem of the gravity effect operation that solves distant operator arm mechanism with to different operating person's adaptability problem, make distant operation arm handled easily and adapt to operator with different arm length, the invention provides a kind of arm mechanism of cascaded structure, have the distant operating data arm of gravity compensation and length-adjustable 6DOF.

The technical solution used in the present invention is: data hand arm mechanism of the present invention is a mechanical arm with 6 rotary joints, and each rotary joint all is equipped with a potentiometer as angular transducer, and the position of rotation in this joint is corresponding one by one with the potentiometer anglec of rotation.The data arm is worn the motion of stretching, contract, lift, putting that can carry out forward and backward, right three directions on operator's right arm, and on the basis of stretching, contract, lift, putting, can rotate around upper arm axis and forearm axis; In order to allow the people of different brachiums can both wear this arm controller, the arm pipe central authorities at big arm and forearm have all designed the adjustable length regulating device respectively, and 5 grades of alternative brachiums are arranged respectively, regulate brachium by the screwed hole that changes the screw correspondence.Big arm lengths can be selected from 285mm to 245mm, and every grade differs 10mm; Little arm lengths can be selected from 240mm to 200mm, and every grade also differs 10mm, can be fit to that the about 150cm of height scope---the people of 180cm wears.Utilized rubber o-ring to increase friction in joint rotation place, making does not need the support of people or other object when arm stops at an arbitrary position, can not slide without authorization.

Description of drawings:

Below in conjunction with drawings and Examples the utility model is further specified.

Fig. 1 is the stereogram of data hand arm mechanism of the present invention.

Fig. 2 is the stretching structure figure of big arm of the present invention and forearm.

Fig. 3 is the structure chart of revolute pair 2A

Fig. 4 is the detent mechanism schematic diagram

Fig. 5 is the cutaway view of the version 2 in joint of the present invention

Among the figure: the big arm .7-of segmentum intercalaris .6-forearm .8-paw .9-potentiometer .10-shaft joint .11-hold-down nut .12-locking sleeve .13-main shaft .14-packing ring .15-becomes axle bed .16-round section joint ring .17-frictional disk .18-commutation board .19A 19B-dog screw .20-nut .21-packing ring .22-jackscrew .23-rolling bearing .24-capping .25-and becomes axle bed among the 1-shoulder .2A 2B 2C-revolute pair .3A 3B 3C-revolute pair .4A 4B-commutator .5A 5B-.

The present invention will be further described below in conjunction with accompanying drawing:

The six-freedom degree of arm is realized by 2 revolute pairs respectively. Number in the figure 1 is the shoulder of data arm, with a rotation Secondary 2A connects. Revolute pair 2A can realize the swing of shoulder joint. Revolute pair 3A is connected with revolute pair 2A, in order to reality Swinging of existing shoulder joint. The specific works process of revolute pair 2A and revolute pair 3A will be described herein-after. Commutator 4A uses In realizing being connected of revolute pair 3A and forearm.

Big arm 6 moves to ancon around the rotating function of arm axle, and 2B realizes by another revolute pair. The revolute pair that links to each other with it 3B realizes the flexing function of arm ancon. Equally realize being connected of elbow joint and forearm 7 with commutator 4B. Turning to of forearm 7 Moving the 3rd revolute pair 2C by being connected with forearm 7 realizes, and the 3rd revolute pair 3C is used for realizing that the up and down rotation of wrist is moving Do.

Elbow joint constitutes telescopic big arm together with the middle segmentum intercalaris 5A and the big arm 6 on top; Elbow joint constitutes telescopic forearm together with middle segmentum intercalaris 5B and forearm 7 in the lower part.Big arm 6 has identical structure with forearm 7.Different brachiums according to the people have different length, and the flexible principle of big arm 6 as shown in Figure 2.

Respectively there are five screw holes arranged side by side middle segmentum intercalaris 5A both sides, and each is at a distance of 10mm.Six sides' screw is used for the location also fixed one in the middle of its front in.The bayonet socket of big arm 6 inserts facing to the position of middle SOC.HD. cap screw, in the both sides of bayonet socket a through hole is arranged respectively, can certain two screw hole with middle segmentum intercalaris 5A are corresponding respectively according to different insertion depths.If adjust the brachium of the big arm of distant operation arm, just unload the screw of both sides, the insertion depth of segmentum intercalaris in lengthening or the shortening makes the through hole corresponding other of bayonet socket both sides arrange screw hole.Arm 6 has five grades of alternative brachiums like this, greatly.The structure of forearm 7 is identical with big arm 6, and it is also identical to reconcile principle.Big arm 6 length can be selected from 285mm to 245mm among the present invention, and every grade differs 10mm; Forearm 7 length can be selected from 240mm to 200mm, and every grade also differs 10mm.According to human body physique structure rule, upper limbs: height ≈ 0.452; Upper arm+forearm: height ≈ 0.296.This arm controller can be fit to that the about 150cm of height scope---the people of 180cm wears.

Fig. 3 is the frame for movement profile of revolute pair 2A.Hold-down nut 11 (see figure 5)s of potentiometer 9 are fixed together potentiometer 9 and locking sleeve 12 among the figure with shaft joint 10.The detection axle of potentiometer 9 is fixed on the main shaft 13 by jackscrew 22, can not bear too many weight and moment of torsion because potentiometer detects axle, so reduce friction and load-bearing with rolling bearing 23 at the place of relatively rotating, main shaft outside.Commutation board 18 1 ends link to each other with the arm pipe, and the other end is fixed on the main shaft 13 by nut 20.The rotational angle in joint passes to main shaft 13 by commutation board 18, passes to potentiometer by main shaft 13 then and detects axle, has just finished the task that angle detects.Become axle bed 15 among the figure into accepting part, be responsible for linking to each other with the upper level transmission arm.

Rubber round section joint ring 16 is in order to increase a stiff end and a device that rotates the frictional force of holding.It also can be that friction plate or other dependence compress the device that degree is regulated the frictional force size.Frictional disk 17 among Fig. 3 is used for compressing rubber round section joint ring 16, can directly turn from the outside after the installation.When regulating the screw thread travel of frictional disk 17 on commutation board 18, reach arm and can rest on the optional position, but the degree that can not slide without authorization is advisable before using.

Between the standing part of revolute pair 2A and rotating part, also designed stopping means.As shown in Figure 4, on change axle bed 15 two dog screw 19A are arranged, and a dog screw 19B is also arranged on commutation board 18, the distribution radius of these three screws is identical, and is distributed in diverse location according to the corner positioning requirements.When commutation board 18 was pressed on the main shaft 13 by nut 20, dog screw 19B was just in time between two dog screws that become on the axle bed 15.Like this, when commutation board 18 turns to certain position, the dog screw above it with become on the axle bed 15 one when the collision, just reach a position limit, oppositely obtain the another one position limit.

To measure needs in order satisfying, to need when mounted a position limit of commutation board 18 is aimed at the zero angle position that potentiometer detects axle, and its potentiometer detected value when turning to another position limit is increased gradually.

During work, when commutator 4 drive commutation boards 18 rotations that are fixed on the arm pipe, main shaft 13 will rotate under the thrust effect of nut 20 and packing ring 21 in the same way.Axle detects corresponding rotational angle thereby this rotation is delivered to the potentiometer detection under the effect of jackscrew 22.Under the effect of stopping means, commutation board 18 can only rotate in the certain angle scope, the situation that can not occur separating in the variation of another position a position more.

Fig. 5 is the frame for movement profile of revolute pair 3A.Its motion principle is identical with the principle of revolute pair 2A, different is to have replaced change axle bed 15 with capping 24, has replaced commutation board 18 being connected with the hollow cylinder arm pipe of convenient and arm with terminal pad 25.Different is during work is dynamically connected dish 25 with drive shaft and pass to potentiometer and detect axle by the arm pipe racks.

The invention has the beneficial effects as follows:

1. weight is lighter.Data hand arm mechanism weight of coming out constructed in accordance amounts to 995 grams, and it can detect shoulder joint, and elbow joint and wrist joint be the free degree of six direction altogether.

2. adaptability is strong.The people that the present invention can be fit to different brachiums wears.The rotational angle in each joint detects by angular transducer and can be used for robot is carried out distant operation task.

3. easy to operate.This arm hand controls can be under the situation that has the people to wear guided-moving, also can under situation about not wearing, draw its and arrive the state that needs, do not need external force auxiliary when suspending at an arbitrary position.

The specific embodiment:

First: before the operation beginning, the shoulder 1 of data hand arm mechanism will be fixed on the operating platform, and the frictional disk 17 of each rotary joint of turn, and frictional force is adjusted to suitable degree.

Second: the brachium according to the operator is regulated the big arm 6 of data hand arm mechanism and the length of forearm 7.

The 3rd: keep the big arm 6 of operator's right arm honest, forearm 7 flat stretching, flat left the overing of the palm of the hand put.Big arm 6 and 7 angles of forearm are 90 degree.Operator's shoulder is placed under the shoulder 1 of data hand arm mechanism.The big arm 6 of data hand arm mechanism is in the right side of the big arm of operator; And operator's wrist joint is on the data hand arm mechanism wrist joint.

The 4th, with the shoulder of fishing without hook with the operator, arm, and hand, finger is fixed with the corresponding position of data hand arm mechanism respectively.

The 5th, start-up system can be started working.

Claims (3)

1, a kind of data hand arm mechanism that is used for the distant operation task of human emulated robot arm, can be worn at the extraction of taking exercises on people's the arm, it is characterized in that: this arm mechanism is a cascaded structure, has 6 rotary joints, has the 6DOF similar to the human emulated robot arm; Each rotary joint all is equipped with a potentiometer as angular transducer, data hand arm mechanism adjustable length, and the joint has gravity compensation between rotating.
2, according to the described data hand arm mechanism of claim 1, it is characterized in that: rubber o-ring is housed between the rotatable parts, utilize the degree that compresses of rubber o-ring to regulate the frictional force size, thereby realize the gravity compensation of arm deadweight, make the data arm can be under the situation that has the operator to wear guided-moving, also can under situation about not wearing, draw it and arrive the state that needs, not need external force auxiliary when suspending at an arbitrary position.
3, according to the said data hand arm mechanism of claim 1, it is characterized in that: every section arm pipe all has five grades of adjustable length, can regulate brachium by the screwed hole that changes the screw correspondence, and the people who is fit to different brachiums wears.
CNB2004100627531A 2004-07-09 2004-07-09 Six-freedom remote control arm with gravity compensation and length regulation CN1319703C (en)

Priority Applications (1)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN1319703C CN1319703C (en) 2007-06-06

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100368162C (en) * 2005-03-21 2008-02-13 山东科技大学 Multiple joint operating bar
CN102004498A (en) * 2010-10-27 2011-04-06 四川省绵阳西南自动化研究所 Straight tail type fixing device for model test
CN101909830B (en) * 2007-12-28 2012-06-20 库卡实验仪器有限公司 Robot and method for monitoring the torque on such a robot
CN102764156A (en) * 2011-12-06 2012-11-07 中国科学院深圳先进技术研究院 Surgical robot
CN102764158A (en) * 2012-04-13 2012-11-07 中国科学院深圳先进技术研究院 Surgical robot
CN102764157A (en) * 2012-04-13 2012-11-07 中国科学院深圳先进技术研究院 Robot for orthopaedic surgery
CN101434066B (en) * 2008-10-20 2012-11-21 北京理工大学 Method and platform for predicating teleoperation of robot
CN103356312A (en) * 2013-07-30 2013-10-23 华南理工大学 Six degrees of freedom artificial limb arm driven by electromyographic signal
CN103878788A (en) * 2014-04-04 2014-06-25 哈尔滨工业大学 Two-dimensional linear air float guide rail type mechanical arm gravity compensation device
CN103902021A (en) * 2012-12-25 2014-07-02 苏茂 Data glove shoulder joint detection device
CN104245250A (en) * 2012-04-24 2014-12-24 株式会社安川电机 Gravity compensation mechanism and robot
CN104440873A (en) * 2014-11-03 2015-03-25 贵州亿丰升华科技机器人有限公司 Robot arm with six degrees of freedom
CN104552294A (en) * 2014-12-16 2015-04-29 广西大学 Large-space six-degree-of-freedom controllable mechanical manipulator
CN104827487A (en) * 2015-05-14 2015-08-12 湖北航天技术研究院总体设计所 Deformable space motion arm
CN105536189A (en) * 2016-03-08 2016-05-04 广州坤安电子有限公司 Fire-extinguishing spray gun arranged on movable arm of domestic robot
CN106313112A (en) * 2016-10-18 2017-01-11 太仓望虞机械科技有限公司 Damping-adjustable industrial cantilever
CN106826789A (en) * 2017-03-10 2017-06-13 蒙柳 A kind of modular remote operating machinery arm controller
WO2018219194A1 (en) * 2017-06-02 2018-12-06 东南大学 Cyber arm-based teleoperation system for space station robot

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CN101181175B (en) * 2007-12-07 2010-08-04 华中科技大学 Device for healing and training elbow joint
CN102554930A (en) * 2012-01-11 2012-07-11 成都市新筑路桥机械股份有限公司 Mechanical arm control system and control method

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JPS59175987A (en) * 1983-03-26 1984-10-05 Toshiba Kk Multi-joint robot device
JPH03221395A (en) * 1989-09-27 1991-09-30 Seiko Instr Inc Gravity compensating mechanism for joint type industrial robot

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100368162C (en) * 2005-03-21 2008-02-13 山东科技大学 Multiple joint operating bar
CN101909830B (en) * 2007-12-28 2012-06-20 库卡实验仪器有限公司 Robot and method for monitoring the torque on such a robot
CN101434066B (en) * 2008-10-20 2012-11-21 北京理工大学 Method and platform for predicating teleoperation of robot
CN102004498A (en) * 2010-10-27 2011-04-06 四川省绵阳西南自动化研究所 Straight tail type fixing device for model test
CN102004498B (en) * 2010-10-27 2015-11-18 四川省绵阳西南自动化研究所 A kind of straight tail type fixing device for model test
CN102764156A (en) * 2011-12-06 2012-11-07 中国科学院深圳先进技术研究院 Surgical robot
CN102764156B (en) * 2011-12-06 2015-08-26 中国科学院深圳先进技术研究院 Surgical operation robot
CN102764158A (en) * 2012-04-13 2012-11-07 中国科学院深圳先进技术研究院 Surgical robot
CN102764157A (en) * 2012-04-13 2012-11-07 中国科学院深圳先进技术研究院 Robot for orthopaedic surgery
CN102764157B (en) * 2012-04-13 2014-12-10 中国科学院深圳先进技术研究院 Robot for orthopaedic surgery
CN102764158B (en) * 2012-04-13 2015-03-11 中国科学院深圳先进技术研究院 Surgical robot
CN104245250A (en) * 2012-04-24 2014-12-24 株式会社安川电机 Gravity compensation mechanism and robot
CN103902021A (en) * 2012-12-25 2014-07-02 苏茂 Data glove shoulder joint detection device
CN103356312A (en) * 2013-07-30 2013-10-23 华南理工大学 Six degrees of freedom artificial limb arm driven by electromyographic signal
CN103356312B (en) * 2013-07-30 2015-10-28 华南理工大学 A kind of 6DOF artificial limb arm driven by electromyographic signal
CN103878788A (en) * 2014-04-04 2014-06-25 哈尔滨工业大学 Two-dimensional linear air float guide rail type mechanical arm gravity compensation device
CN103878788B (en) * 2014-04-04 2015-10-28 哈尔滨工业大学 Two dimension straight line air-float guide rail formula mechanical arm gravity-compensated device
CN104440873A (en) * 2014-11-03 2015-03-25 贵州亿丰升华科技机器人有限公司 Robot arm with six degrees of freedom
CN104552294A (en) * 2014-12-16 2015-04-29 广西大学 Large-space six-degree-of-freedom controllable mechanical manipulator
CN104552294B (en) * 2014-12-16 2016-01-20 广西大学 A kind of large space six degree of freedom controllable-mechanism type manipulator
CN104827487A (en) * 2015-05-14 2015-08-12 湖北航天技术研究院总体设计所 Deformable space motion arm
CN104827487B (en) * 2015-05-14 2016-06-22 湖北航天技术研究院总体设计所 A kind of deformable spatial operation arm
CN105536189A (en) * 2016-03-08 2016-05-04 广州坤安电子有限公司 Fire-extinguishing spray gun arranged on movable arm of domestic robot
CN106313112A (en) * 2016-10-18 2017-01-11 太仓望虞机械科技有限公司 Damping-adjustable industrial cantilever
CN106826789A (en) * 2017-03-10 2017-06-13 蒙柳 A kind of modular remote operating machinery arm controller
WO2018219194A1 (en) * 2017-06-02 2018-12-06 东南大学 Cyber arm-based teleoperation system for space station robot

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