CN213499242U - Humanoid robot both arms teaching control pole with pressure feedback - Google Patents
Humanoid robot both arms teaching control pole with pressure feedback Download PDFInfo
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- CN213499242U CN213499242U CN202021537456.9U CN202021537456U CN213499242U CN 213499242 U CN213499242 U CN 213499242U CN 202021537456 U CN202021537456 U CN 202021537456U CN 213499242 U CN213499242 U CN 213499242U
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Abstract
The invention provides a humanoid robot double-arm teaching joystick with pressure feedback, which consists of a base, a plurality of anthropomorphic mechanical double arms connected with a plurality of rotating joints, and a control grab handle with a button and a vibration ring belt. The central support of the base fixes the mechanical double arms and is connected with the symmetrical center of the main part of the mechanical double arms. The mechanical arm comprises 5 rotating joints, and 5 ball bearings are arranged on the mechanical arm and are respectively connected with a main body, a shoulder part, an elbow part and a control grab handle of the mechanical arm. The ball bearing part comprises an absolute position rotation sensor for measuring the absolute angle of the joint, and the control grab handle is connected with the elbow joint through the connecting rod. The front end of the control grab handle is provided with a key used for controlling the closing of the palm of the humanoid robot; the tail end of the vibration ring belt is connected with a micro vibration motor which is embedded in the ring belt. The invention simplifies the teaching process of the mechanical arm, makes the operation simpler and more visual, and simultaneously, the control lever has pressure feedback, thereby giving richer on-site experience to an operator.
Description
Technical Field
The utility model relates to a robot automation equipment, especially a humanoid robot both arms teaching control rod with pressure feedback.
Background
Teleoperated humanoid robots can play an important role in educational, communication, hazardous, or remote task scenarios. There are several methods currently available for remote manipulation of humanoid robots, including motion capture and exoskeleton systems. However, these methods are often costly and require extensive setup, specialized environments, and repetitive learning training. But also lack adaptability to control platforms of different shapes and sizes in the exoskeleton control method. Meanwhile, the user often can only obtain limited visual feedback in the operation process, and the running state of the remote robot cannot be comprehensively grasped. Research shows that in the analog master-slave control system, the master device and the slave device have obvious similarity to be advantageous, and therefore, a novel teaching device similar to the double-arm structure of the humanoid robot needs to be developed to overcome the defects.
Disclosure of Invention
The invention aims to design a teaching joystick of a humanoid robot double arm without manual programming, which can enable an inexperienced operator to quickly control the joystick by hands, and meanwhile, the joystick is provided with a force feedback mechanism in order to increase the experience of the operator in the field.
The utility model provides a technical scheme that its technical problem adopted is: a humanoid robot double-arm teaching joystick with pressure feedback comprises: the mechanical arm comprises a base (1), a base box (2), a central support (3), a mechanical arm trunk (4), a shoulder joint front side (5), a shoulder joint rear side (6), an upper elbow connector (7), an upper elbow connecting rod (8), an elbow joint outer side (9), an elbow joint inner side (10), a lower elbow connecting rod (11), a hand joint (12), a control grab handle connecting rod (13), a control grab handle connector (14), a control grab handle (15), a control button (16) on the control grab handle connecting rod and a vibration feedback ring band (17); the front side (5) and the back side (6) of the shoulder joint, the back side (6) of the shoulder joint and the upper elbow connector (7), the outer side (9) of the elbow joint and the inner side (10) of the elbow joint, and the control handle connector (14) and the control handle (15) are connected with each other through ball bearings; an absolute position rotation sensor is also arranged at the ball bearing; the upper surface of the base (1) is connected with a base box (2), a central support (3) is connected above the base box (2), and the upper part of the central support (3) is connected with the symmetrical center of a mechanical double-arm trunk (4); the rear side (6) of the shoulder joint is connected with an upper elbow connecting rod (8) through an upper elbow connector (7), the outer side (9) of the elbow joint is connected with a hand joint (12) through a lower elbow connecting rod (11), and a control grab handle (15) is connected with the outer side (9) of the elbow joint through a control grab handle connecting rod (13).
The base (1) is designed to be hollow and can contain a control circuit board, and a central support (3) on the base is used for fixing a mechanical double-arm trunk (4) and is connected with the symmetric center of the mechanical double-arm trunk (4). The mechanical arms are designed in a bilateral symmetry mode, each mechanical arm comprises 5 rotating joints, and 5 ball bearings are arranged on the rotating joints and are respectively connected with a main body, a shoulder part, an elbow part and a control grab handle of the mechanical arm. Each ball bearing includes an absolute position rotation sensor for measuring the absolute angle of the joint and sending a signal to a signal control center mounted in the base. The front end of the control grab handle (15) is provided with a control button (16) for controlling the closing of the palm of the humanoid robot; the tail end of the vibration feedback ring belt is connected with a vibration feedback ring belt (17), and a micro vibration motor is embedded in the vibration feedback ring belt (17) and used for feeding back the contact pressure of the humanoid robot.
The operator accessible directly manipulates control grab handle (15) of teaching control rod and realizes the action teaching to humanoid robot duplex arm, gives operator's control computer through the signal transfer that changes each joint angle value of control rod, turns into control signal and transmits for controled humanoid robot with the absolute angle value through handling, can realize the reproduction of humanoid robot to teaching action.
The vibration feedback ring belt (17) on the control grab handle (15) can provide force feedback in the teaching process for an operator, so that the operator can have richer on-site experience, and can make more appropriate and accurate teaching actions in the teaching process.
The invention has the advantages that:
1. an operator directly controls the mechanical arms by controlling the grab handle so as to realize the teaching of the actions of the arms of the robot, the process is visual, the operation is simple and flexible, the complicated manual programming process is omitted, the requirement on the proficiency of the operator is not high, and the robot can be used conveniently and quickly.
2. The control grab handle is provided with a vibration ring belt capable of performing pressure feedback, when the robot contacts an object, the ring belt can adjust the vibration frequency of the vibration motor according to signals of double-arm contact pressure sent by the robot, so that abundant on-site experience feeling is brought to an operator, the defect of visual observation is overcome, the operator can know the motion state of the robot more, and the safe operation and the accurate operation are guaranteed.
3. The design of the two-arm teaching control lever can be suitable for different humanoid robot platforms, and the reusability is strong.
Description of the drawings:
fig. 1 is a schematic perspective view of the present invention.
Wherein 1 is a base; 2 is a base box; 3 is a central bracket; 4 is a mechanical double-arm trunk; 5 is the front side of the shoulder joint; 6 is the posterior side of the shoulder joint; 7 is an upper elbow connector; 8 is an upper elbow connecting rod; 9 is the outer side of the elbow joint; 10 is the inner side of the elbow joint; 11 is a lower elbow connecting rod; 12 is a hand joint; 13 is a control grab handle connecting rod; 14 is a control handle connector; 15 is a control handle; 16 is a control button; and 17 is a vibration feedback ring belt.
The specific implementation mode is as follows:
referring to fig. 1, the utility model relates to a humanoid robot both arms teaching control rod with pressure feedback, basement 1 includes base box 2 and central support 3, and the lid on the base box is half-open's design, can conveniently put into control circuit board, and wherein control circuit board is the control center who is responsible for collecting and sending the signal that the sensor gathered. The central support is used to hold the mechanical teach arm, which is connected to the mechanical arm backbone 4. The two ends of the mechanical double-arm trunk are respectively connected with the front side 5 of the shoulder joint through ball bearings, and the back side 6 of the shoulder joint is respectively connected with the front side of the shoulder joint and the upper elbow connector 7 through ball bearings. The shoulder joint can realize the motion of two degrees of freedom, and absolute position rotation sensors are installed at the joints of the joints and the ball bearings and used for collecting the rotation angle values of the joints. And the sensors are programmable, allowing them to customize the range for the mechanical constraints of each joint, providing higher resolution readings within that range. The lower portion of the upper elbow link 8 is connected to the elbow joint inboard side 10 by a ball bearing. The end of the mechanical arm is a hand joint 12 which is connected with the outer side 9 of the elbow joint through a lower elbow connecting rod 11. Meanwhile, a control grab handle connecting rod 13 is fixed on the outer side 9 of the elbow joint. The control grip connector 14 is connected to the control grip 15 by means of a ball bearing, in which an absolute position rotation sensor is also mounted. The front end of the control handle is provided with a control button 16, the tail end is provided with a vibration feedback ring belt 17, and a micro vibration motor is embedded in the vibration feedback ring belt.
In the teaching process, the hand of an operator passes through the vibration feedback ring belt 17 and holds the control handle 15, and the rotation angle of each joint is changed by controlling the connecting rod of the control handle 13, so that different mechanical arm action teaching is realized. The control button of the control grab handle is used for controlling the opening and closing of the palm of the humanoid robot, the palm of the humanoid robot is in a natural state in a normal state, and when the control button is pressed down, the palm of the humanoid robot is closed. The rotation position sensor in the joint can send collected joint rotation information to a control center of the control lever, and then the joint rotation information is sent to a control computer of a user, and the computer sends a control instruction to a specific robot to be controlled, so that the action taught can be reproduced. Meanwhile, the control computer can transmit the collected pressure signals borne by the two arms of the robot to the control center of the control lever, so that the vibration frequency of the vibration motor in the ring belt of the control grab handle is changed according to the pressure value, an operator can sense the operation state of the mechanical arm, and the defect of direct visual observation is overcome.
Furthermore, the present invention is not limited to the above embodiments, and the technical effects of the present invention should be all included as long as the technical effects are achieved by the substantially same means.
Claims (1)
1. The utility model provides a humanoid robot both arms teaching control rod with pressure feedback which characterized in that: the teaching joystick includes: the mechanical arm comprises a base (1), a base box (2), a central support (3), a mechanical arm trunk (4), a shoulder joint front side (5), a shoulder joint rear side (6), an upper elbow connector (7), an upper elbow connecting rod (8), an elbow joint outer side (9), an elbow joint inner side (10), a lower elbow connecting rod (11), a hand joint (12), a control grab handle connecting rod (13), a control grab handle connector (14), a control grab handle (15), a control button (16) on the control grab handle connecting rod and a vibration feedback ring band (17); the front side (5) and the back side (6) of the shoulder joint, the back side (6) of the shoulder joint and the upper elbow connector (7), the outer side (9) of the elbow joint and the inner side (10) of the elbow joint, and the control handle connector (14) and the control handle (15) are connected with each other through ball bearings; an absolute position rotation sensor is also arranged at the ball bearing; the upper surface of the base (1) is connected with a base box (2), a central support (3) is connected above the base box (2), and the upper part of the central support (3) is connected with the symmetrical center of a mechanical double-arm trunk (4); the rear side (6) of the shoulder joint is connected with an upper elbow connecting rod (8) through an upper elbow connector (7), the outer side (9) of the elbow joint is connected with a hand joint (12) through a lower elbow connecting rod (11), and a control grab handle (15) is connected with the outer side (9) of the elbow joint through a control grab handle connecting rod (13).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021537456.9U CN213499242U (en) | 2020-07-30 | 2020-07-30 | Humanoid robot both arms teaching control pole with pressure feedback |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021537456.9U CN213499242U (en) | 2020-07-30 | 2020-07-30 | Humanoid robot both arms teaching control pole with pressure feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618717A (en) * | 2021-09-07 | 2021-11-09 | 浙江理工大学 | Human upper limb skill action sensing learning device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618717A (en) * | 2021-09-07 | 2021-11-09 | 浙江理工大学 | Human upper limb skill action sensing learning device and method |
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