Teleoperation master manipulator based on power-off brake

Abstract

The invention belongs to the technical field of robots, in particular to the technical field of teleoperation robots, and particularly relates to a teleoperation master manipulator based on a power-off brake, which comprises a pose acquisition part and a tail end operation part, in an actual use scene, an operator holds a handle at the tail end and pulls a trigger, a power-off brake is powered on for contact braking, and the operator pulls a main hand to move; in the movement process, the absolute encoders of all the shafts collect the current angle and directly transmit the current angle to the isomorphic mechanical arm, or the tail end pose of the main hand is settled through forward kinematics and then mapped to the heterogeneous mechanical arm through inverse kinematics; and the trigger is released, the power-off brake is immediately powered off, all joints of the master manipulator are locked, then the posture is locked, and the master manipulator enters a posture keeping mode. A joint motor in the main hand is replaced by a brake, so that a motor servo control system is also removed, and the cost and the out-of-control risk are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, especially the technical field of teleoperation robots, and specifically relates to a teleoperation master hand based on a power-off brake. Background Art

[0002] The teleoperation master hand has multiple functions for humanoid robots, which are mainly reflected in the following aspects:

[0003] In complex and changeable working tasks and dangerous working environments, it is difficult for a robot's autonomous intelligent system alone to complete the established planned target tasks. It is necessary to use the teleoperation technology with human-in-the-loop, combining the flexible decision-making of humans and the high-precision motion ability of robots to enable the robot to better complete the established tasks. Among them, the teleoperation master hand device is responsible for transmitting the operator's desired robot pose intention to the remote working environment, which is an important part of human-in-the-loop teleoperation. In addition, with the increasing popularity of imitation learning technology, the teleoperation master hand can also be used as a motion capture system for human arm behavior, providing learning samples for the intelligent decision-making of robots.

[0004] The concept of the teleoperation master hand is broad. Any device that can collect the pose of the operator's arm and map it from the master end to the slave end is included. According to the physical principle of the collector, it can be divided into optical, inertial, mechanical, etc. Among them, the mechanical master hand is widely used in robot teleoperation systems due to its high precision, strong anti-interference ability, convenient deployment, and low cost.

[0005] Most of the existing technical solutions for master hands are of the robotic arm configuration. Each joint of the master hand is equipped with a motor to provide force interaction functions such as pose holding, gravity compensation, and force feedback for the master hand.

[0006] Chinese Patent CN 113183184 A discloses a six-degree-of-freedom force feedback teleoperation master hand with gravity compensation, and each degree of freedom is equipped with an active motor.

[0007] Chinese Patent CN 113618698 A discloses a teleoperation manipulator and its main shaft, and a teleoperation device. The total cost is essentially a robotic arm with active motors.

[0008] The existing humanoid dexterous hands mainly have the following problems:

[0009] In the existing technical solutions, the equipped active motors provide more possibilities for force interaction for the master hand, but also bring the characteristics of complex systems and high costs. Moreover, since the active motors can input mechanical energy into the system, the system becomes a dissipative system, increasing the risk of out-of-control. Summary of the Invention

[0010] (I) Technical Problems to be Solved

[0011] The technical problem to be solved by the present invention is how to provide a teleoperation master hand based on a power-off brake.

[0012] (II) Technical solution

[0013] To solve the above technical problem, the present invention provides a teleoperation master hand based on a power-off brake, and the teleoperation master hand includes a pose acquisition part and an end operation part;

[0014] The pose acquisition part is composed of 6 modular acquisition joints and corresponding connecting rods, namely 3 position acquisition joints for acquiring position and 3 attitude acquisition joints for acquiring attitude, altogether constituting a 6-degree-of-freedom end pose acquisition ability;

[0015] The structural form of the end operation part is an end handle, and a trigger and an operation panel are arranged on the end handle, wherein the trigger is used for starting and stopping the teleoperation, and the operation panel is used for operations related to the grasping and mode switching of the end effector;

[0016] In an actual use scenario, the operator holds the end handle and pulls the trigger, the power-off brake is energized to release the brake, and the operator pulls the master hand to move;

[0017] During the movement process, the absolute encoders of each axis collect the current angles and directly transmit them to the isomorphic robotic arm, or calculate the end pose of the master hand through forward kinematics and then map it to the heterogeneous robotic arm through inverse kinematics;

[0018] When the trigger is released, the power-off brake immediately de-energizes, and each joint of the master hand is locked, and then the pose is locked, entering the pose holding mode. At this time, the operator can rest and think about the next action.

[0019] Among them, by performing PWM control on the brakes of each axis, the magnitude of the braking force can also be controlled to achieve preliminary force feedback.

[0020] Among them, as Figure 1 shown, the teleoperation master hand includes: a base (1), a position acquisition joint (2), an L plate (3), a large arm connecting rod (4), a small arm connecting rod (5), an attitude acquisition joint (6), a first end connecting rod (7), a second end connecting rod (8), and an end handle (9);

[0021] The 3 position acquisition joints (2) are connected into one body through the base (1), the L plate (3), the large arm connecting rod (4), and the small arm connecting rod (5) to form the main body structure of the master hand, providing 3 degrees of freedom for position acquisition;

[0022] The three posture acquisition joints (6) are connected by the first end link (7), the second end link (8), and the end handle (9) to form the end structure of the master hand, providing three degrees of freedom for posture acquisition.

[0023] The end handle (9) is for the operator to grip and control the end effector.

[0024] Among them, as Figure 2 shown, the position acquisition joint (2) includes: a multi-turn absolute encoder (2-1), a transfer shaft (2-2), a first encoder mounting disc (2-3), a power-off brake (2-4), a reducer mounting disc (2-5), and a reducer (2-6).

[0025] The multi-turn absolute encoder (2-1) is used to record the joint position, and the number of turns is greater than the reduction ratio of the reducer, so that the counting within a single turn at the output end of the reducer does not repeat.

[0026] The position acquisition joint (2) needs to bear the overall weight of the master hand and requires a relatively large holding torque, so a reducer (2-6) is equipped.

[0027] When powered off, the power-off brake (2-4) locks the transfer shaft (2-2), thereby locking the output end of the reducer (2-6) and further locking the position.

[0028] The multi-turn absolute encoder (2-1) is connected to the first encoder mounting disc (2-3) through the transfer shaft (2-2); the first encoder mounting disc (2-3) is threadedly connected to the power-off brake (2-4).

[0029] The power-off brake (2-4) and the reducer (2-6) are respectively sleeved on the reducer mounting disc (2-5) from both sides.

[0030] Among them, as Figure 3 shown, the posture acquisition joint (6) includes: a single-turn absolute encoder (6-1), a second encoder mounting disc (6-2), a power-off brake (6-3), an outer ring sleeve (6-4), a bearing seat (6-5), a main shaft (6-6), a bearing (6-7), and an inner ring sleeve (6-8).

[0031] The posture acquisition joint (6) is at the end of the master hand, and the required holding torque when powered off is small, so there is no need to equip a reducer, and the corresponding absolute encoder is also single-turn.

[0032] The single-turn absolute encoder (6-1) is installed on the second encoder mounting disc (6-2), and the second encoder mounting disc (6-2) is threadedly connected to the power-off brake (6-3).

[0033] One end of the main shaft (6-6) passes through the power-off brake (6-3) and the second encoder mounting disc (6-2) in sequence, and then docks with the connection hole in the center of the single-turn absolute encoder (6-1).

[0034] The other end of the main shaft (6-6) is sleeved with a bearing (6-7) and then embedded inside the bearing housing (6-5).

[0035] The bearing housing (6-5) is connected to the power-off brake (6-3) by circumferentially evenly distributed screws.

[0036] Among them, as Figure 4 shown, the end handle (9) includes: a grip (9-1), an end adapter flange (9-2), a trigger (9-3), and an operation panel (9-4).

[0037] The grip (9-1) is for the operator to hold, so as to pull the entire main arm to move and obtain the main end pose change trajectory.

[0038] The end adapter flange (9-2) is installed on the last pose acquisition joint of the master hand.

[0039] The trigger (9-3) is used for the operator to turn on / off the teleoperation.

[0040] The operation panel (9-4) is for the operator to control the end effector.

[0041] When the trigger (9-3) is pulled, the power-off brakes of all joints of the master hand are powered on, the position holding is released, and the operator can freely drag the master hand.

[0042] When the trigger (9-3) is released, the power-off brakes are powered off, the master hand enters the position holding mode, and the operator can temporarily leave the hand.

[0043] The operation panel (9-4) is for the operator to control the end effector, including a gripper, a dexterous hand, etc., and flexibly arranges operation units including knobs and buttons for controlling different grasping modes and displacements of different end effectors.

[0044] (III) Beneficial effects

[0045] The present invention provides a teleoperation master hand based on a power-off brake. The joint motors in the master hand are replaced with brakes, so the motor servo control system is also removed, reducing the cost and the risk of out-of-control. At the same time, the presence of the power-off brake enables the master hand to maintain the current position by power-off after the operator leaves the hand, ensuring that the pose sent to the slave end does not mutate during the next startup, so that the operator can rest at any time and reduce the mental consumption intensity.

[0046] Compared with the prior art, the present invention involves the following innovations:

[0047] 1. The main hand structure solution based on a power-off brake. The overall structure of the whole hand is a typical serial six-degree-of-freedom robotic arm, and a handle is equipped at the end. Each joint of the main hand adopts a modular design. The core components of the position acquisition joint are a reducer, a brake, and an encoder; the core components of the attitude acquisition joint are a brake and an encoder. This teleoperation main hand consists of six modular acquisition joints and necessary connecting rods.

[0048] 2. The main hand control mode. When the trigger is pulled, the power-off brakes of all joints of the main hand are powered on, releasing the position holding, and the operator can freely drag the main hand; when the trigger is released, the power-off brakes are powered off, and the main hand enters the position holding mode, and the operator can temporarily leave the hand.

[0049] The beneficial effects of the present invention compared with the existing technology are as follows:

[0050] (1) Remove the active drive motor and the corresponding servo drive system, and use a brake to achieve the position holding of the main hand, reducing costs and improving operation reliability.

[0051] (2) Adopt a modular design, with a simple and compact structure and high maintainability. Description of the Drawings

[0052] Figure 1 It is a schematic diagram of a teleoperation main hand based on a power-off brake;

[0053] Figure 2 It is a schematic diagram of a position acquisition joint;

[0054] Figure 3 It is a schematic diagram of an attitude acquisition joint;

[0055] Figure 4 It is a schematic diagram of the end handle.

[0056] Figure 1 : Base 1, position acquisition joint 2, L plate 3, large arm connecting rod 4, small arm connecting rod 5, attitude acquisition joint 6, end first connecting rod 7, end second connecting rod 8, end handle 9.

[0057] Figure 2 : Position acquisition joint 2, multi-turn absolute encoder 2-1, transfer shaft 2-2, encoder mounting disc 2-3, power-off brake 2-4, reducer mounting disc 2-5, reducer 2-6.

[0058] Figure 3 : Attitude acquisition joint 6, single-turn absolute encoder 6-1, encoder mounting disc 6-2, power-off brake 6-3, outer ring sleeve 6-4, bearing seat 6-5, main shaft 6-6, bearing 6-7, inner ring sleeve 6-8.

[0059] Figure 4: The end handle 9, grip 9-1, end adapter flange 9-2, trigger 9-3, operation panel 9-4. Detailed implementation manners

[0060] To make the objectives, contents, and advantages of the present invention clearer, the following further describes in detail the specific implementation manners of the present invention with reference to the accompanying drawings and embodiments.

[0061] To solve the above technical problems, the present invention provides a teleoperation master hand based on a power-off brake, and the teleoperation master hand includes a pose acquisition part and an end operation part;

[0062] The pose acquisition part is composed of 6 modular acquisition joints and corresponding connecting rods, namely 3 position acquisition joints for acquiring positions and 3 attitude acquisition joints for acquiring attitudes, altogether constituting an end pose acquisition ability with 6 degrees of freedom;

[0063] The structural form of the end operation part is an end handle, and a trigger and an operation panel are arranged on the end handle, wherein the trigger is used for starting and stopping the teleoperation, and the operation panel is used for operations related to the grasping and mode switching of the end effector;

[0064] In an actual use scenario, the operator holds the end handle and pulls the trigger, the power-off brake is energized to release the brake, and the operator pulls the master hand to move;

[0065] During the movement process, the absolute encoders of each axis collect the current angles and directly transmit them to the isomorphic robotic arm, or calculate the end pose of the master hand through forward kinematics and then map it to the heterogeneous robotic arm through inverse kinematics;

[0066] When the trigger is released, the power-off brake immediately de-energizes, and each joint of the master hand locks, thereby locking the pose and entering the pose holding mode. At this time, the operator can rest and think about the next action.

[0067] Among them, by performing PWM control on the brakes of each axis, the magnitude of the braking force can also be controlled to achieve preliminary force feedback.

[0068] Among them, as Figure 1 shown, the teleoperation master hand includes: a base (1), a position acquisition joint (2), an L plate (3), a large arm connecting rod (4), a small arm connecting rod (5), an attitude acquisition joint (6), an end first connecting rod (7), an end second connecting rod (8), an end handle (9);

[0069] The 3 position acquisition joints (2) are connected into one body through the base (1), the L plate (3), the large arm connecting rod (4), and the small arm connecting rod (5) to form the main body structure of the master hand, providing 3 degrees of freedom for position acquisition;

[0070] The three posture acquisition joints (6) are connected by the first end link (7), the second end link (8), and the end handle (9) to form the end structure of the master hand, providing three degrees of freedom for posture acquisition.

[0071] The end handle (9) is for the operator to grip and control the end effector.

[0072] Among them, as Figure 2 shown, the position acquisition joint (2) includes: a multi-turn absolute encoder (2-1), a transfer shaft (2-2), a first encoder mounting disc (2-3), a power-off brake (2-4), a reducer mounting disc (2-5), and a reducer (2-6).

[0073] The multi-turn absolute encoder (2-1) is used to record the joint position, and the number of its turns is greater than the reduction ratio of the reducer, so that the counting within a single turn at the output end of the reducer does not repeat.

[0074] The position acquisition joint (2) needs to bear the overall weight of the master hand and requires a relatively large holding torque, so a reducer (2-6) is equipped.

[0075] When powered off, the power-off brake (2-4) locks the transfer shaft (2-2), thereby locking the output end of the reducer (2-6) and further locking the position.

[0076] The multi-turn absolute encoder (2-1) is connected to the first encoder mounting disc (2-3) through the transfer shaft (2-2); the first encoder mounting disc (2-3) is threadedly connected to the power-off brake (2-4).

[0077] The power-off brake (2-4) and the reducer (2-6) are respectively sleeved on the reducer mounting disc (2-5) from both sides.

[0078] Among them, as Figure 3 shown, the posture acquisition joint (6) includes: a single-turn absolute encoder (6-1), a second encoder mounting disc (6-2), a power-off brake (6-3), an outer ring sleeve (6-4), a bearing seat (6-5), a main shaft (6-6), a bearing (6-7), and an inner ring sleeve (6-8).

[0079] The posture acquisition joint (6) is at the end of the master hand and requires a relatively small holding torque when powered off, so there is no need to equip a reducer, and the corresponding absolute encoder is also a single turn.

[0080] The single-turn absolute encoder (6-1) is installed on the second encoder mounting disc (6-2), and the second encoder mounting disc (6-2) is threadedly connected to the power-off brake (6-3).

[0081] One end of the main shaft (6-6) passes through the power-off brake (6-3) and the second encoder mounting disc (6-2) in sequence, and then docks with the connection hole in the center of the single-turn absolute encoder (6-1).

[0082] The other end of the main shaft (6-6) is sleeved with a bearing (6-7) and then embedded inside the bearing housing (6-5).

[0083] The bearing housing (6-5) and the power-off brake (6-3) are connected by circumferentially evenly distributed screws.

[0084] Among them, as Figure 4 shown, the end handle (9) includes: a grip (9-1), an end adapter flange (9-2), a trigger (9-3), and an operation panel (9-4).

[0085] The grip (9-1) is for the operator to hold, so as to pull the entire main hand arm to move and obtain the main end pose change trajectory.

[0086] The end adapter flange (9-2) is installed on the last pose acquisition joint of the main hand.

[0087] The trigger (9-3) is used for the operator to turn on / off the teleoperation.

[0088] The operation panel (9-4) is for the operator to control the end effector.

[0089] When the trigger (9-3) is pulled, the power-off brakes of all joints of the main hand are powered on, the position holding is released, and the operator can freely drag the main hand.

[0090] When the trigger (9-3) is released, the power-off brake is powered off, the main hand enters the position holding mode, and the operator can temporarily leave the hand.

[0091] The operation panel (9-4) is for the operator to control the end effector, including a gripper, a dexterous hand, etc., and flexibly arranges operation units including knobs and buttons for controlling different grasping modes and displacements of different end effectors.

[0092] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A remote control master based on power-off brake, characterized in that: The teleoperation master hand includes a posture acquisition part and an end operation part; The posture acquisition part is composed of 6 modular acquisition joints and corresponding connecting rods, including 3 position acquisition joints for acquiring positions and 3 posture acquisition joints for acquiring postures, which together constitute a 6-degree-of-freedom terminal posture acquisition capability. The structure of the end operation part is an end handle, on which a trigger and an operation panel are arranged, wherein the trigger is used for starting and stopping the remote operation, and the operation panel is used for the related operations of grabbing and mode switching of the end effector; In actual use scenarios, the operator holds the end handle and pulls the trigger, the power-off brake is energized and the contact brake is applied, and the operator pulls the main hand to move; During the motion, the absolute encoder of each axis collects the current angle and directly transmits it to the homogeneous robot arm, or calculates it as the end position of the master arm through forward kinematics, and then maps it to the heterogeneous robot arm through inverse kinematics; When the trigger is released, the power-off brake is immediately powered off, the joints of the main hand are locked, and then the posture is locked, entering the posture holding mode.

2. The remote control master based on power-off brake according to claim 1, characterized in that: By performing PWM control on the brakes of each axis, the braking force can be controlled to achieve preliminary force feedback.

3. The remote control master based on power-off brake according to claim 1, characterized in that: The teleoperation master hand comprises: a base (1), a position acquisition joint (2), an L-plate (3), a large arm connecting rod (4), a small arm connecting rod (5), a posture acquisition joint (6), a terminal first connecting rod (7), a terminal second connecting rod (8), and a terminal handle (9); The three position acquisition joints (2) are connected as a whole through a base (1), an L-plate (3), a large arm connecting rod (4), and a small arm connecting rod (5), forming a main structure of the main hand, providing three degrees of freedom for position acquisition; The three posture acquisition joints (6) are connected by a first connecting rod (7), a second connecting rod (8) and a handle (9) at the end to form the end structure of the main hand, providing three degrees of freedom for posture acquisition. The end handle (9) is for the operator to grasp and manipulate the end effector.

4. The remote control master based on power-off brake according to claim 3, characterized in that: The position acquisition joint (2) comprises: a multi-turn absolute value encoder (2-1), a switching shaft (2-2), a first encoder mounting disk (2-3), a power-off brake (2-4), a reducer mounting disk (2-5) and a reducer (2-6).

5. The remote control master based on power-off brake according to claim 4, characterized in that: The multi-turn absolute value encoder (2-1) is used to record the joint position, and the number of turns is greater than the reducer ratio of the reducer, so that the count within a single turn at the output end of the reducer is not repeated; The position acquisition joint (2) needs to bear the entire weight of the main hand and requires a large holding torque, so a reducer (2-6) is provided; When the power is off, the power-off brake (2-4) locks the adapter shaft (2-2), thereby locking the output end of the reducer (2-6), thereby locking the position.

6. The remote control master based on power-off brake according to claim 4, characterized in that: The multi-turn absolute value encoder (2-1) is connected to the first encoder mounting disk (2-3) via a transfer shaft (2-2); the first encoder mounting disk (2-3) is connected to the power-off brake (2-4) via threads; The power-off brake (2-4) and the reducer (2-6) are respectively sleeved onto the reducer mounting plate (2-5) from both sides.

7. The remote control master based on power-off brake according to claim 4, characterized in that: The posture acquisition joint (6) comprises: a single-turn absolute value encoder (6-1), a second encoder mounting plate (6-2), a power-off brake (6-3), a bearing seat (6-5), a main shaft (6-6), and a bearing (6-7); The posture acquisition joint (6) is located at the end of the main hand, and the required holding torque when the power is off is small, so there is no need to equip a reducer, and the corresponding absolute value encoder can also be a single turn.

8. The remote control master based on power-off brake according to claim 7, characterized in that: The single-turn absolute value encoder (6-1) is mounted on a second encoder mounting disk (6-2), and the second encoder mounting disk (6-2) is connected to a power-off brake (6-3) via threads; The shaft portion at one end of the main shaft (6-6) passes through the power-off brake (6-3) and the second encoder mounting plate (6-2) in sequence and then docks with the connecting hole at the center of the single-turn absolute encoder (6-1); The other end of the main shaft (6-6) is sleeved with the bearing (6-7) and then embedded in the bearing seat (6-5); The bearing seat (6-5) is connected to the power-off brake (6-3) via screws evenly distributed around the circumference.

9. The remote control master based on power-off brake according to claim 7, characterized in that: The end handle (9) comprises: a grip (9-1), an end adapter flange (9-2), a trigger (9-3), and an operation panel (9-4); The handle (9-1) is for the operator to grasp, thereby pulling the entire arm of the main hand to move, and obtaining the trajectory of the main end posture change; The terminal adapter flange (9-2) is installed on the last posture collection joint of the main hand; The trigger (9-3) is used by the operator to turn on / off the remote operation; The operation panel (9-4) is used by the operator to control the end effector.

10. The remote control master based on power-off brake according to claim 9, characterized in that: When the trigger (9-3) is pulled, the brakes of all joints of the master hand are powered on, the position hold is released, and the operator can freely drag the master hand; When the trigger (9-3) is released, the power-off brake is powered off, the master hand enters the position holding mode, and the operator can temporarily release the hand.

11. The remote control master based on power-off brake according to claim 9, characterized in that: The operation panel (9-4) is used by the operator to control the end effector, including the gripper, the dexterous hand, etc., and the operation units including knobs and buttons are flexibly arranged to control different grasping modes and displacements of different end effectors.

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