Wearable robot data acquisition device and robot
By introducing chest and shoulder tension adjustment components and modular joint components into the wearable robot data acquisition device, the problem of adapting the device to different body types has been solved, achieving a better fit and flexible adaptation with the operator, and supporting the applicability of multiple robot models.
Patent Information
- Application Number
- CN202520424061.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2026-03-17
- Estimated Expiration
- 2035-03-11
AI Technical Summary
Existing wearable robot data acquisition devices lack adjustment mechanisms and cannot adapt to users of different body types, resulting in poor versatility and applicability only to operators of a single body type.
A wearable robot data acquisition device was designed, comprising a back support plate, a torso wearable structure, and an arm structure. It adopts chest and shoulder tightness adjustment components, combined with a sliding arm structure and modular joint components, to achieve adaptation to different body types.
It achieves a close fit between the robot data acquisition device and the operator's body, adapting to different body types, improving the device's versatility, operational stability, and flexibility, and supporting the adaptation of dual-arm and single-arm robots.
Smart Images
Figure CN223998421U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, specifically to a wearable robot data acquisition device and a robot, and more particularly to a wearable robot data acquisition device for remote operation. Background Technology
[0002] In recent years, with the development of technologies such as deep learning, robot manipulation has transcended traditional grasping and placement tasks, encompassing more complex and precise operations. Most existing research focuses on relying solely on the robot's own computational control system to identify and analyze the external environment, and then using the robot's end effector to complete the required tasks.
[0003] In addition to the above-mentioned solutions, researchers have developed a solution that uses a wearable robot data acquisition device for remote operation to control the end effector of a robotic arm. This solution differs from traditional position control methods and does not rely on complex inverse kinematics calculations at the robotic arm's underlying level, making remote operation more stable and convenient.
[0004] The wearable robot data collection device does not have a wearable adjustment structure, which makes the robot data collection device not very versatile and cannot be used by users with large differences in body shape. It can only be used by users with a single body shape. Utility Model Content
[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a wearable robot data acquisition device and robot.
[0006] According to the present invention, a wearable robot data acquisition device includes a back support plate, a torso wearable structure, an arm structure, and a back bar.
[0007] Both the arm structure and the back support plate are mounted on the back pole;
[0008] The torso wearing structure includes a chest elastic adjustment component and a shoulder elastic adjustment component;
[0009] Both the chest and shoulder tightness adjustment components are mounted on the back support plate. The chest tightness adjustment component is used to adjust the tightness and fit between the wearable robot data acquisition device and the operator's chest; the shoulder tightness adjustment component is used to adjust the tightness and fit between the wearable robot data acquisition device and the operator's shoulders.
[0010] Preferably, the chest elasticity adjustment component includes a chest strap, a strap pressure plate, and a chest buckle;
[0011] The two ends of the chest strap are fixed to the back support plate by two strap pressure plates, and the chest strap is equipped with a chest buckle.
[0012] Preferably, the shoulder tension adjustment assembly includes a shoulder strap, a front pressure plate, and a shoulder buckle;
[0013] The chest straps are also connected to the front pressure plate;
[0014] One end of the shoulder strap is installed on the back support plate, and the other end is connected to the front pressure plate. A shoulder buckle is installed on the shoulder strap.
[0015] Preferably, the arm structure is slidably mounted on the back bar.
[0016] Preferably, the arm structure includes a base, an elbow link, a forearm link, a shoulder rotation link, an upper arm link, a forearm rotation link, an end effector, and a joint assembly;
[0017] The number of joint components is multiple;
[0018] The base is mounted on the back rod, and the base, a joint assembly, a shoulder rotation link, a joint assembly, an upper arm link, a joint assembly, an elbow link, a joint assembly, a forearm link, a joint assembly, a forearm rotation link, two wrist joint assemblies, and an end effector are connected in sequence.
[0019] The elbow link is capable of rotating with three degrees of freedom relative to the base, the forearm link is capable of rotating with respect to the elbow link, and the end effector is capable of rotating with three degrees of freedom relative to the forearm link.
[0020] Preferably, it also includes wrist straps, elbow straps, and forearm straps;
[0021] Wrist straps, elbow straps, and forearm straps are respectively installed on the end effector, elbow link, and forearm link;
[0022] Wrist straps are used to secure the operator's wrist to the end effector; elbow straps are used to secure the operator's upper arm to the elbow linkage; and forearm straps are used to secure the operator's forearm to the forearm linkage.
[0023] Preferably, the joint assembly includes the joint housing, encoder support, bearing cover, encoder, shaft connecting plate, ball bearing, and housing positioning plate.
[0024] The encoder and encoder support are fixedly connected, and the joint housing and encoder support are radially positioned by a pair of ball bearings; the housing positioning plate is connected to the joint housing, and the bearing cover is connected to the encoder support, thereby realizing the axial positioning of the joint assembly; the encoder shaft is connected to the shaft connecting plate, and the shaft connecting plate is connected to the joint housing.
[0025] Preferably, the joint assembly further includes a limiting plate; a limiting plate is provided between the rotating shaft connecting plate and the encoder support, and the relative rotation between the rotating shaft connecting plate and the encoder support is limited by the slot on the limiting plate.
[0026] Preferably, the joint assembly is detachably connected to other components.
[0027] According to the present invention, a robot is provided that employs the wearable robot data acquisition device and further includes a robotic arm, wherein the wearable robot data acquisition device is signal-connected to the robotic arm.
[0028] Compared with the prior art, the present invention has the following beneficial effects:
[0029] This invention enables adjustment of the torso wearing structure through the setting of chest and shoulder elasticity adjustment components. For wearers of different body types, the chest and shoulder elasticity adjustment components can be used to match and fit the wearable robot data acquisition device. Attached Figure Description
[0030] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:
[0031] Figure 1 This is a schematic diagram of the structure of this utility model;
[0032] Figure 2 This is a structural schematic diagram of the present invention from another angle;
[0033] Figure 3 This is a schematic diagram of the structure of this utility model that does not show the torso wearing structure;
[0034] Figure 4 This is a schematic diagram of the joint assembly of this utility model.
[0035] The diagram shows:
[0036]
[0037] Detailed Implementation
[0038] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.
[0039] This utility model provides a wearable robot data acquisition device, including a back support plate 1, a torso wearable structure 100, an arm structure 200, and a back bar 9.
[0040] The arm structure 200 and the back support plate 1 are both mounted on the back pole 9; in a preferred embodiment, the back pole 9 is made of aluminum profile and is connected to the back support plate 1 by screws.
[0041] The torso wearing structure 100 includes a chest elastic adjustment component and a shoulder elastic adjustment component;
[0042] Both the chest and shoulder tightness adjustment components are mounted on the back support plate 1. The chest tightness adjustment component is used to adjust the tightness and fit between the wearable robot data acquisition device and the operator's chest; the shoulder tightness adjustment component is used to adjust the tightness and fit between the wearable robot data acquisition device and the operator's shoulders.
[0043] The chest elasticity adjustment component includes a chest strap 6, strap pressure plates 10, and a chest buckle 61. Both ends of the chest strap 6 are fixed to the back support plate 1 via two strap pressure plates 10, thus initially securing the operator to the back support plate 1. A chest buckle 61 is installed on the chest strap 6. The chest strap 6 is wrapped around the chest buckle 61. In a preferred embodiment, the chest strap 6 is wrapped in a manner similar to that of a backpack shoulder strap and its buckle. The length of the chest strap 6 can be adjusted via the chest buckle 61, thereby achieving a locking fit between the torso wear structure and the operator's chest, and ensuring the wearable robot data acquisition device is fixed and conforms to the operator's chest.
[0044] There are two shoulder tension adjustment components. The two shoulder tension adjustment components are arranged symmetrically, and each shoulder tension adjustment component includes a shoulder strap 7, a front pressure plate 8, and a shoulder buckle 71; the shoulder strap 7 is perpendicular to the chest strap 6. The chest strap 6 is also connected to the front pressure plate 8; specifically, the two sides of the chest strap 6 are connected to the front pressure plate 8 by screws. One end of the shoulder strap 7 is installed on the back support plate 1, and the other end is connected to the front pressure plate 8. A shoulder buckle is installed on the shoulder strap 7; specifically, the shoulder strap 7 passes through a through hole at the top of the back support plate 1 and a through hole on the front pressure plate 8 to secure it to the operator's shoulder. The shoulder strap 7 is wrapped around the shoulder buckle 71. In a preferred embodiment, the shoulder strap 7 is wrapped in the same way as the shoulder strap and buckle of a backpack. The length of the chest strap 6 can be adjusted by the shoulder buckle 71, thereby achieving a locking match between the torso wear structure and the operator's shoulder, realizing the fit between the wearable robot data acquisition device and the operator's shoulder, and further fixing the back support plate 1 to the operator.
[0045] In summary, this invention, through the cooperation of the chest strap 6 and the shoulder strap 7, allows the back support plate 1 to effectively conform to the operator's back. The lengths of the chest strap 6 and the shoulder strap 7 can be adjusted to meet the wearing needs of operators of different body types for the robot data acquisition device. This invention is compatible with both dual-arm and single-arm robots.
[0046] The arm structure 200 is slidably mounted on the back bar 9. Specifically, the base 2 can slide left and right relative to the back bar 9, and the width between the two arms of the robot data acquisition device can be adjusted to meet the wearing needs of operators with different shoulder widths.
[0047] The arm structure 200 includes a base 2, an elbow link 3, a forearm link 4, a shoulder rotation link 19, an upper arm link 20, a forearm rotation link 21, an end effector 5, and joint assemblies. In a preferred embodiment, the joint assemblies adopt a modular design, meaning there are multiple joint assemblies, each with the same structure, and all joint assemblies are detachably connected to other components. The base 2 is mounted on the backrest 9. The base 2, one joint assembly, the shoulder rotation link 19, one joint assembly, the upper arm link 20, one joint assembly, the elbow link 3, one joint assembly, the forearm link 4, one joint assembly, the forearm rotation link 21, two wrist joint assemblies, and the end effector 5 are connected sequentially, for a total of seven joint assemblies. Specifically, the seven joint components are, in sequence, a first joint component 300, a second joint component 400, a third joint component 500, a fourth joint component 600, a fifth joint component 700, a sixth joint component 800, and a seventh joint component 900. Preferably, the rotation axes of the first joint component 300, the second joint component 400, and the third joint component 500 are perpendicular to each other, and the rotation axes of the fifth joint component 700, the sixth joint component 800, and the seventh joint component 900 are also perpendicular to each other. In this configuration, three joint modules are sequentially connected between the base 2 and the elbow link 3, enabling rotation with three degrees of freedom. The elbow link 3 and the forearm link 4 are rotatably connected via the fourth joint component 600. Three joint modules are sequentially connected between the forearm link 4 and the end effector 5, also enabling rotation with three degrees of freedom.
[0048] The wearable robotic data acquisition device further includes a wrist strap, an elbow strap, and a forearm strap. These straps are respectively mounted on the end effector 5, the elbow link 3, and the forearm link 4. The wrist strap secures the operator's wrist to the end effector 5; the elbow strap secures the operator's upper arm to the elbow link 3; and the forearm strap secures the operator's forearm to the forearm link 4. In other words, during actual operation, the operator secures the end effector 5 to their wrist via the wrist strap. Similarly, to ensure a good fit between the robotic data acquisition device and the operator, the elbow link 3 is secured to the operator's upper arm via the elbow strap, and the forearm link 4 is secured to the operator's forearm via the forearm strap. This improves the coordination between the robotic data acquisition device and the human body, as well as the stability and flexibility when performing complex movements.
[0049] The joint assembly includes the joint cover 11, encoder support 12, bearing cover 13, encoder 14, shaft connecting plate 15, ball bearing 17, and cover positioning plate 18.
[0050] The encoder 14 is fixedly connected to the encoder support 12 by screws. The joint cover 11 and the encoder support 12 are radially positioned by a pair of ball bearings 17. The cover positioning plate 18 is bonded to the joint cover 11, and the bearing cover 13 is bonded to the encoder support 12, thereby realizing the axial positioning of the joint of the robot data acquisition device. The rotating shaft of the encoder 14 is connected to the rotating shaft connecting plate 15, and the rotating shaft connecting plate 15 is connected to the joint cover 11.
[0051] The joint assembly further includes a limiting plate 16; the limiting plate 16 is placed between the rotating shaft connecting plate 15 and the encoder support 12, and the limiting plate 16 can be installed on the rotating shaft connecting plate 15. The slot on the limiting plate 16 restricts the relative rotation between the rotating shaft connecting plate 15 and the encoder support 12. That is, the rotation of the encoder 14 shaft can drive the rotating shaft connecting plate 15, the joint cover 11, and the cover positioning plate 18 to rotate, while the limiting plate 16 limits the rotation angle of the rotating shaft connecting plate 15. This invention uses the limiting plate 16 to determine the upper and lower limit angles of the rotation of each joint of the robot data acquisition device. When it is necessary to adjust the rotation range of a certain joint, only the limiting plate 16 needs to be replaced.
[0052] The joint assembly is detachably connected to other components (such as links) by screws. Specifically, for the fourth joint assembly 600 between the elbow link 3 and the forearm link 4, the encoder support 12 of the fourth joint assembly 600 is connected to the elbow link 3 by screws, and the joint cover 11 of the fourth joint assembly 600 is connected to the forearm link 4 by screws.
[0053] After donning the robot's data acquisition device, the operator performs a series of actions according to the task, such as grasping objects. During operation, the various joints of the robot's data acquisition device rotate accordingly with the operator's movements. By collecting joint data from the robot's data acquisition device, the operator can efficiently and conveniently remotely control the robotic arm, allowing the operator to flexibly control the robotic arm to complete various tasks.
[0054] This invention employs a structure that is proportionally enlarged or reduced to the size of the robotic arm, ensuring a one-to-one correspondence between the robot data acquisition device and the robotic arm in the joint space. The robot data acquisition device is secured to the operator's body with straps using a back support plate, and simultaneously fixed to the operator's arm with straps on the connecting rods. This ensures a good fit between the robot data acquisition device and the operator, allowing the robot data acquisition device to move more naturally with the operator's arms during teleoperation, resulting in smoother and more human-like movements of the robotic arm. Furthermore, the modular joint structure allows for easy replacement of the corresponding limiting plates at the connecting rods or joints when the parameters of the robotic arm links or joints change via 3D printing. This enables efficient and low-cost synchronization with the latest robotic arms, meeting the needs for reusable and rapidly adaptable robot data acquisition devices.
[0055] This utility model also provides a robot that uses the wearable robot data acquisition device and includes a robotic arm, wherein the wearable robot data acquisition device is signal-connected to the robotic arm.
[0056] This invention employs a low-cost, high-efficiency, and portable wearable robot data acquisition device structure, which is used to adapt to the robotic arms of different robot models and to collect remote operation data at the robotic arm end.
[0057] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0058] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.
Claims
1. A wearable robotic data collection device, comprising: The wearable robot data acquisition device comprises a back support plate (1), a trunk wearing structure (100), an arm structure (200) and a back rod (9); The arm structure (200) and the back support plate (1) are both mounted on the back rod (9); The trunk wearing structure (100) comprises a chest tightness adjusting assembly and a shoulder tightness adjusting assembly; The chest tightness adjusting assembly and the shoulder tightness adjusting assembly are both mounted on the back support plate (1), the chest tightness adjusting assembly is used for adjusting the tightness and the fitting degree of the wearable robot data acquisition device and the chest of the operator, and the shoulder tightness adjusting assembly is used for adjusting the tightness and the fitting degree of the wearable robot data acquisition device and the shoulder of the operator.
2. The wearable robotic data collection device of claim 1, wherein, The chest tightness adjusting assembly comprises a chest band (6), a band pressing plate (10) and a chest buckle (61); Two ends of the chest band (6) are fixed on the back support plate (1) through two band pressing plates (10) respectively, and the chest band (6) is provided with the chest buckle (61).
3. The wearable robotic data collection device of claim 2, wherein, The shoulder tightness adjusting assembly comprises a shoulder band (7), a front pressing plate (8) and a shoulder buckle (71); The chest band (6) is connected with the front pressing plate (8); One end of the shoulder band (7) is mounted on the back support plate (1), and the other end is connected with the front pressing plate (8), and the shoulder band (7) is provided with the shoulder buckle.
4. The wearable robotic data collection device of claim 1, wherein, The arm structure (200) is slidably mounted on the back rod (9).
5. The wearable robotic data collection device of claim 1, wherein, The arm structure (200) comprises a base (2), an elbow connecting rod (3), a small arm connecting rod (4), a shoulder rotating connecting rod (19), a large arm connecting rod (20), a small arm rotating connecting rod (21), an end effector (5) and a joint assembly; The number of joint assemblies is multiple; The base (2) is mounted on the back rod (9), and the base (2), a first joint assembly G1, the shoulder rotating connecting rod (19), a second joint assembly G2, the large arm connecting rod (20), a third joint assembly G3, the elbow connecting rod (3), a fourth joint assembly G4, the small arm connecting rod (4), a fifth joint assembly G5, the small arm rotating connecting rod (21), two joint assemblies at a wrist and the end effector (5) are sequentially connected; The elbow connecting rod (3) can rotate with three degrees of freedom relative to the base (2), the small arm connecting rod (4) can rotate relative to the elbow connecting rod (3), and the end effector (5) can rotate with three degrees of freedom relative to the small arm connecting rod (4).
6. The wearable robotic data collection device of claim 5, wherein, It also comprises a wrist band, an elbow band and a small arm band; The wrist band, the elbow band and the small arm band are respectively mounted on the end effector (5), the elbow connecting rod (3) and the small arm connecting rod (4); The wrist band is used for fixing the operator's wrist and the end effector (5); the elbow band is used for fixing the operator's large arm and the elbow connecting rod (3); and the small arm band is used for fixing the operator's small arm and the small arm connecting rod (4).
7. The wearable robot data acquisition device according to claim 5, wherein The joint assembly comprises a joint cover shell (11), an encoder support (12), a bearing gland (13), an encoder (14), a shaft connecting plate (15), a ball bearing (17) and a cover shell positioning plate (18); The encoder (14) is fixedly connected with the encoder support (12), the joint cover shell (11) and the encoder support (12) are radially positioned by a pair of ball bearings (17), the cover shell positioning plate (18) is connected with the joint cover shell (11), the bearing gland (13) is connected with the encoder support (12), so that the axial positioning of the joint assembly is realized, and the shaft of the encoder (14) is connected with the shaft connecting plate (15), the shaft connecting plate (15) is connected with the joint cover shell (11).
8. The wearable robotic data collection device of claim 7, wherein, The joint assembly further comprises a limiting plate (16); the limiting plate (16) is arranged between the shaft connecting plate (15) and the encoder support (12), and the relative rotation between the shaft connecting plate (15) and the encoder support (12) is limited by the slot on the limiting plate (16).
9. The wearable robotic data collection device of claim 5, wherein, The joint assembly is detachably connected with other components.
10. A robot, characterized in that The wearable robot data acquisition device of any one of claims 1 to 9 further comprises a mechanical arm, and the wearable robot data acquisition device is signal connected with the mechanical arm.