A backpack-type spatial assisted training robotic arm

Abstract

This utility model discloses a backpack-type space-assisted training robotic arm, specifically relating to the field of robotic arm technology. It includes a carrying strap, an upper robotic arm, a front robotic arm body, and a hand end effector device. The carrying strap is connected to the upper robotic arm, and the upper robotic arm is connected to the front robotic arm body. The front robotic arm body also preferably has a hand end effector device at its front end. These four parts are interconnected via various telescopic shafts, and wiring is provided according to the connections of each part. This utility model employs an optimized backpack-type space-assisted training robotic arm to simulate the motion states of different masses and the interaction forces between the astronaut and the spacecraft in a simulated space operation environment on the ground. This achieves virtual operation training and a sense of presence for astronauts in a simulated microgravity environment, helping them learn how to operate objects of different masses and avoiding collisions due to operational errors.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a backpack-type spatial assisted training robotic arm. Background Technology

[0002] In recent years, space station and deep space exploration technologies have flourished, and astronauts have taken on more complex and demanding space missions. To ensure astronauts can successfully perform their missions in space, they need to undergo operational training in a simulated microgravity environment on Earth. Astronauts residing on the space station undergo at least two years of training. The successful launch of Shenzhou-7 and the perfect spacewalk by Chinese astronauts marked a new height in my country's space program. The orderly completion of various experimental tasks by the Shenzhou-11 astronauts aboard Tiangong-2 indicates that the development of my country's space program will bring even more astronaut space operation missions.

[0003] Moving from Earth to space, from a gravitational environment to a weightless one, astronauts may not feel the force of gravity, but due to orbital mechanics, objects still possess mass and a center of gravity, and inertial forces remain. In space, the motion and mechanical properties of large objects differ significantly from those on Earth. For example, astronauts might easily lift a 17-ton solar panel from the space station, but would struggle to hold it securely; the inertial forces generated by its immense mass could even tear gloves. Therefore, conducting ground-based training to ensure astronauts' handling of objects and gloves in space without damage, preventing worse situations, and confidently handling space missions are crucial for the successful completion of subsequent manned spaceflight missions.

[0004] To enable astronauts to work effectively in space, various methods have been explored to simulate the microgravity environment of space for training, especially on Earth where a realistic space environment is lacking. Currently, the technology of using virtual reality (VR) headsets to present virtual scenes of the space station is relatively mature internationally. However, the technology of using robotic arms to simulate virtual work objects and tasks to achieve a sense of presence in complex operations is still in its early stages, with many technical challenges requiring further research and breakthroughs. As early as 1993, NASA proposed combining VR technology with robotic arm technology to create a new technology for virtual work training for astronauts. This successfully enabled astronauts to train by handling objects of different masses and shapes, achieving good virtual training results. The Charlotte robotic arm developed by NASA's Virtual Reality Laboratory is unique, and the iFeel6-BH1500 flexible cable parallel robotic arm for virtual assembly work training, researched by the robotic arm research group of Zhang Yuru and Wang Dangxiao at the State Key Laboratory of Virtual Reality Technology and Systems at Beijing University of Aeronautics and Astronautics, has also made significant progress in this field. However, compared with manned spaceflight technology, ground training technology is relatively lagging behind. Currently, there is only vision-based VR technology, force-sensing technology is just starting out, and research on virtual training technology based on robotic arms is also in its initial stage. There is an urgent need for high-level immersive technology and robotic arm virtual training technology. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the embodiments of this utility model provide a backpack-type spatial assisted training robotic arm.

[0006] A modular main structure is designed, consisting of a frame made of high-strength lightweight alloy. The internal structure is equipped with standardized interfaces and slots to facilitate the quick installation and replacement of different functional modules, such as operation execution modules, sensing and detection modules, and data processing and communication modules. This ensures that the robotic arm can flexibly adjust its functional configuration according to task requirements, saving materials while enhancing the stability and reliability of the overall structure, and providing a solid foundation for the execution of complex tasks.

[0007] An innovative multifunctional robotic arm system is proposed, whose joints are equipped with high-precision torque sensors and angle encoders. Through advanced motion control algorithms, it can achieve precise motion trajectory planning and force control, meeting the requirements of high-precision tasks such as fine assembly and surgical assistance.

[0008] Develop an intelligent sensing and decision-making system integrating tactile sensors. These sensors are distributed across the surfaces of the robotic arm and the manipulator, providing precise feedback on contact force and pressure information to ensure operational safety and accuracy. The system uses deep learning algorithms to process and analyze sensor data in real time, rapidly generating optimal task execution strategies and effectively improving the robotic arm's autonomous decision-making capabilities and intelligence level.

[0009] Furthermore, a backpack-type spatial assisted training robotic arm includes a backpack strap, an upper robotic arm, a front robotic arm body, and a hand end effector device. The backpack strap is connected to the upper robotic arm, the upper robotic arm is connected to the front robotic arm body, and the front robotic arm body also has a hand end effector device at its front end. The four parts are interconnected by various telescopic shafts, and wiring is connected according to the connection of each part.

[0010] Furthermore, the carrying strap consists of a high-strength alloy frame, an adjustable carrying strap system, and a human-fitting cushioning pad. The front cushioning pad is connected to the back cushioning pad, while the right side is connected to a rotating joint.

[0011] Furthermore, the upper robotic arm is composed of multiple joint modules connected in sequence.

[0012] Furthermore, the aforementioned front-end robotic arm can be equipped with different functional modules depending on the training task, such as a hand gripping assistance module for rehabilitation training and a precision operation module for simulating surgical instrument operation. Each functional module has an interface for quick connection and disassembly with the robotic arm joint components.

[0013] Furthermore, several infrared sensors or pressure sensors are provided on the surface of the upper robotic arm and the front robotic arm and near the joints.

[0014] Furthermore, the hand end effector device includes an end effector frame, a grip, a front rotary joint, and a force sensor bracket. The grip is designed inside the end effector frame, the force sensor bracket is disposed inside the end effector frame, and the grip is disposed outside the end effector frame.

[0015] As a further improvement to the above solution, a synchronous belt was added between the flexible cable integrating the motor and the nonlinear winch, thereby ensuring precise transmission and slip-free drive during the movement of the robotic arm.

[0016] As a further improvement to the above solution, this utility model designs a speed reduction drive, which aims to ensure the smoothness and rigidity of the robotic arm's movement and improve the accuracy of the sensing data.

[0017] The technical effects and advantages of this utility model are as follows:

[0018] 1. In terms of improving training accuracy, this practical robotic arm, with its high-precision sensors and advanced motion control algorithms, can accurately simulate various operational actions in space operation scenarios. Its high-precision angle sensors and torque sensors at the joints can provide real-time and accurate feedback on the robotic arm's motion status. Based on this feedback data, the control unit uses a complex motion control algorithm to accurately correct the robotic arm's motion trajectory.

[0019] 2. In terms of expanding the diversity of training scenarios, the multi-degree-of-freedom design and replaceable end effector function of the robotic arm play a key role. It has six degrees of freedom and can move flexibly in three-dimensional space to simulate various complex space operation postures. At the same time, it is equipped with a variety of quick-change end effectors, such as special fixtures for installing extravehicular equipment and fine sampling tools for simulating material sampling in microgravity environments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0021] Figure 2 This is a schematic diagram of the carrying strap structure of this utility model.

[0022] Figure 3 This is a schematic diagram of the upper robotic arm structure of this utility model.

[0023] Figure 4 This is a schematic diagram of the front-end robotic arm structure of this utility model.

[0024] Figure 5 This is a schematic diagram of the hand end effector device of this utility model. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] refer to Figure 1 A backpack-type spatial assisted training robotic arm, characterized by: a backpack strap (11000), an upper robotic arm (12000), a front robotic arm body (13000), and a hand end effector device (14000). The backpack strap (11000) is connected to the upper robotic arm (12000), and the upper robotic arm (12000) is connected to the front robotic arm body (13000). The hand end effector device (14000) is also located at the front end of the front robotic arm body (13000). The four parts are interconnected by various telescopic shafts, and the wiring is connected according to the connection of each part.

[0027] Reference Figure 2The carrying strap (11000) consists of a high-strength alloy frame, an adjustable carrying strap system, and a human-fitting cushioning pad. The front cushioning pad (11001) is connected to the back cushioning pad (11003), and the right side is connected to the rotating joint (11002). The high-strength alloy frame is used to bear the weight of the robotic arm and related components and ensure the overall structural stability. The adjustable carrying strap system can adapt to different user body shapes to achieve comfortable carrying. The human-fitting cushioning pad is distributed at the contact points between the frame and the human body to reduce pressure and prevent local compression.

[0028] Reference Figure 3 The upper robotic arm (12000) is composed of multiple joint modules connected sequentially, featuring an ingenious structural design that lays the foundation for flexible and diverse movements. Each joint module is equipped with an independent drive motor (12202), allowing each joint to operate independently without interference, greatly enhancing the flexibility and precision of the robotic arm's movements. Simultaneously, a high-precision reducer (12201) works closely with the drive motor (12202) to convert the high speed output of the motor into the large torque and low speed required by the joint, providing stable and powerful power for joint rotation. Angle sensors are a crucial component of the joint modules, acting as the robotic arm's "sensory tentacles," monitoring the joint rotation angle in real time and rapidly feeding this precise data back to the control unit. Based on the feedback information, the control unit adjusts the drive motor (12202) in real time, thereby achieving precise motion control of the upper robotic arm (12000) and ensuring accurate operation in various complex tasks.

[0029] Reference Figure 4 The aforementioned front-end robotic arm (13000) is a highly flexible and multifunctional robotic arm component. To better adapt to different training tasks, it possesses the unique advantage of interchangeable functional modules. This design fully considers the diverse needs of practical applications, allowing users to freely select and replace the appropriate functional modules according to the specific training task.

[0030] For example, when basic training is required, the front arm frame (13001) auxiliary module can be used. This module can provide users with the most basic arm support and movement guidance, helping users to become familiar with the operation process and basic movements of the robotic arm, laying the foundation for more complex operations in the future.

[0031] In training scenarios involving the operation of simulated machinery, the fine manipulation module plays a crucial role. Designed to meet the precise movement requirements of machinery operation, the fine manipulation module is equipped with more sophisticated operating components and sensors, enabling the robotic arm to accurately simulate the subtle movements of a human hand when operating machinery, such as grasping, twisting, and pressing.

[0032] More importantly, these functional modules all share a common feature: they all have interfaces for quick connection and disassembly with the robotic arm joint connection part (13002). The design of these interfaces strictly adheres to standardized mechanical connection specifications, ensuring reliable and convenient connections. In actual operation, users can easily replace modules without the need for complex tools or professional technicians.

[0033] The upper ring frame (13003) and the lower ring frame (13004) play a crucial role in fixing the front-end robotic arm body (13001) in its structure. Through their close cooperation, they firmly lock the front-end robotic arm body (13001) in the predetermined position, ensuring the stability and structural integrity of the front-end robotic arm body during operation.

[0034] The joint connection (13002) is the key node connecting the front-end robotic arm body (13000) and the upper robotic arm (12000). Through this connection, the front-end robotic arm body can achieve multi-angle movement, giving the robotic arm more flexible and diverse motion capabilities. This multi-angle movement makes the robotic arm more adept at completing different tasks, easily handling both large-range extensions and precise angle adjustments.

[0035] Meanwhile, the design of the joint connection (13002) also fully considers force transmission and wear issues. It utilizes high-strength materials and advanced manufacturing processes, enabling it to withstand the enormous forces from the front-end robotic arm (13000) and the upper robotic arm (12000). Through optimized structural design, the forces are evenly distributed to each component, reducing localized stress concentration and extending the joint's lifespan. Furthermore, the motion trajectory of the joint connection (13002) is meticulously designed to ensure the smoothness and precision of the front-end robotic arm (13000) during movement, preventing jamming or unevenness and further enhancing the robotic arm's operational performance.

[0036] Overall, the design of the front-end robotic arm (13000) is an excellent solution that comprehensively considers functional versatility, ease of operation, structural stability, and reliability. Its replaceable functional modules allow for wide applicability to various training scenarios, from simple basic training to complex fine motor skills training, providing suitable configuration options for each. The meticulously designed frame structure (13006) and joint connections (13002) provide strong guarantees for the long-term stable operation and efficient functioning of the robotic arm, laying a solid foundation for achieving complex robotic arm operation tasks.

[0037] Reference Figure 5The end effector (14000) cleverly integrates collision detection within its joint range of motion. This function is achieved using infrared or pressure sensors distributed on the surface of the mechanical grip (140002) and near the joints. These sensors act as sensitive "guardians," constantly monitoring the surrounding environment. Once a potential collision risk is detected, a braking mechanism is immediately activated, quickly bringing the robotic arm to a stop, like applying an "emergency brake," while simultaneously sending an alarm signal to the control unit. This design aims to comprehensively protect the user from injury caused by collisions.

[0038] Furthermore, the hand rotation joint (14001) is tightly connected to the arm connecting bracket (14004), giving the hand device excellent multi-angle rotation capability. This makes the hand end effector (14000) more flexible during operation, able to adapt to different work scenarios and task requirements, and greatly expands its simulation application range.

[0039] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0040] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0041] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A backpacked space-type assisted training robot arm, comprising a backpack harness, an upper end robot arm, a front end robot arm body, a hand end effector device and a front end bumper, characterized in that: The negative shoulder strap is connected to the upper robotic arm, the upper robotic arm is connected to the front robotic arm body, and the front end of the front robotic arm body is connected to a hand end effector device. The four parts are interconnected through various telescopic shafts, and wiring is connected according to the connection of each part.

2. The assisted training mechanical arm of claim 1, wherein: The carrying strap consists of a high-strength alloy frame, an adjustable carrying strap system, and a human-fitting cushioning pad. The front cushioning pad is connected to the back cushioning pad, while the right side is connected to a rotating joint.

3. The assisted training mechanical arm of claim 1, wherein: The upper robotic arm is composed of multiple joint modules connected in sequence.

4. The assisted training mechanical arm of claim 1, wherein: The aforementioned front-end robotic arm can be equipped with different functional modules depending on the training task, including a hand gripping assistance module for rehabilitation training and a precision operation module for simulating surgical instrument operation. Each functional module has an interface for quick connection and disassembly with the robotic arm joint components.

5. The assisted training mechanical arm of claim 1, wherein: Several infrared sensors or pressure sensors are installed on the surface of the upper robotic arm and the front robotic arm and near the joints.

6. The assisted training mechanical arm of claim 1, wherein: The hand end effector device includes an end effector frame, a grip, a front rotary joint, and a force sensor bracket. The grip is designed inside the end effector frame, the force sensor bracket is located inside the end effector frame, and the grip is located outside the end effector frame.

Images