Robotic arm operating device and robot system

Abstract

The embodiment of the present application provides a robot arm operating device and a robot system, the device comprising: a support frame; a robot arm, the robot arm is fixed on the support frame, a motor is arranged in the robot arm, the motor is used to drive the robot arm to move; an annular tactile sensor, the annular tactile sensor is arranged at one end of the robot arm away from the support frame, the end of the robot arm away from the support frame is provided with a handle, the annular tactile sensor is used to generate a corresponding motion prediction signal according to the pressure detected from the user's arm when the user's arm passes through the annular tactile sensor and holds the handle; a controller is connected to the motor driving the robot arm, and is used to control the movement of the robot arm through the motor according to the received motion prediction signal. The technical solution of the embodiment of the present application improves the convenience of using the robot arm, and is conducive to improving the accuracy of robot arm manipulation and the flexibility of control.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm operating device and a robotic system. Background Art

[0002] In one application scenario of robots, remote control of robots is achieved by teleoperation, which is telerobotics technology. Telerobotics technology can be applied to telemedicine, remote diagnosis, remote grasping, space exploration, and operations in hazardous environments (nuclear radiation, toxic chemicals, flammable and explosive, and viral infections). Telerobotics technology enables operators to control remote robots in real time in a natural and controllable manner. Telerobotics builds a real and reliable human-computer interaction system, emphasizing human-computer interactivity, and has the characteristics of real-time motion control, high-precision motion tracking, real-time dynamic tactile feedback, safety, and ease of operation. However, telerobotics technology in related technologies usually uses wearable exoskeleton devices to achieve the function of teleoperation, but wearable exoskeleton devices are not only cumbersome to wear, but also prone to slippage, which in turn affects the accuracy of teleoperation and the flexibility of control. Summary of the invention

[0003] In order to solve the above-mentioned technical problems, the embodiments of the present application provide a robotic arm operating device and a robot system, which can at least improve the ease of use of the robotic arm to a certain extent, and is conducive to improving the accuracy of the robotic arm manipulation and the smoothness of the control.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, there is provided a robotic arm operating device, comprising: a support frame; a robotic arm, the robotic arm being fixed on the support frame, a motor being arranged inside the robotic arm, the motor being used to drive the robotic arm to move; an annular tactile sensor, the annular tactile sensor being arranged at one end of the robotic arm away from the support frame, the end of the robotic arm away from the support frame being provided with a handle, the annular tactile sensor being used to generate a corresponding motion prediction signal according to the pressure detected from the user's arm when the user's arm passes through the annular tactile sensor and holds the handle; a controller, connected to the motor that drives the robotic arm, and used to control the movement of the robotic arm through the motor according to the received motion prediction signal.

[0006] In some embodiments of the present application, based on the aforementioned scheme, the support frame includes a frame body, a guide rail and a supporting beam, the guide rail is arranged on the frame body, the supporting beam is fixed to the guide rail by a beam fixing member, and can slide along the guide rail.

[0007] In some embodiments of the present application, based on the aforementioned solution, a robotic arm connector is movably provided on the supporting crossbeam, the robotic arm connector can move on the supporting crossbeam, and the robotic arm connector is used to connect the robotic arm.

[0008] In some embodiments of the present application, based on the aforementioned solution, a guide rail is provided on the supporting beam, a slider matching with the guide rail is provided inside the robotic arm connecting member, and the robotic arm connecting member slides on the supporting beam through the slider.

[0009] In some embodiments of the present application, based on the aforementioned solution, the annular tactile sensor includes an annular shell and a tactile sensor arranged on the inner wall of the annular shell, and the tactile sensor is used to detect the pressure applied by the user's arm from different directions.

[0010] In some embodiments of the present application, based on the aforementioned solution, a plurality of tactile sensors are provided on the inner wall of the annular shell, and the plurality of tactile sensors are evenly arranged on the inner wall of the annular shell.

[0011] In some embodiments of the present application, based on the aforementioned solution, a buffer is further provided on the inner wall of the annular shell, and the buffer is used to buffer the pressure from the user's arm.

[0012] In some embodiments of the present application, based on the aforementioned solution, a plurality of tactile sensors and a plurality of buffer members are provided on the inner wall of the annular shell, and the plurality of tactile sensors and the plurality of buffer members are arranged at intervals on the inner wall of the annular shell.

[0013] In some embodiments of the present application, based on the aforementioned solution, the annular shell includes an annular inner ring and an annular outer ring that are nested with each other, and the tactile sensor is arranged between the annular inner ring and the annular outer ring.

[0014] In some embodiments of the present application, based on the aforementioned solution, a buffer member is further provided between the annular inner ring and the annular outer ring.

[0015] In some embodiments of the present application, based on the aforementioned solution, the annular housing further includes a retaining ring, and the retaining ring is used to connect the edge of the annular inner ring and the annular outer ring.

[0016] In some embodiments of the present application, based on the aforementioned scheme, it also includes: a torque sensor, which is arranged at one end of the robotic arm away from the support frame, and the handle is arranged on the rotating axis of the torque sensor, and the torque sensor is used to detect the rotation angle of the handle and generate a corresponding torque signal; the controller is also used to receive the torque signal, and control the motor to drive the robotic arm to move based on the torque signal.

[0017] In some embodiments of the present application, based on the aforementioned solution, the robotic arm is a six-degree-of-freedom robotic arm.

[0018] In some embodiments of the present application, based on the aforementioned scheme, the robotic arm includes a left robotic arm and a right robotic arm, the motor is disposed in each of the left robotic arm and the right robotic arm, and one of the annular tactile sensors is disposed on each of the left robotic arm and the right robotic arm.

[0019] According to one aspect of an embodiment of the present application, a robot system is also provided, comprising the above-mentioned robotic arm operating device; and a slave robot, wherein the slave robot is used to receive a motion control signal sent by the robotic arm operating device, and maintain synchronous movement with the robotic arm operating device based on the motion control signal.

[0020] In the above technical solution, an annular tactile sensor is provided on the robot arm. When the user passes through the annular tactile sensor to hold the handle and the arm touches the annular tactile sensor, the annular tactile sensor generates a motion prediction signal and sends the motion prediction signal to the controller, and then the controller controls the robot arm by controlling the motor in the robot arm. It can be seen that the technical solution of the embodiment of the present application greatly improves the convenience of using the robot arm compared to the wearable exoskeleton device. At the same time, because the robot arm is fixed to the support frame in the embodiment of the present application, the stability of the robot arm during operation can be guaranteed, which is conducive to improving the accuracy of the robot arm control and the flexibility of the control.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1It is a schematic diagram of an implementation environment involved in this application;

[0024] Figure 2 is a schematic diagram of the structure of a robotic arm operating device provided in an embodiment of the present application;

[0025] Figure 3 is a schematic structural diagram of another robotic arm operating device provided in an embodiment of the present application;

[0026] Figure 4 is a schematic structural diagram of another robotic arm operating device provided in an embodiment of the present application;

[0027] Figure 5 It is a schematic diagram of the structure of a mechanical arm provided in an embodiment of the present application, which is away from one end of the support frame;

[0028] Figure 6 is a schematic diagram of an exploded structure of a ring-shaped tactile sensor provided in an embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of the structure explosion of another annular tactile sensor provided in an embodiment of the present application.

[0030] The markings are as follows:

[0031] 100, support frame; 110, frame body;

[0032] 120. Linear guide rail; 130. Support beam;

[0033] 140, mechanical arm connecting piece; 140a, left mechanical arm connecting piece;

[0034] 140b, right mechanical arm connecting piece; 200, mechanical arm;

[0035] 210, handle; 210a, left robotic arm handle;

[0036] 210b, right robotic arm handle; 220, left robotic arm;

[0037] 230, right robotic arm; 300, annular tactile sensor;

[0038] 300a, left annular tactile sensor; 300b, right annular tactile sensor;

[0039] 310, annular housing; 311, annular inner ring;

[0040] 312, annular outer ring; 313, retaining ring;

[0041] 320. tactile sensor; 330. spring;

[0042] 400, torque sensor; 400a, left torque sensor;

[0043] 400b, right torque sensor. DETAILED DESCRIPTION

[0044] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0045] Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0046] Artificial intelligence technology is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics and other technologies. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0047] Computer vision technology (CV) is a science that studies how to make machines "see". To be more specific, it refers to machine vision such as using cameras and computers to replace human eyes to identify and measure targets, and further perform graphic processing so that computer processing becomes an image that is more suitable for human eye observation or transmission to instrument detection. As a scientific discipline, computer vision studies related theories and technologies, and attempts to establish an artificial intelligence system that can obtain information from images or multi-dimensional data. Computer vision technology usually includes image processing, image recognition, image semantic understanding, image retrieval, OCR, video processing, video semantic understanding, video content / behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous positioning and map construction, and other technologies, as well as common biometric recognition technologies such as face recognition and fingerprint recognition.

[0048] The key technologies of speech technology include automatic speech recognition technology (ASR), text-to-speech technology (TTS) and voiceprint recognition technology. Enabling computers to listen, see, speak and feel is the future development direction of human-computer interaction, among which speech has become one of the most promising human-computer interaction methods in the future.

[0049] Natural language processing (NLP) is an important direction in the fields of computer science and artificial intelligence. It studies various theories and methods that can achieve effective communication between people and computers using natural language. Natural language processing is a science that integrates linguistics, computer science, and mathematics. Therefore, research in this field will involve natural language, that is, the language people use in daily life, so it is closely related to the study of linguistics. Natural language processing technology usually includes text processing, semantic understanding, machine translation, robot question answering, knowledge graph and other technologies.

[0050] Machine Learning (ML) is a multi-disciplinary subject that involves probability theory, statistics, approximation theory, convex analysis, algorithm complexity theory and other disciplines. It specializes in studying how computers simulate or implement human learning behavior to acquire new knowledge or skills and reorganize existing knowledge structures to continuously improve their performance. Machine learning is the core of artificial intelligence and the fundamental way to make computers intelligent. Its applications are spread across all areas of artificial intelligence. Machine learning and deep learning usually include artificial neural networks, belief networks, reinforcement learning, transfer learning, inductive learning, and self-learning.

[0051] Autonomous driving technology usually includes high-precision maps, environmental perception, behavioral decision-making, path planning, motion control and other technologies. Autonomous driving technology has broad application prospects.

[0052] With the research and advancement of artificial intelligence technology, artificial intelligence technology has been studied and applied in many fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, drones, robots, smart medical care, smart customer service, etc. I believe that with the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0053] The solution provided in the embodiments of the present application mainly relates to artificial intelligence robotics technology, which is specifically illustrated by the following embodiments.

[0054] It should be noted in advance that the robot described in the present application may be a robot in a teleoperation system, wherein the teleoperation system refers to a system in which the operator controls the remote robot through a main console to act on the working environment. In the teleoperation system, the operator does not have direct contact with the working environment, and only controls the movement of the remote robot's mechanical arm through the operating handle in the main console.

[0055] See also Figure 1 , Figure 1 : is a schematic diagram of an implementation environment involved in the present application. The implementation environment includes a master-end operating device and a slave-end robot. An operator remotely operates the master-end operating device to realize remote operation of the slave-end robot. The operator's movement on the master-end operating device can be mapped to the slave-end robot, so that the slave-end robot can perform synchronous operation according to the operator's movement on the master-end operating device.

[0056] In one embodiment of the present application, Figure 1 The master end operation device shown in can be a robot arm operation device. Figures 2 to 5 The robot arm operating device includes a support frame 100, a robot arm 200, a ring-shaped tactile sensor 300 and a controller.

[0057] It should be noted that the robot arm operating device in the embodiment of the present application may include a left robot arm 220 and a right robot arm 230, or may include only the left robot arm 220 or only the right robot arm 230. Of course, if the robot arm operating device is provided for multiple people to use simultaneously, it may also include a larger number of left robot arms 220 and right robot arms 230.

[0058] For ease of description, the "mechanical arm 200" in the following embodiments can represent either the left mechanical arm or the right mechanical arm. Similarly, the "annular tactile sensor 300" below can represent either the left annular tactile sensor or the right annular tactile sensor. However, when the "mechanical arm 200" represents the left mechanical arm, the "annular tactile sensor 300" actually represents the left annular tactile sensor; when the "mechanical arm 200" represents the right mechanical arm, the "annular tactile sensor 300" actually represents the right annular tactile sensor.

[0059] Among them, the robotic arm 200 is fixed on the support frame 100, and a motor is arranged inside the robotic arm 200, which is used to drive the robotic arm 200 to move. The annular tactile sensor 300 is arranged at the end of the robotic arm 200 away from the support frame 100. At the same time, a handle 210 is arranged at the end of the robotic arm 200 away from the support frame 100. The annular tactile sensor 300 is used to generate a corresponding motion prediction signal according to the pressure detected from the user's arm when the user's arm passes through the annular tactile sensor 300 and holds the handle 210. The controller is connected to the motor that drives the robotic arm 200, and is used to control the movement of the robotic arm 200 through the motor according to the received motion prediction signal.

[0060] It should be noted that the robotic arm 200 is the most widely used automatic mechanical device in the field of robotics. It can be used in industrial manufacturing, medical care, entertainment services, semiconductor manufacturing, and space exploration. The robotic arm 200 can receive instructions and accurately locate points in three-dimensional (or two-dimensional) space for operations.

[0061] In this embodiment, an annular tactile sensor 300 is provided on the mechanical arm 200. When the user's arm touches the annular tactile sensor 300, the annular tactile sensor 300 generates a motion prediction signal and sends it to the controller. The controller can realize smooth control of the mechanical arm 200 by controlling the motor in the mechanical arm 200. Specifically, when the user's arm touches the annular tactile sensor 300, the annular tactile sensor 300 can detect the pressure direction of the user's arm, and then determine that the user's intention is to move in the direction of the pressure. Therefore, the determined motion prediction signal is to move in the direction of the pressure. At the same time, the distance of movement can also be determined according to the pressure detected by the annular tactile sensor 300, that is, the motion prediction signal also includes the movement distance. For example, if the pressure detected by the annular tactile sensor 300 is greater, it means that the user expects the movement distance to be greater.

[0062] It should be noted that the controller can be disposed inside the robot arm 200 or outside the robot arm 200 and connected to the motor inside the robot arm 200, and the installation position of the controller is not limited. Optionally, if the robot arm operating device has two or more robot arms, these robot arms can be controlled by the same controller, or one robot arm can be controlled separately by a corresponding controller.

[0063] Optionally, a six-degree-of-freedom robot arm may be used, which is composed of six joints, wherein the degree of freedom refers to the data of the independent coordinate axis movement of the robot arm 200. The degree of freedom is an important technical indicator of the robot arm 200, which represents the scale of the flexible movement of the robot arm 200 and can directly affect the maneuverability of the robot arm 200. Further, in this embodiment, the motor used to drive the robot arm 200 to move is preferably a servo motor, and there are multiple servo motors, which are respectively located in each joint of the robot arm 200, so that after receiving the signal fed back by the controller, each joint of the robot arm 200 can be driven to move accordingly, thereby improving the compliance of the control of the robot arm 200.

[0064] In an exemplary embodiment, the support frame 100 includes a frame body 110, a linear guide rail 120 and a support beam 130. The linear guide rail 120 is vertically arranged on the frame body 110, and the support beam 130 is fixed to the linear guide rail 120 through a beam fixing member and can slide along the linear guide rail 120.

[0065] In this embodiment, the linear guide rail 120 is vertically disposed on the frame 110 , and the support beam 130 located on the linear guide rail 120 can slide up and down on the frame 110 along the linear guide rail 120 .

[0066] In an exemplary embodiment, a robot arm connector 140 is movably provided on the supporting crossbeam 130 , and the robot arm connector 140 is used to connect the robot arm 200 .

[0067] Similar to the above description, the "mechanical arm connector 140" in the embodiment of the present application can represent both the left mechanical arm connector and the right mechanical arm connector. However, when the "mechanical arm 200" represents the left mechanical arm, the "mechanical arm connector 140" actually represents the left mechanical arm connector; when the "mechanical arm 200" represents the right mechanical arm, the "mechanical arm connector 140" actually represents the right mechanical arm connector.

[0068] In this embodiment, the robot arm 200 is fixed on the supporting beam 130 by means of a robot arm connector 140 movably disposed on the supporting beam 130. Since the robot arm connector 140 is movably disposed on the supporting beam 130, the position of the robot arm 200 can be adjusted during the sliding of the robot arm connector 140 on the supporting beam 130, so that the robot arm 200 can meet the different position requirements of the user.

[0069] In an exemplary embodiment, a guide rail is disposed on the support beam 130 , and a slider matched with the guide rail is disposed inside the robot arm connecting member 140 , and the robot arm connecting member 140 slides on the support beam 130 via the slider.

[0070] In this embodiment, the sliding of the robot arm connector 140 on the supporting beam 130 is achieved through the cooperation between the slider and the guide rail. It can be understood that a fixing part for limiting the position of the robot arm connector 140 is also provided on the robot arm connector 140, so that the user can keep the position of the robot arm 200 unchanged during the process of controlling the movement of the robot arm 200, thereby improving the accuracy of remote operation.

[0071] Furthermore, in this embodiment, a pulley that cooperates with the guide rail on the support beam 130 can also be set inside the robot arm connector 140, and the robot arm connector 140 can slide on the support beam 130 through the cooperation between the pulley and the guide rail.

[0072] It is understandable that in an exemplary embodiment, if Figure 5 As shown, the annular tactile sensor 300 can be fixed to the end of the robot arm 200 away from the support frame 100 through an annular fixing member located on one side, and the handle 210 is located at the end of the robot arm 200 away from the support frame 100. The handle 210 includes a connecting rod and a base, wherein the base is fixedly arranged at the axis of the robot arm 200. It should be noted that since the robot arm 200 is a multi-degree-of-freedom robot arm, the robot arm 200 is composed of multiple joint arms, and the axis of the robot arm 200 described here is the axis away from the support frame 100. The end face of the articulated arm at one end of the support frame 100 is located at the axial center position, and one end of the connecting rod is fixedly connected to the base and is located on the side of the annular tactile sensor 300 away from the support frame 100, so that the connecting rod can rotate in a plane with the axis as the center under the control of the external force of the user. When the connecting rod rotates clockwise or counterclockwise under the control of the external force of the user, the user's arm will naturally touch the annular tactile sensor 300, so that the annular tactile sensor 300 can detect the pressure applied by the user's arm from different directions.

[0073] In an exemplary embodiment, if Figure 6 and Figure 7 As shown, the annular tactile sensor 300 includes an annular housing 310 and a tactile sensor 320 disposed on the inner wall of the annular housing 310 , and the tactile sensor 320 is used to detect the pressure applied by the user's arm from different directions.

[0074] In this embodiment, if the user's arm touches the annular tactile sensor 300, the tactile sensor 300 converts the pressure of the user's arm into a motion prediction signal of the robotic arm and transmits it to the controller. The controller predicts the movement of the robotic arm 200 based on the received motion prediction signal.

[0075] Optionally, a plurality of tactile sensors 320 are disposed on the inner wall of the annular shell 310 , and the plurality of tactile sensors 320 are evenly arranged on the inner wall of the annular shell 310 .

[0076] It can be understood that by setting multiple tactile sensors 320 on the inner wall of the annular shell 310, when the user's arm applies pressure from different directions, the tactile sensors 320 evenly distributed in the annular shell 310 can sensitively generate corresponding motion prediction signals based on the received external pressure and send them to the controller.

[0077] Furthermore, a buffer is provided on the inner wall of the annular housing 310 , and the buffer is used to buffer the pressure from the user's arm.

[0078] Understandably, if the pressure from the user's arm is too great, it is easy to cause damage to the tactile sensor 320, and the cost of frequently replacing the tactile sensor 320 disposed in the annular housing 310 is too high, and frequent replacement will also cause damage to the annular tactile sensor 300. By arranging a buffer on the inner wall of the annular housing 310, the tactile sensor 320 disposed in the annular housing 310 can be effectively protected, thereby maintaining the effectiveness of the tactile sensor 320 for a long time. Optionally, a spring is used as a buffer installed on the inner wall of the annular housing 310.

[0079] Furthermore, a plurality of tactile sensors 320 and a plurality of buffers are disposed on the inner wall of the annular shell 310 , and the plurality of tactile sensors 320 and the plurality of buffers are disposed on the inner wall of the annular shell 310 at intervals.

[0080] In this embodiment, the touch sensor 320 and the buffer are arranged in the annular housing 310 at a distance, so that the touch sensor 320 can be effectively protected.

[0081] Furthermore, the annular shell 310 includes an annular inner ring 311 and an annular outer ring 312 which are nested with each other, the tactile sensor 320 is arranged between the annular inner ring 311 and the annular outer ring 312, and a buffer is arranged between the annular inner ring 311 and the annular outer ring 312. Optionally, a spring can be used as the buffer.

[0082] In this embodiment, the annular housing 310 further includes a retaining ring 313 , which is used to connect the edges of the annular inner ring 311 and the annular outer ring 312 .

[0083] In an exemplary embodiment, the outer surface of the annular tactile sensor 300 is connected to a fixing sleeve, the shape of which is adapted to the shape of the cross section of the side of the robotic arm 200 away from the support frame 100 , and the fixing sleeve can be mounted on the robotic arm 200 , thereby fixing the annular tactile sensor 300 to one side of the robotic arm 200 .

[0084] In an exemplary embodiment, the robotic arm operating device also includes a torque sensor 400, which is arranged at one end of the robotic arm 200 away from the support frame 100, and the handle 210 is arranged on the rotating axis of the torque sensor 400. The torque sensor 400 is used to detect the rotation angle of the handle 210 and generate a corresponding torque signal; the controller is also used to receive the torque signal and control the motor to drive the robotic arm 200 to move based on the torque signal.

[0085] In this embodiment, if Figure 5 As shown, the torque sensor 400 can be arranged between the annular tactile sensor 300 and the handle 210. At the same time, the handle 210 can be arranged on the rotating axis of the torque sensor 400 through the aforementioned base. During the rotation of the handle 210, the rotation angle of the handle 210 can be detected by the torque sensor 400. Through the cooperation of the torque sensor 400 and the annular tactile sensor 300, the technical solution of this embodiment can achieve smooth control of the robot arm 200.

[0086] In an exemplary embodiment, the robotic arm 200 may include a left robotic arm 220 and a right robotic arm 230, both of which are provided with motors, and the left robotic arm 220 and the right robotic arm 230 are respectively provided with an annular tactile sensor 300, that is, a left annular tactile sensor 300a is provided on the left robotic arm 220, and a right annular tactile sensor 300b is provided on the right robotic arm 230.

[0087] It can be understood that in this embodiment, the left robotic arm 220 and the right robotic arm 230 are fixed to the support frame 100 by the left robotic arm connecting member 140a and the right robotic arm connecting member 140b respectively, and a left robotic arm handle 210a is provided at the end of the left robotic arm 220 away from the support frame 100, and the left robotic arm handle 210a is connected to the rotation axis of the left torque sensor 400a, and a right robotic arm handle 210b is provided at the end of the right robotic arm 230 away from the support frame 100, and the right robotic arm handle 210b is connected to the rotation axis of the right torque sensor 400b. At the same time, a left annular tactile sensor 300a is provided on the left robotic arm 220, and a right annular tactile sensor 300b is provided on the right robotic arm. The left annular tactile sensor 300a and the right annular tactile sensor 300b are respectively used to generate corresponding motion prediction signals according to the pressure from the left arm or the right arm of the user, and send the motion prediction signals to the controller. Optionally, the left robotic arm handle 210a and the right robotic arm handle 210b, the left torque sensor 400a and the right torque sensor 400b, and the left annular tactile sensor 300a and the right annular tactile sensor 300b are all symmetrically arranged.

[0088] It is understandable that when the user is located in the middle position between the left robotic arm 220 and the right robotic arm 230, the two arms can be passed through the left annular tactile sensor 300a and the right annular tactile sensor 300b respectively, and the left robotic arm 220 can be driven to move by the left robotic arm handle 210a located at one end of the left robotic arm 220. At the same time, the right robotic arm 230 can be driven to move by the right robotic arm handle 210b located at one end of the right robotic arm 230. During the rotation of the left robotic arm handle 210a and the right robotic arm handle 210b, the left torque sensor 400a and the right torque sensor 400b can generate corresponding torque signals and send the torque signals to the controller. At the same time, the left annular tactile sensor 300a and the right annular tactile sensor 300b can generate corresponding prediction signals according to the pressure from different directions of the user's arms, and send them to the controller. In this embodiment, the smooth control of the robotic arm 200 is achieved through the mutual cooperation of the annular tactile sensor 300 and the torque sensor 400.

[0089] In addition, with respect to the dual-arm master-end operating device proposed in the above-mentioned embodiment, an embodiment of the present application proposes a robot system, which includes the aforementioned robotic arm operating device and a slave-end robot, wherein the slave-end robot is used to receive the motion control signal sent by the robotic arm operating device, and maintain synchronous movement with the robotic arm operating device based on the motion control signal.

[0090] In this embodiment, optionally, the robotic arm in the robotic arm operating device can be designed to have the same length as the arms of the slave robot, thereby improving the precise control of the slave robot.

[0091] Further, in the process of mapping the movement of the robot arm in the robot arm operating device to the slave robot, optionally, the starting direction of the robot arm in the robot arm operating device is set to be the same as the starting direction of the two arms of the slave robot.

[0092] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A robot arm operating device, characterized in that: include: Support frame; A mechanical arm, wherein the mechanical arm is fixed on the support frame, and a motor is provided in the mechanical arm, and the motor is used to drive the mechanical arm to move; an annular tactile sensor, the annular tactile sensor being arranged at one end of the mechanical arm away from the support frame, the end of the mechanical arm away from the support frame being provided with a handle, the annular tactile sensor being arranged between the handle and the support frame, the annular tactile sensor being used for allowing a user's arm to pass through to hold the handle, and being used for generating a corresponding motion prediction signal according to the pressure detected from the user's arm when the user's arm passes through the annular tactile sensor to hold the handle; A controller is connected to the motor driving the robotic arm, and is used to control the movement of the robotic arm through the motor according to the received motion prediction signal.

2. The robot arm operating device according to claim 1, characterized in that: The support frame comprises a frame body, a guide rail and a supporting crossbeam. The guide rail is arranged on the frame body. The supporting crossbeam is fixed on the guide rail through a crossbeam fixing member and can slide along the guide rail.

3. The robot arm operating device according to claim 2, characterized in that: A robotic arm connecting piece is movably provided on the supporting crossbeam, and the robotic arm connecting piece can move on the supporting crossbeam, and the robotic arm connecting piece is used to connect the robotic arm.

4. The robot arm operating device according to claim 3, characterized in that: A guide rail is arranged on the supporting crossbeam, a sliding block matched with the guide rail is arranged inside the mechanical arm connecting piece, and the mechanical arm connecting piece slides on the supporting crossbeam through the sliding block.

5. The robot arm operating device according to claim 1, characterized in that: The annular tactile sensor comprises an annular shell and a tactile sensor arranged on the inner wall of the annular shell, and the tactile sensor is used to detect the pressure applied by the user's arm from different directions.

6. The robot arm operating device according to claim 5, characterized in that: A plurality of tactile sensors are arranged on the inner wall of the annular shell, and the plurality of tactile sensors are evenly arranged on the inner wall of the annular shell.

7. The robot arm operating device according to claim 5, characterized in that: A buffer is also provided on the inner wall of the annular shell, and the buffer is used to buffer the pressure from the user's arm.

8. The robot arm operating device according to claim 7, characterized in that: A plurality of tactile sensors and a plurality of buffers are arranged on the inner wall of the annular shell, and the plurality of tactile sensors and the plurality of buffers are arranged at intervals on the inner wall of the annular shell.

9. The robot arm operating device according to claim 5, characterized in that: The annular housing comprises an annular inner ring and an annular outer ring which are nested with each other, and the tactile sensor is arranged between the annular inner ring and the annular outer ring.

10. The robot arm operating device according to claim 9, characterized in that: A buffer is also provided between the annular inner ring and the annular outer ring.

11. The robot arm operating device according to claim 9, characterized in that: The annular housing further comprises a retaining ring, which is used to connect the annular inner ring and the edge of the annular outer ring.

12. The robot arm operating device according to claim 1, characterized in that: Also includes: A torque sensor, wherein the torque sensor is disposed at one end of the mechanical arm away from the support frame, the handle is disposed on the rotation axis of the torque sensor, and the torque sensor is used to detect the rotation angle of the handle and generate a corresponding torque signal; The controller is also used to receive the torque signal, and control the motor to drive the robotic arm to move based on the torque signal.

13. The robot arm operating device according to claim 1, characterized in that: The robotic arm is a robotic arm with six degrees of freedom.

14. The robot arm operating device according to any one of claims 1 to 13, characterized in that: The robotic arm comprises a left robotic arm and a right robotic arm, the motor is disposed in each of the left robotic arm and the right robotic arm, and one annular tactile sensor is disposed on each of the left robotic arm and the right robotic arm.

15. A robot system, characterized in that: include: A robot arm operating device as claimed in any one of claims 1 to 14; as well as A slave robot is used to receive the motion control signal sent by the robot arm operating device, and maintain synchronous movement with the robot arm operating device based on the motion control signal.

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