A master controller for a remotely operated robotic arm

Abstract

A control master for a teleoperated robotic arm, comprising: a base, a large arm, a small arm, a handle, a rotation assembly provided in the base, a first motor for providing power to the large arm, a second motor for providing power to the small arm, a driver, a controller, and two sets of gravity balance devices symmetrically provided at the top of the inner wall of the base, one set of gravity balance devices for providing a gravity reverse force to the large arm, and the other set of gravity balance devices for providing a gravity reverse force to the small arm, so as to keep the large arm and the small arm balanced and reduce the operation fatigue of the operator.

Description

Technical Field

[0001] The present invention belongs to the fields of machinery and automatic control, and particularly relates to a control master hand for a remotely operated robotic arm.

Background Art

[0002] Nowadays, due to the unknown dangers in complex, variable or dangerous working environments, operations are generally carried out by robots. However, relying solely on robots may not be able to complete the target tasks. Therefore, the human-machine interaction remote operation technology has emerged. This technology enables interaction between the operator and the remote working environment, that is, transmits the operator's operation information to the remote working environment to execute tasks, and at the same time feeds back the operation information of the remote working environment to the operator. The remote operation is generally completed by a remote operation master hand, and a six-degree-of-freedom robotic arm can meet the adjustment of position and posture in space, enabling the robot to reach any spatial position. Therefore, a six-axis robot is the most commonly used structure.

[0003] The control master hand of the robotic arm itself has a certain weight, which will cause fatigue to the operator during operation. Therefore, there is an urgent need for a control master hand that can balance the weight of the master hand and reduce the operator's operation fatigue.

Summary of the Invention

[0004] To solve the above problems, the present invention provides a control master hand for a remotely operated robotic arm. By setting a neutral balance device, a gravity reverse force is provided to the upper arm, so that the upper arm and the lower arm are balanced, thereby reducing the operator's operation fatigue.

[0005] The present invention is realized through the following technical solutions. A control master hand for a remotely operated robotic arm is provided, which includes: a base, an upper arm, a lower arm, a handle, a rotation assembly provided in the base, a first motor for providing power to the upper arm, a second motor for providing power to the lower arm, and a driver. A rotation assembly is provided on the base, and the rotation assembly is connected to the end of the upper arm through a first spindle. The upper arm and the lower arm are connected through a second spindle, and the handle and the lower arm are connected through a third spindle. It further includes: two sets of symmetrically arranged gravity balance devices, which include: a first fixed pulley, a second fixed pulley, a fixing screw, a movable pulley, a spring, a wire wheel, and a steel wire rope;

[0006] The first fixed pulley is fixedly provided at the top of the inner wall of the base, its axis is perpendicular to the top of the inner wall of the base, and the edge of the first fixed pulley extends out of the edge of the base;

[0007] The second fixed pulley is fixedly provided on one side of the base, its axis is parallel to the top of the inner wall of the base, and the U-shaped groove of the second fixed pulley and the U-shaped groove of the extended part of the first fixed pulley are on the same vertical plane;

[0008] The fixing screw is provided on the top of the inner wall of the base;

[0009] The axis of the movable pulley is perpendicular to the top of the inner wall of the base, and its axis is located on the center line of the fixing screw and the first fixed pulley. The movable pulley, the fixing screw, and the first fixed pulley form an isosceles right triangle.

[0010] One end of the spring is fixed to the top of the inner wall of the base, and the other end is connected to the movable pulley.

[0011] The wire wheel is provided at the end of the mandrel and includes: a fixed wheel provided at the end of the mandrel, and a sector wheel coaxially provided with the fixed wheel. The two ends of the sector wheel are connected to the fixed wheel by connecting rods, and fixing blocks are provided on the connecting rods.

[0012] One end of the steel wire rope is fixed to the fixing screw, and the other end bypasses the movable pulley and is respectively wound around the sector wheel after being redirected by the first fixed pulley and the second fixed pulley, and is finally fixed to the fixing block.

[0013] One end of the mandrel is provided with a first connecting rod, and the other end of the mandrel is provided with a second connecting rod. The ends of the first connecting rod and the second connecting rod are connected by a third connecting rod. The wire wheel in one set of gravity balance devices is fixedly provided at the end of the boom, and the wire wheel in the other set of gravity balance devices is fixedly connected to the first connecting rod.

[0014] Particularly, the base, the boom, the forearm, and the handle are respectively made of aluminum alloy.

[0015] Particularly, a fixing column is provided at the top of the inner wall of the base. A connecting piece is provided on the movable pulley, and a hanging column extends from one side of the connecting piece facing the top of the inner wall of the base. Hooks are respectively provided at both ends of the spring, and one hook is hung on the fixing column, and the other hook is hung on the hanging column.

[0016] Particularly, a U-shaped connecting piece is provided at one end of the forearm, and a rotating piece extends outward from the center position of the end of the boom. The rotating piece is connected to the U-shaped connecting piece by the second mandrel.

[0017] Particularly, a horseshoe-shaped connecting block is provided at the other end of the forearm, and a rotating block is provided at the end of the handle. The rotating block is arranged at the middle position of the horseshoe-shaped connecting block, and the rotating block is connected to the horseshoe-shaped connecting block by the third mandrel.

[0018] Particularly, the rotating block is perpendicular to the handle.

[0019] Particularly, three single-turn absolute encoders are provided inside the horseshoe-shaped connecting block.

[0020] Particularly, the boom is a hollow sleeve, and the third connecting rod is arranged inside the boom and extends out at both ends of the boom.

[0021] Specifically, both the first motor and the second motor are disposed on the top of the base, and a power supply for providing power to the first motor and the second motor is provided inside the base. An outer shell is provided on the base, and the first motor and the second motor are disposed inside the outer shell.

[0022] Specifically, the driver is disposed on the outer shell.

[0023] The present invention provides a control master hand for a teleoperated robotic arm. By effectively pre-tightening in the gravity balance device to eliminate the clearance in component transmission, the transmission accuracy is improved, and the gravity balance of the master hand is achieved, thereby reducing the operator's operation fatigue and realizing the force feedback control function. The first link, the second link, the third link, and the large arm form a parallelogram linkage mechanism, which can move the driving device of the tube IE forward, thereby reducing the required torque and reducing the active torque output of the forearm joint. Through the design of the U-shaped connecting piece, the rotating piece, the horseshoe-shaped connecting block, and the rotating block, the installation dimensions between the large arm and the forearm, and between the forearm and the handle can be reduced, which is not only convenient for installation but also can achieve the correction of its own position, indirectly increasing the working space and meeting the requirements of the working environment.

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a side view of a control master hand for a teleoperated robotic arm according to the present invention;

[0025] Figure 2 is a sectional view of a control master hand for a teleoperated robotic arm according to the present invention;

[0026] Figure 3 is a schematic structural view of the base and the gravity balance device in a control master hand for a teleoperated robotic arm according to the present invention;

[0027] Figure 4 is a schematic structural view of the forearm and the handle in a control master hand for a teleoperated robotic arm according to the present invention;

[0028] Figure 5 is a schematic structural view of the large arm in a control master hand for a teleoperated robotic arm according to the present invention.

[0029] In the drawings, 1 is the base, 2 is the large arm, 3 is the forearm, 4 is the handle, 5 is the rotating assembly, 6 is the first motor, 7 is the second motor, 8 is the first mandrel, 9 is the second mandrel, 10 is the third mandrel, 11 is the first fixed pulley, 12 is the second fixed pulley, 13 is the fixing screw, 14 is the movable pulley, 15 is the spring, 16 is the wire wheel, 17 is the steel wire rope, 18 is the fixed wheel, 19 is the sector wheel, 20 is the connecting rod, 21 is the fixed block, 22 is the first link, 23 is the second link, 24 is the third link, 25 is the fixed column, 26 is the connecting piece, 27 is the suspension column, 28 is the hook, 29 is the U-shaped connecting piece, 30 is the rotating piece, 31 is the horseshoe-shaped connecting block, 32 is the rotating block, 33 is the power supply, and 34 is the outer shell.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] Please refer to Figures 1-5 , the present invention provides a master controller for a teleoperated robotic arm, which includes: a base 1, a large arm 2, a small arm 3, a handle 4, a rotating assembly 5 disposed inside the base 1, a first motor 6 for providing power to the large arm 2, a second motor 7 for providing power to the small arm 3, and a driver. The rotating assembly 5 is connected to the end of the large arm 2 through a first spindle 8. The large arm 2 and the small arm 3 are connected through a second spindle 9. The handle 4 and the small arm 3 are connected through a third spindle 10. It further includes: two groups of symmetrically arranged gravity balance devices, which can balance the weight of the assistant itself, thereby reducing the fatigue of the operator during the operation process. The gravity balance device includes: a first fixed pulley 11, a second fixed pulley 12, a fixing screw 13, a movable pulley 14, a spring 15, a wire wheel 16, and a steel wire rope 17;

[0032] The first fixed pulley 11 is fixedly disposed at the top of the inner wall of the base 1, its axis is perpendicular to the top of the inner wall of the base 1, and the edge of the first fixed pulley 11 extends beyond the edge of the base 1;

[0033] The second fixed pulley 12 is fixedly disposed on one side of the base 1, its axis is parallel to the top of the inner wall of the base 1, and the U-shaped groove of the second fixed pulley 12 and the U-shaped groove of the extended part of the first fixed pulley 11 are on the same vertical plane;

[0034] The fixing screw 13 is disposed at the top of the inner wall of the base 1;

[0035] The axis of the movable pulley 14 is perpendicular to the top of the inner wall of the base 1, and its axis is located on the center line of the fixing screw 13 and the first fixed pulley 11. The movable pulley 14, the fixing screw 13, and the first fixed pulley 11 form an isosceles right triangle;

[0036] One end of the spring 15 is fixed to the top of the inner wall of the base 1, and the other end is connected to the movable pulley 14;

[0037] The wire wheel 16 is disposed at the end of the spindle, and it includes: a fixed wheel 18 disposed at the end of the spindle, a sector wheel 19 coaxially arranged with the fixed wheel 18. The two ends of the sector wheel 19 are connected to the fixed wheel 18 through a connecting rod 20, and a fixing block 21 is provided on the connecting rod 20;

[0038] One end of the steel wire rope 17 is fixed to the fixing screw 13, and the other end bypasses the movable pulley 14 and is respectively wound around the sector wheel 19 after being redirected by the first fixed pulley 11 and the second fixed pulley 12, and finally fixed to the fixing block 21;

[0039] One end of the mandrel 8 is provided with a first connecting rod 22, and one end of the mandrel 9 is provided with a second connecting rod 23. The ends of the first connecting rod 22 and the second connecting rod 23 are connected by a third connecting rod 24. The wire wheel 16 in one set of gravity balance devices is fixedly arranged at the end of the boom 2, and the wire wheel 16 in the other set of gravity balance devices is fixedly connected with the first connecting rod 22. In this way, one set of gravity balance devices is used to provide a gravity reverse force for the boom, and the other set of gravity balance devices is used to provide a gravity reverse force for the forearm, so as to keep the boom and the forearm in balance. At the same time, a parallelogram link mechanism is formed between the first connecting rod 22, the second connecting rod 23, the third connecting rod 24 and the boom. This parallelogram link mechanism can move the driving device of the third joint forward, reduce the torque required for driving, and reduce the output of the active torque of the forearm joint.

[0040] Specifically, the base 1, the boom 2, the forearm 3, and the handle 4 are respectively made of aluminum alloy. Such a design makes the master controller reduce its weight while meeting the structural requirements.

[0041] Specifically, a fixed column 25 is provided at the top of the inner wall of the base 1. A connecting piece 26 is provided on the movable pulley 14. One side of the connecting piece 26 extending towards the top of the inner wall of the base 1 extends out a suspension column 27. Hooks 28 are respectively provided at both ends of the spring 15. One hook 28 is suspended on the fixed column 25, and the other hook 28 is suspended on the suspension column 27. With such a design, the spring 15 can be quickly installed on the top of the inner wall of the base 1 through the hook 28. During operation, the steel wire will transmit the pulling force of the spring 15 to the boom and the forearm, providing a reverse force for them, so as to keep the boom and the forearm in a balanced position and prevent the boom and the forearm from sagging in the natural state, which may affect the operation.

[0042] Specifically, a U-shaped connecting piece 29 is provided at one end of the forearm 3, and a rotating piece 30 extends outwards from the central position of the end of the boom 2. The rotating piece 30 is connected to the U-shaped connecting piece 29 through the mandrel 9. With such a design, when the forearm 3 and the boom 2 are straightened, their axes are on the same horizontal line. This is not only convenient for installation but also reduces the installation size. And being on the same axis is convenient for positioning and calibration, so as to facilitate programming the movement position of the master controller. In the present invention, the forearm 3 and the boom 2 can be designed to be hollow, and then the lines used for control can be installed in the hollow part to avoid affecting the operation due to messy lines and realize the function of self-position correction.

[0043] Specifically, a U-shaped connecting block 31 is provided at the other end of the small arm 3, and a rotating block 32 is provided at the end of the handle 4. The rotating block 32 is located at the middle position of the U-shaped connecting block 31, and the rotating block 32 is connected to the U-shaped connecting block 31 through the third spindle 10. With such a design, when the handle 4 and the small arm 3 are straightened, the axis of the connection position is on the same horizontal line. This not only facilitates installation but also reduces the installation size, and being on the same axis facilitates positioning and calibration, thus facilitating programming for controlling the movement position of the master hand and realizing the function of self-position correction.

[0044] Specifically, during operation, rotations and the like will occur between the handle 4 and the small arm 3. Due to the connection relationship of the existing handle 4, it will cause discomfort to the operator when the handle is twisted upward, and at the same time, it will bring certain operation difficulties when the master hand is in a low position. Therefore, in the present invention, the rotating block 32 is perpendicular to the handle 4; this can solve the above problems and avoid affecting the operation due to contact between the handle 4 and the small arm.

[0045] Specifically, three single-turn absolute encoders (not shown in the figure) are provided inside the U-shaped connecting block 31; in the present invention, by setting single-turn absolute encoders at the connection part between the handle 4 and the small arm 3, the handle 4 can control the small arm 3 and the large arm 2. When the controller reads the data of the single-turn absolute encoder, the operation data is given to the slave hand, thereby realizing real-time control of the master and slave hands with relatively high controllability.

[0046] Specifically, the large arm 2 is a hollow sleeve, and the third connecting rod 24 is provided inside the large arm 2 and extends out from both ends at the end of the large arm 2; with such a design, all the lines and components passing through the large arm 2 can be arranged inside the large arm 2. Without affecting information transmission and operation, while increasing the working space, the working safety is improved.

[0047] Specifically, in the present invention, the first motor 6 and the second motor 7 are both provided on the top of the base 1, and a power supply 33 for providing power to the first motor 6 and the second motor 7 is provided inside the base 1. An outer shell 34 made of aluminum alloy is provided on the base 1, and the first motor 6 and the second motor 7 are provided inside the outer shell 34; with such a design, the weight of the base of the master hand of the present invention can be increased through the first motor 6, the second motor 7, the power supply 33, and the circuit, etc., thereby improving the stability of the master hand.

[0048] Specifically, since the driver generates heat during operation, in order to achieve a better heat dissipation effect, in the present invention, the driver is provided on the outer shell 34.

[0049] The master hand provided by the present invention can control the end clamp of the slave hand to grasp the target object at any position within the working area. It determines the end spatial position through the first three joints, adjusts the end spatial attitude through the three joints of the handle, can solve the spatial position of the robotic arm through inverse kinematics of the robot, and has a position offset function. Among them, the gravity balance device can balance the weight of the master hand itself, thereby reducing the fatigue of the operator during use. Moreover, through the connection structures between the upper arm and the forearm, and between the forearm and the handle, combined with the controller, it can also achieve the correction of the position of the master hand itself, ensuring that when the master hand manipulates the slave hand to grasp and lift heavy objects, there is a sense of force at the operation end of the master hand without increasing the fatigue of the operator, and further realizing the force feedback control function, and ensuring the accuracy of the force feedback, the magnitude of the force, and the persistence of the force feedback.

[0050] Meanwhile, in the present invention, a control panel is provided on the side wall of the base 1. Seven control buttons, one power button, and one emergency stop button are electrically connected to the control panel. One of the control buttons is used to enable the motor, and the remaining six control buttons are respectively used to adjust the slave hand. Each button corresponds to a moving direction, so as to realize the posture of the slave hand clamp to meet the working requirements of grasping target parts in different directions, and control the clamping and releasing actions of the clamp. When the master hand manipulates the slave hand to grasp and lift heavy objects, there is a sense of force at the operation end of the master hand without increasing the workload of the operator.

Claims

1. A control master for a teleoperated robotic arm, comprising: Base (1), boom (2), forearm (3), handle (4), a rotating assembly (5) provided in the base (1), a first motor (6) for providing power to the boom (2), a second motor (7) for providing power to the forearm (3), a driver, the rotating assembly (5) is connected to the end of the boom (2) through a first spindle (8), the boom (2) is connected to the forearm (3) through a second spindle (9), and the handle (4) is connected to the forearm (3) through a third spindle (10), characterized in that it further comprises: two sets of symmetrically arranged gravity balance devices, which include: a first fixed pulley (11), a second fixed pulley (12), a fixing screw (13), a movable pulley (14), a spring (15), a wire wheel (16), a steel wire rope (17); The first fixed pulley (11) is fixedly arranged at the top of the inner wall of the base (1), its axis is perpendicular to the top of the inner wall of the base (1), and the edge of the first fixed pulley (11) extends beyond the edge of the base (1); The second fixed pulley (12) is fixedly arranged on one side of the base (1), its axis is parallel to the top of the inner wall of the base (1), and the U-shaped groove of the second fixed pulley (12) is in the same vertical plane as the U-shaped groove of the extended part of the first fixed pulley (11); The fixing screw (13) is arranged on the top of the inner wall of the base (1); The axis of the movable pulley (14) is perpendicular to the top of the inner wall of the base (1), and its axis is located on the center line of the fixing screw (13) and the first fixed pulley (11); One end of the spring (15) is fixed to the top of the inner wall of the base (1), and the other end is connected to the movable pulley (14); The wire wheel (16) is arranged at the end of the spindle, and it includes: a fixed wheel (18) arranged at the end of the spindle, a sector wheel (19) coaxially arranged with the fixed wheel (18), the two ends of the sector wheel (19) are connected to the fixed wheel (18) through a connecting rod (20), and a fixing block (21) is arranged on the connecting rod (20); One end of the steel wire rope (17) is fixed to the fixing screw (13), the other end bypasses the movable pulley (14) and is respectively wound around the sector wheel (19) after being reversed by the first fixed pulley (11) and the second fixed pulley (12), and finally fixed to the fixing block (21); A first connecting rod (22) is arranged at the end of the first spindle (8), a second connecting rod (23) is arranged at the end of the second spindle (9), the ends of the first connecting rod (22) and the second connecting rod (23) are connected through a third connecting rod (24), the wire wheel (16) in one set of gravity balance devices is fixedly arranged at the end of the boom (2), and the wire wheel (16) in the other set of gravity balance devices is fixedly connected to the first connecting rod (22).

2. The control master hand of a teleoperated robotic arm according to claim 1, characterized in that, The base (1), boom (2), forearm (3), and handle (4) are respectively made of aluminum alloy.

3. The control master hand of a teleoperated robotic arm according to claim 1, characterized in that, At the top of the inner wall of the base (1), there is a fixed column (25). On the movable pulley (14), there is a connecting piece (26). One side of the connecting piece (26) extending towards the top of the inner wall of the base (1) extends a hanging column (27). Hooks (28) are provided at both ends of the spring (15). One of the hooks (28) is hung on the fixed column (25), and the other hook (28) is hung on the hanging column (27).

4. The control master hand of a teleoperated robotic arm according to claim 1, characterized in that, At one end of the small arm (3), there is a U-shaped connecting piece (29). At the center position of the end of the large arm (2), a rotating piece (30) extends outwards. The rotating piece (30) is connected to the U-shaped connecting piece (29) through the second spindle (9).

5. The control master hand of a teleoperated robotic arm according to claim 1, characterized in that, At the other end of the small arm (3), there is a horseshoe-shaped connecting block (31). At the end of the handle (4), there is a rotating block (32). The rotating block (32) is arranged at the middle position of the horseshoe-shaped connecting block (31), and the rotating block (32) is connected to the horseshoe-shaped connecting block (31) through the third spindle (10).

6. The control master hand of a teleoperated robotic arm according to claim 5, characterized in that, The rotating block (32) is perpendicular to the handle (4).

7. The control master hand of a teleoperated robotic arm according to claim 5, characterized in that, There are three single-turn absolute encoders in the horseshoe-shaped connecting block (31).

8. The control master hand of a teleoperated robotic arm according to claim 1, characterized in that, The large arm (2) is a hollow sleeve. The third connecting rod (24) is arranged inside the large arm (2) and extends out at both ends of the large arm (2).

9. The control master hand of a teleoperated robotic arm according to claim 1, characterized in that, The first motor (6) and the second motor (7) are both arranged on the top of the base (1). A power supply (33) for providing power to the first motor (6) and the second motor (7) is arranged inside the base (1). An outer shell (34) made of aluminum alloy is arranged on the base (1). The first motor (6) and the second motor (7) are arranged inside the outer shell (34).

10. The control master hand of a teleoperated robotic arm according to claim 8, characterized in that, The driver is arranged on the outer shell (34).

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