A rigid-flexible coupled deformable human-machine collaborative handle

Abstract

The present invention belongs to the technical field of construction robots for heavy-load assembly, and specifically discloses a rigid-flexibly coupled deformable human-machine collaborative handle. The present invention comprises: a U-shaped guide rail, a sliding mechanism slidably arranged on the U-shaped guide rail, a slide rail locking device, a scissor-type telescopic device, a handle end locking device, and a handle operating platform fixed with an operating grip and a six-dimensional force sensor; the U-shaped guide rail opening is fixed upward on the back of the suction cup mechanism; one end of the scissor-type telescopic device is rotatably connected to the handle operating platform through two rotating connecting rods, and the other end is fixedly connected to the sliding mechanism, and a slide rail locking device is provided on the sliding mechanism; a handle end locking device is provided on one of the rotating connecting rods. The present invention can flexibly adjust and fix the position of the handle, and can accurately achieve force interaction with the robot with the help of the sensor on the handle, thereby comprehensively improving the safety and efficiency of the operation. The present invention can be widely used in human-machine collaboration in the installation of prefabricated components.

Description

Technical Field

[0001] The invention belongs to the technical field of heavy-load assembly construction robots, and in particular relates to a rigid-flexibly coupled deformable human-machine collaborative handle. Background Art

[0002] Against the backdrop of the continuous advancement of urbanization and the rapid economic development, modern construction projects are increasingly showing a significant trend of large-scale, complex and intelligent. In the field of prefabricated component installation, traditional manual operation modes and light mechanical equipment have been difficult to meet the stringent requirements of high-difficulty and high-load tasks. In view of this, the introduction of robots for the installation of prefabricated components has become an inevitable choice. However, in terms of the actual scenarios of current construction, its complex and changeable characteristics determine that the assembly method of human-machine collaboration can achieve higher efficiency and better results.

[0003] At present, the main method of human-machine collaborative assembly of building prefabricated components is to first use the suction cup mechanism of the installation robot end effector to grab the prefabricated components, and then adjust the position and posture of the assembly robot through the control handle to complete the installation of the building prefabricated components. The Chinese invention patent with application publication number CN113977601A discloses an adaptive plate installation robot, which is mainly composed of a mobile base, a lifting device, a robotic arm, and an end effector. It uses seven degrees of freedom to achieve flexible adjustment of the robot's posture during the installation of the plate. However, this robot mainly relies on the control handle to adjust its operation during the assembly operation. During the assembly process, as the assembly progresses, the space gradually changes from wide to narrow, and the space limitation becomes more and more obvious. Due to relying solely on the control handle, it is difficult to ensure the accuracy and flexibility of the installation, which greatly reduces the installation efficiency.

[0004] In addition, the Chinese invention patent with application publication number CN104763160A discloses a high-altitude curtain wall installation robot, which has a unique design for its operation method. Specifically, the sensor is placed at the end of the robot arm, and then the end handle is pulled to achieve precise adjustment of the robot's end posture. However, when facing medium and large-sized prefabricated building components, this method has extremely strict restrictions on the operator's position due to the fixed position of the sensor when the robot is in the process of human-machine collaboration. In this case, during the assembly operation, medium and large-sized prefabricated building components will inevitably block the operator's line of sight. It is difficult for the operator to directly observe the actual situation of the pre-installation behind the prefabricated building components during the human-machine collaboration process, which not only greatly reduces the work efficiency, but also is accompanied by a large number of safety hazards. Therefore, it is necessary to develop a rigid-flexibly coupled deformable human-machine collaboration handle to enable the position of the sensor and the operating handle to change at any time according to the operator's intention. ‌‌ Summary of the invention

[0005] The purpose of the present invention is to provide a rigid-flexibly coupled deformable human-machine collaborative handle. Through the present invention, the operator can flexibly adjust the position of the handle according to the complex and changeable conditions on site, and can form a stable locking state when fixed, solving the problem of limited range of motion. With the help of the sensors on the handle, force interaction with the robot can be achieved, thereby accurately guiding the robot to move flexibly according to the operating intentions of the operator's hand, thereby comprehensively improving the safety and efficiency of the operation.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A rigid-flexibly coupled deformable human-machine collaborative handle, comprising a U-shaped guide rail, a sliding mechanism slidably arranged on the U-shaped guide rail, a slide rail locking device, a scissor-type telescopic device, a handle end locking device, and a handle operating platform fixed with an operating grip and a six-dimensional force sensor;

[0008] The U-shaped guide rail opening is fixed upwardly on the back side of the suction cup mechanism at the end effector of the robot;

[0009] The handle operating platform is rotatably connected to one end of the scissor-type telescopic device through two rotating connecting rods; the other end of the scissor-type telescopic device is fixedly connected to the sliding mechanism, and the sliding mechanism is provided with a slide rail locking device for locking the position of the sliding mechanism;

[0010] A handle end locking device for locking the corresponding rotating connecting rod is provided on one of the rotating connecting rods.

[0011] As a limitation, the sliding mechanism includes a sliding block and four pulleys fixed on the sliding block;

[0012] The pulleys are grouped into two to form two pulley sets, and the two pulleys of each pulley set are clamped on both sides of the rail surface of the U-shaped guide rail;

[0013] One end of the scissor-type telescopic device is fixedly connected to the sliding block.

[0014] As a second limitation, the scissor-type telescopic device includes a plurality of groups of telescopic structures connected in sequence, and also includes a rotating connection mechanism connecting any two adjacent telescopic structures;

[0015] The telescopic structure is a parallelogram formed by the rotation of the first to fourth connecting rods connected end to end in sequence, wherein the first connecting rod is parallel to the fourth connecting rod, and the second connecting rod is parallel to the third connecting rod;

[0016] The rotating connection mechanism rotatably connects one end of the fourth connecting rod of the upper telescopic structure with one end of the first connecting rod of the lower telescopic structure, and the other end of the fourth connecting rod of the upper telescopic structure is directly rotatably connected with the other end of the first connecting rod of the lower telescopic structure.

[0017] As a further limitation, the rotation connection mechanism includes an auxiliary connecting rod, and two ends of the auxiliary connecting rod are rotationally connected to the telescopic structure located above and the telescopic structure located below respectively.

[0018] As a further limitation, the rotating connection mechanism also includes two gears that mesh with each other, and the two gears are respectively arranged at both ends of the auxiliary connecting rod, and are fixedly connected to the second connecting rod or the third connecting rod in the telescopic structure that is rotatably connected to the auxiliary connecting rod; when the telescopic structure is respectively connected to the upper and lower adjacent telescopic structures, the rotating connection mechanism between the telescopic structure located in the middle and the two adjacent telescopic structures is respectively located on the diagonals of the middle telescopic structure.

[0019] As a third limitation, the handle end locking device includes a ratchet, a sleeve and an internally threaded cylindrical pin;

[0020] The ratchet wheel is integrally formed with the handle operating platform and is arranged at the connection between the handle operating platform and the connecting rod;

[0021] The sleeve matches the diameter of the connecting rod and is slidably arranged on the connecting rod;

[0022] The connecting rod is provided with an external thread, and the internal thread cylindrical pin is provided on the connecting rod and matches the thread on the connecting rod;

[0023] The sleeve is located between the ratchet and the internal thread cylindrical pin.

[0024] As a limitation of the slide rail locking device, it is characterized in that the slide rail locking device includes a positioning block fixedly connected to the sliding block, a long connecting rod and a locking block;

[0025] The positioning block is penetrated by a through hole with a diameter matching the outer circumference of the long connecting rod, and the through hole is provided with an internal thread;

[0026] The long connecting rod passes through the through hole on the positioning block and is rotatably connected to the locking block; the long connecting rod is provided with an external thread matching the internal thread of the through hole;

[0027] The locking block is clamped between two pulleys in the pulley block and abuts against the two pulleys.

[0028] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0029] (1) The present invention realizes flexible adjustment of the position of the handle and the sensor through the cooperation between the U-shaped guide rail and the scissor-type telescopic device. The handle end locking device and the slide rail locking device provide a stable locking state for the adjusted handle, realizes the rigid-flexible coupling of the handle, solves the problem of limited range of motion, and comprehensively improves the safety and efficiency of the operation;

[0030] (2) In the present invention, two pulleys are respectively arranged on both sides of the U-shaped guide rail. The double pulley design can provide more stable support, make it easier to control the direction, reduce the wear rate of the pulley and the guide rail, and extend the service life of the sliding mechanism;

[0031] (3) The present invention uses a unique scissor-type telescopic device, which increases the meshing of gears during the rotation of the connecting rod, thereby ensuring high load-bearing capacity and stability while improving the flexibility during the telescopic process;

[0032] (4) The handle end locking device of the present invention realizes the fixing and locking of the connecting rod in the scissor-type telescopic device at the handle end through the cooperation of the ratchet, the sleeve and the internal threaded cylindrical pin, and has a simple structure and convenient operation;

[0033] (5) In the present invention, the movement of the pulley in the sliding mechanism is limited by the locking block in the slide rail locking device, and the long connecting rod is screwed in to form an extrusion between the locking block and the U-shaped guide rail, thereby achieving a stable fixation of the sliding mechanism.

[0034] The present invention belongs to the technical field of heavy-load assembly construction robots. Through the present invention, the operator can flexibly adjust the position of the handle according to the complex and changeable conditions on site, and can form a stable locking state when fixed, solving the problem of limited range of motion. With the help of the sensor on the handle, force interaction with the robot can be achieved, thereby accurately guiding the robot to move flexibly according to the operating intention of the operator's hand, thereby comprehensively improving the safety and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0036] In the attached picture:

[0037] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the sliding mechanism and the slide rail locking mechanism in an embodiment of the present invention;

[0039] Figure 3 It is a structural schematic diagram of the telescopic structure and the connection between the telescopic structures in the scissor-type telescopic device in an embodiment of the present invention;

[0040] Figure 4 It is a schematic diagram of the structure of the handle end locking device and the handle operating platform in an embodiment of the present invention.

[0041] In the figure, 1. U-shaped guide rail, 2. sliding mechanism, 3. scissor-type telescopic device, 4. handle end locking device, 5. handle operating platform, 6. slide rail locking device, 7. suction cup mechanism, 201. sliding block, 202. pulley, 301. first connecting rod, 302. second connecting rod, 303. third connecting rod, 304. fourth connecting rod, 305. gear, 306. auxiliary connecting rod, 401. rotating connecting rod, 402. external thread, 403. internal thread cylindrical pin, 404. sleeve, 405. ratchet, 406. six-dimensional force sensor, 407. handle, 601. locking block, 602. long connecting rod, 603. positioning block. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. This embodiment is a rigid-flexibly coupled deformable human-machine collaborative handle, such as Figures 1 to 4As shown, this embodiment includes a U-shaped guide rail 1, a sliding mechanism 2 slidably arranged on the U-shaped guide rail 1, a slide rail locking device 6, a scissor-type telescopic device 3, a handle end locking device 4, and a handle operating platform 5 on which an operating handle 407 and a six-dimensional force sensor 406 are fixed.

[0043] The U-shaped guide rail 1 is opened upward and fixed on the back of the suction cup mechanism 7 at the end effector of the robot. The sliding mechanism 2 includes a sliding block 201 and four pulleys 202 fixed on the sliding block 201. Two of the four pulleys 202 form a group to form two pulley sets. The two pulleys 202 in each pulley set are in a clamped state and are clamped on both sides of the rail surface of the U-shaped guide rail 1. When the operator needs to adjust the position of the handle, the relative displacement between the pulley 202 and the U-shaped guide rail 1 can smoothly and accurately achieve flexible adjustment of the handle position.

[0044] One end of the scissor-type telescopic device 3 is fixedly connected to the sliding block 201 , and the other end is rotatably connected to the handle operating platform 5 via two rotating rotating connecting rods 401 .

[0045] The scissor-type telescopic device 3 in this embodiment is composed of three groups of telescopic structures connected in sequence, and a rotating connection mechanism is provided between the first and second groups of telescopic structures and between the second and third groups of telescopic structures.

[0046] The telescopic structure is a parallelogram formed by the rotation of the first to fourth connecting rods 304 that are connected in rotation from end to end, wherein the first connecting rod 301 and the fourth connecting rod 304 are parallel, and the second connecting rod 302 and the third connecting rod 303 are parallel. The rotation connection mechanism includes an auxiliary connecting rod 306 and two mutually meshing gears 305. The auxiliary connecting rod 306 is rotationally connected to one end of the fourth connecting rod 304 of the telescopic structure located above and one end of the first connecting rod 301 of the telescopic structure located below, and the other end of the fourth connecting rod 304 of the telescopic structure located above is directly rotationally connected to the other end of the first connecting rod 301 of the telescopic structure located below. The two mutually meshing gears 305 have the same radius, are respectively arranged at the two ends of the auxiliary connecting rod 306, and are fixedly connected to the second connecting rod 302 or the third connecting rod 303 in the telescopic structure that is rotationally connected to the auxiliary connecting rod 306; when the telescopic structure is connected to the upper and lower two adjacent telescopic structures respectively, the rotation connection mechanism between the telescopic structure located in the middle and the two adjacent telescopic structures is respectively located at the diagonal of the middle telescopic structure. For example, in this embodiment, the two rotation connection mechanisms connected to the second group of telescopic structures are respectively arranged at the diagonals of the second group of telescopic structures.

[0047] When the operator needs to adjust the extension of the handle, he only needs to pull the grip 407. When extending, the angle between the first link 301 and the third link 303 in the telescopic structure gradually changes to a right angle, and the rotation of the second link 302 and the third link 303 will drive the gear 305 to rotate, and then the fitted gear 305 will drive the second link 302 or the third link 303 in the next telescopic structure to achieve coordinated rotation between the telescopic structures. When the scissor-type telescopic device 3 is shortened, the second link 302 and the third link 303 will rotate in the opposite direction, and the coordinated rotation between the telescopic structures is achieved by relying on the precise meshing between the gears 305, so as to achieve the corresponding change of the handle length in an orderly manner.

[0048] In order to achieve the fixation of the scissor-type telescopic device 3, a handle end locking device 4 is provided on one of the rotating connecting rods 401. The handle end locking device 4 includes a ratchet 405, a sleeve 404 and an internal thread cylindrical pin 403. The ratchet 405 is integrally formed with the handle operating platform 5 and is arranged at the connection between the handle operating platform 5 and the rotating connecting rod 401. The sleeve 404 matches the diameter of the rotating connecting rod 401 and is slidably arranged on the rotating connecting rod 401. The rotating connecting rod 401 is provided with an external thread 402, and the internal thread cylindrical pin 403 is arranged on the rotating connecting rod 401 and matches the thread on the rotating connecting rod 401. The sleeve 404 is located between the ratchet 405 and the internal thread cylindrical pin 403. When the rotating connecting rod 401 rotates, the ratchet 405 and the rotating connecting rod 401 do not interfere with each other.

[0049] In order to fix the sliding mechanism 2, a slide rail locking device 6 is provided on the sliding mechanism 2. The slide rail locking device 6 includes a positioning block 603 fixedly connected to the sliding block 201, a long connecting rod 602 and a locking block 601. The positioning block 603 is penetrated by a through hole with a diameter matching the outer circumference of the long connecting rod 602, and an internal thread is provided in the through hole. The long connecting rod 602 passes through the through hole on the positioning block 603 and is rotatably connected to the locking block 601, and the long connecting rod 602 is provided with an external thread matching the internal thread of the through hole. The locking block 601 is stuck between the two pulleys 202 in the pulley block, and abuts against the two pulleys 202.

[0050] At the beginning of the work of this embodiment, the operator needs to first control the robot to suck up the prefabricated component with the help of the suction cup mechanism 7 at the end, and control the robot to the vicinity of the installation position of the prefabricated component. The operator holds the handle 407 on the handle operating platform 5, and realizes the transmission of force and information feedback between the robot and the six-dimensional force sensor 406 under the handle 407. The operator pulls the handle 407, and according to the installation position of the prefabricated component and the actual environment on site, the operator realizes the movement of the handle on the U-shaped guide rail 1 through the mutual movement relationship between the pulley 202 and the U-shaped guide rail 1. According to the size of the prefabricated component, the operator needs to telescope the handle. By pulling the handle 407, the scissor-type telescopic device 3 will rely on the precise meshing between the gears 305 and the coordinated rotation between the telescopic structures to achieve the corresponding change in the length of the handle in an orderly manner.

[0051] When the handle position of this embodiment is determined, the handle can be locked, and the locked handle has certain stability and rigidity. First, the operator slides the sleeve 404 located on the locking device 4 at the handle end so that it is accurately stuck between the teeth of the ratchet 405, thereby using the ratchet 405 to achieve preliminary positioning and restriction of the rotating connecting rod 401. Subsequently, the internal threaded cylindrical pin 403 is rotated, and the internal threaded cylindrical pin 403 and the sleeve 404 are tightly supported by the screwing action of the thread, thereby achieving a stable locking state and achieving the locking of the elongation of the entire scissor-type telescopic device 3. Subsequently, the operator needs to lock the sliding mechanism 2 and rotate the long connecting rod 602 on the slide rail locking device 6, and the long connecting rod 602 drives the locking block 601 connected thereto to move toward the U-shaped guide rail 1. The locking block 601 will continue to advance steadily in the direction of the U-shaped guide rail 1 until it fits tightly with the U-shaped guide rail 1. During this process, the locking block 601 is just embedded in the middle of the two pulleys 202, limiting the movement of the pulleys 202. Through the above steps, the handle in this embodiment is accurately locked in position.

[0052] When the position and posture of the handle are accurately fixed, the operator holds the handle 407 to apply force and move the direction. At this time, the robot uses the six-dimensional force sensor 406 to sense the dragging direction of the operator's hand and the magnitude of the applied force, and understands and complies with the operator's operating intention in real time and accurately, thereby completing the installation task of the prefabricated component.

[0053] In this embodiment, the scissor-type telescopic device 3 is provided with three telescopic structures, wherein the number of the telescopic structures can be changed according to actual conditions as long as the extension requirements of the handle in actual use can be met.

[0054] To sum up, in this embodiment, the operator can flexibly adjust the position of the handle according to the complex and changeable conditions on site, and can form a stable locking state when fixed, solving the problem of limited range of motion, and with the help of the sensors on the handle, force interaction with the robot can be achieved, thereby accurately guiding the robot to move flexibly according to the operating intentions of the operator's hand, thereby comprehensively improving the safety and efficiency of the operation.

Claims

1. A rigid-flexible coupled deformable human-machine collaborative handle, characterized in that: It includes a U-shaped guide rail, a sliding mechanism slidably arranged on the U-shaped guide rail, a slide rail locking device, a scissor-type telescopic device, a handle end locking device, and a handle operating platform fixed with an operating handle and a six-dimensional force sensor; The U-shaped guide rail opening is fixed upwardly on the back side of the suction cup mechanism at the end effector of the robot; The handle operating platform is rotatably connected to one end of the scissor-type telescopic device through two rotating connecting rods; the other end of the scissor-type telescopic device is fixedly connected to the sliding mechanism, and the sliding mechanism is provided with a slide rail locking device for locking the position of the sliding mechanism; A handle end locking device for locking the corresponding rotating connecting rod is provided on one of the rotating connecting rods; The handle end locking device comprises a ratchet, a sleeve and an internally threaded cylindrical pin; The ratchet wheel is integrally formed with the handle operating platform and is arranged at the connection between the handle operating platform and the connecting rod; The sleeve matches the diameter of the connecting rod and is slidably arranged on the connecting rod; The connecting rod is provided with an external thread, and the internal thread cylindrical pin is provided on the connecting rod and matches the thread on the connecting rod; The sleeve is located between the ratchet and the internal thread cylindrical pin.

2. The rigid-flexible coupled deformable human-machine collaborative handle according to claim 1, characterized in that: The sliding mechanism comprises a sliding block and four pulleys fixed on the sliding block; The pulleys are grouped into two to form two pulley sets, and the two pulleys of each pulley set are clamped on both sides of the rail surface of the U-shaped guide rail; One end of the scissor-type telescopic device is fixedly connected to the sliding block.

3. A rigid-flexibly coupled deformable human-machine collaborative handle according to claim 1 or 2, characterized in that: The scissor-type telescopic device includes a plurality of groups of telescopic structures connected in sequence, and also includes a rotating connection mechanism connecting any two adjacent telescopic structures; The telescopic structure is a parallelogram formed by the rotation of the first to fourth connecting rods connected end to end in sequence, wherein the first connecting rod is parallel to the fourth connecting rod, and the second connecting rod is parallel to the third connecting rod; The rotating connection mechanism rotationally connects one end of the fourth connecting rod of the upper telescopic structure with one end of the first connecting rod of the lower telescopic structure, and the other end of the fourth connecting rod of the upper telescopic structure is directly rotationally connected with the other end of the first connecting rod of the lower telescopic structure.

4. The rigid-flexibly coupled deformable human-machine collaborative handle according to claim 3, characterized in that: The rotation connection mechanism comprises an auxiliary connecting rod, and two ends of the auxiliary connecting rod are rotationally connected to the telescopic structure located above and the telescopic structure located below respectively.

5. The rigid-flexibly coupled deformable human-machine collaborative handle according to claim 4, characterized in that: The rotating connection mechanism also includes two gears that mesh with each other, and the two gears are respectively arranged at the two ends of the auxiliary connecting rod and are fixedly connected to the second connecting rod or the third connecting rod in the telescopic structure that is rotatably connected to the auxiliary connecting rod; when the telescopic structure is respectively connected to the upper and lower adjacent telescopic structures, the rotating connection mechanism between the telescopic structure located in the middle and the two adjacent telescopic structures is respectively located on the diagonals of the middle telescopic structure.

6. A rigid-flexibly coupled deformable human-machine collaborative handle according to any one of claims 2, 4 and 5, characterized in that: The slide rail locking device comprises a positioning block fixedly connected to the sliding block, a long connecting rod and a locking block; The positioning block is penetrated by a through hole with a diameter matching the outer circumference of the long connecting rod, and the through hole is provided with an internal thread; The long connecting rod passes through the through hole on the positioning block and is rotatably connected to the locking block; the long connecting rod is provided with an external thread matching the internal thread of the through hole; The locking block is clamped between two pulleys in the pulley block and abuts against the two pulleys.

7. The rigid-flexible coupled deformable human-machine collaborative handle according to claim 3, characterized in that: The slide rail locking device comprises a positioning block fixedly connected to the sliding block, a long connecting rod and a locking block; The positioning block is penetrated by a through hole with a diameter matching the outer circumference of the long connecting rod, and the through hole is provided with an internal thread; The long connecting rod passes through the through hole on the positioning block and is rotatably connected to the locking block; the long connecting rod is provided with an external thread matching the internal thread of the through hole; The locking block is clamped between two pulleys in the pulley block and abuts against the two pulleys.

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