Double-arm heavy-load robot teleoperation exoskeleton equipment with limiting protection function

Abstract

The invention discloses double-arm heavy-load robot teleoperation exoskeleton equipment with a limiting protection function. The robot comprises a fixed base and exoskeletons installed on the left side and the right side, the exoskeleton on each side is provided with eight active degrees of freedom, and the eight active degrees of freedom comprise shoulder joint three degrees of freedom, elbow joint one degree of freedom, wrist joint three degrees of freedom and tail end clamping jaw one degree of freedom. According to the human engineering size, four passive adjustment freedom degrees of the shoulder height, the shoulder width, the large arm length and the small arm length are increased so as to adapt to the body types of different operators. The device has the following obvious advantages that the joint limiting device is arranged, so that joints are prevented from being damaged due to over-limit movement, and the operation safety is effectively improved; a passive degree-of-freedom design is introduced, so that the fitting degree of the equipment and a human body joint natural movement track is improved; an operator can conveniently and directly observe the state of the slave end mechanical arm clamping jaw through the tail end clamping jaw, the hand enabling holding rod is provided with a multi-stage button, adjustment in multiple mapping modes is supported, and the precise control requirement of a complex two-arm rescue task is met.

Description

Technical Field

[0001] The present invention relates to the field of engineering robot teleoperation, and in particular to a dual-arm heavy-load robot teleoperation exoskeleton device with limit protection. Background Art

[0002] The unstructured environment of the post-disaster rescue site makes it difficult for rescue workers to carry out rescue work quickly, efficiently and safely, and the rescue workers themselves are also faced with the dangers of secondary collapse and accidental injuries. Using large, heavy-duty, multi-degree-of-freedom hydraulic manipulators with remote operation capabilities to replace humans in rescue missions can avoid casualties and improve work efficiency. However, existing large-scale rescue robots have many degrees of freedom and complex and diverse tasks. Traditional master-slave control rescue usually relies on control handles or preset control programs to achieve remote operations. The kinematic and dynamic matching between the master and slave devices is insufficient, resulting in a significant reduction in the intuitiveness of the operation and an increase in the difficulty of operation. For this type of complex manipulator, an intuitive and natural human-computer interaction control method is urgently needed to achieve transparency of operation.

[0003] Some existing exoskeletons have complex driving methods, lack natural interaction methods, lack real-time feedback, increase operational uncertainty, and have fixed joint structures that cannot be flexibly adjusted according to the user's body shape, which may cause movement restrictions and affect the accuracy of measurement and feedback. During rapid movement, there is still a risk of mechanical or electrical failure, causing the device to lose control or even cause an accident. Therefore, it is particularly important to develop an upper limb exoskeleton that meets the high requirements of post-disaster rescue missions for equipment stability, flexibility, and reliability. It should be designed and optimized from three aspects: intuitive control, joint fit, and equipment safety, to avoid structural problems that have a negative impact on later control and interaction. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-arm heavy-load robot teleoperated exoskeleton device with limit protection to solve the problems of non-intuitive control, inaccurate measurement and unsafe operation in existing upper limb exoskeleton teleoperation systems.

[0005] In order to achieve the above object, the technical solution of the present invention is: a double-arm heavy-load robot teleoperated exoskeleton device with limit protection, the device comprising: A liftable base for adjusting the height of the exoskeleton; An exoskeleton assembly installed in mirror symmetry with respect to the base comprises a three-degree-of-freedom shoulder joint assembly, a one-degree-of-freedom elbow joint assembly, a three-degree-of-freedom wrist joint assembly and a one-degree-of-freedom gripper assembly connected in sequence; the three-degree-of-freedom shoulder joint assembly is installed on both sides of the top of the base; The three-degree-of-freedom shoulder joint assembly and the three-degree-of-freedom wrist joint assembly are both connected in series through multiple connecting rods and motors to achieve three-degree-of-freedom movement; The base and the three-degree-of-freedom shoulder joint component and the components are connected through sliding grooves for adjusting the size.

[0006] Further, the base comprises a base, a telescopic rod, and a shoulder bracket; The base is used to determine the overall position of the upper limb exoskeleton robot. The telescopic rod is provided with a plurality of through holes distributed along its length, which is embedded and fixed in the hollow cylinder of the base. The shoulder bracket is connected to the telescopic rod, and two rows of parallel grooves are provided on the surface for adjusting the distance between the two arms to adapt to the shoulder width of different operators.

[0007] Further, the three-degree-of-freedom shoulder joint assembly includes a first shoulder joint connecting rod, a first motor module, a second shoulder joint connecting rod, a second motor module, a third shoulder joint connecting rod, a third motor module, a fourth shoulder joint connecting rod, a six-axis force sensor connecting piece, a six-axis force sensor and a large arm binding device; The rear end of the first shoulder joint connecting rod is fixed in the slide groove of the shoulder bracket, and a supporting rib is arranged at the corner to enhance the structural strength of the connecting rod. The front end of the first shoulder joint connecting rod is fixedly installed with the first motor module. Each shoulder joint connecting rod is installed on the corresponding motor module in the same way, and the rear shoulder joint connecting rod is fixed on the front motor module. The fourth shoulder joint connecting rod is provided with evenly distributed sliding grooves, the six-axis force sensor connecting piece is fixed in the middle sliding groove, the six-axis force sensor is fixed on the six-axis force sensor connecting piece, and the upper arm binding device is fixed on the six-axis force sensor.

[0008] Furthermore, the connection parts between the shoulder joint connecting rod and the motor module are both annular structures, and the annular structure is provided with evenly distributed small holes around the center of the circle, which are connected to the flange on the motor module.

[0009] Furthermore, the second shoulder joint connecting rod and the third shoulder joint connecting rod are bent at a degree, so that the first shoulder joint axis is aligned with the third shoulder joint axis in the initial state, and intersects with the second shoulder joint axis at the operator's shoulder joint.

[0010] Furthermore, the connecting rod lengths of the second shoulder joint connecting rod and the third shoulder joint connecting rod are optimized based on the joint size to achieve interference-free and collision-free operation of each joint module at any shoulder joint angle.

[0011] Further, the elbow joint assembly includes a first elbow connecting rod, an elbow motor module, and a second elbow connecting rod; The first elbow link has a slide groove and two rows of small holes, which are fixed to the end of the fourth shoulder joint link. The first elbow link and the second elbow link are connected to the elbow motor module through the rings and small holes opened at the ends. The connection method is the same as that of the three-degree-of-freedom shoulder joint assembly.

[0012] Further, the wrist joint assembly includes a first wrist joint connecting rod, a transmission gear set, a first joint motor module, a gear end cover, a second wrist joint connecting rod, a second joint motor module, a third wrist joint connecting rod, a third joint motor module, and a fourth wrist joint connecting rod; The first wrist joint connecting rod is composed of two circular ring structures and a connecting rod structure. The end connecting rod structure is provided with small holes and grooves and is fixed to the second elbow connecting rod. An annular protrusion is provided on the inner side of the large circular ring of the first wrist joint connecting rod, and a thin-walled roller bearing is fixed on the annular protrusion. The large gear in the transmission gear set is fixed on the outer wall of the thin-walled roller bearing. The small gear is fixed on the first joint motor module. The annular protrusion on the inner side of the large circular ring and the gear end cover are connected through evenly distributed small holes. Two annular protrusions are provided on one side of the gear end cover for clamping the inner ring of the bearing and Provide radial support for the gear set; the semi-annular structure of the second wrist joint connecting rod is fixed on the large gear in the transmission gear set, and three small holes and a circular through hole are set on the other side of the second wrist joint connecting rod, and the second joint motor module is fixed on the small hole; the rear end of the third wrist joint connecting rod is a two-layer cylindrical structure, whose diameter is smaller than the circular through hole of the second wrist joint connecting rod, and is fixed on the flange of the second joint motor module; the front end of the third wrist joint connecting rod has the same structure as the rear end of the second wrist joint connecting rod, and is connected to the fourth wrist joint connecting rod through the third joint motor module.

[0013] Further, the one-degree-of-freedom clamping jaw assembly comprises an enabling handle, a clamping jaw fixing device, a steering gear and a gear rack assembly and an end clamping jaw; Two parallel grooves and four small holes are provided at the end of the fourth wrist joint connecting rod, so that the enabling handle can be fixed in the groove and the position can be adjusted along the groove to adapt to the palm size of different operators; the clamping jaw fixing device is fixed in the small hole, and the servo is fixed on the protruding platform on the inner side of the annular structure of the clamping jaw fixing device, and its axis corresponds to the axis of the clamping jaw fixing device, and is connected to the gear rack assembly through a flange; the surface of the clamping jaw fixing device is provided with two parallel grooves for limiting the movement of the rack in the gear rack assembly, and the end clamping jaw is fixed on one side of the two racks; the operator controls the opening and closing of the clamping jaw by operating the enabling handle, thereby controlling the movement of the clamping jaw at the end of the robotic arm, and confirms the status of the clamping jaw in real time to assist the remote operation task.

[0014] Furthermore, the joint limits of the shoulder joint and the elbow joint are designed with independent parts, and each joint limit is fixed at a position with a 5° margin reduced from the corresponding degree of freedom limit position; the first shoulder joint limit is installed on the first shoulder joint connecting rod, the second shoulder joint limit is installed on the second shoulder joint connecting rod, the third shoulder joint limit is installed on the third shoulder joint connecting rod, and the elbow joint limit is installed on the first connecting rod of the elbow; the joint limit of the wrist joint assembly is not designed with independent parts, but is integrated on the gear end cover, the second wrist joint connecting rod and the third wrist joint connecting rod.

[0015] Beneficial effects of the present invention: 1. The present invention introduces passive degrees of freedom in the exoskeleton design, and sets an adjustable mechanism for key human parameters such as the operator's height, shoulder width, upper arm and lower arm length, and palm size. This design enables the exoskeleton to adapt to operators of different body shapes, further optimizes the fit of the joints, improves the comfort of wearing, and effectively improves the coordination of upper limb movements and the accuracy of measurement.

[0016] 2. The present invention conducts a detailed investigation on the range of motion of each joint of the human upper limbs. The present invention sets joint limit devices on each degree of freedom of the upper limb joints to effectively prevent joint damage caused by overshoot of the motor or environmental interference. While ensuring the free movement of the operator's joints, the present invention maximizes the safety during the operation and avoids potential injuries caused by excessive joint movement.

[0017] 3. The present invention designs an end gripper at the end of the exoskeleton, and the operator can realize precise opening and closing of the gripper through intuitive hand control, which enhances the flexibility and intuitiveness of remote operation and meets the needs of fine operation in complex environments. At the same time, in order to further enhance the control experience, the present invention adds an ergonomically enabled grip at the hand position to realize the adjustment of multi-gear mapping mode, which greatly improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The slave-side controlled object is a seven-degree-of-freedom heavy-duty hydraulic robotic arm.

[0019] Figure 2 A schematic diagram of the overall structure of a dual-arm heavy-load robot teleoperated exoskeleton device with limit protection provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic structural diagram of the base of the upper limb exoskeleton robot of the present invention.

[0021] Figure 4 It is a schematic structural diagram of the mechanical arm assembly of the upper limb exoskeleton robot of the present invention.

[0022] Figure 5 It is a schematic structural diagram of the shoulder joint assembly of the upper limb exoskeleton robot of the present invention.

[0023] Figure 6 It is a schematic structural diagram of the elbow joint assembly of the upper limb exoskeleton robot of the present invention.

[0024] Figure 7 It is a schematic structural diagram of the wrist joint assembly of the upper limb exoskeleton robot of the present invention. DETAILED DESCRIPTION

[0025] The following further describes the embodiments of the present invention in conjunction with the accompanying drawings, and further elaborates on the specific details of the present invention. It should be noted that the embodiments are only typical representatives of the technical solutions of the present invention, and the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0026] As attached Figure 1 As shown, the upper limb exoskeleton designed by the present invention has a slave-end controlled object which is a large heavy-duty hydraulic manipulator arm used for rescue. The manipulator arm has eight degrees of freedom in posture, including three degrees of freedom in the shoulder joint, one degree of freedom in the elbow joint, and three degrees of freedom in the wrist joint. The end gripper has one degree of freedom for opening and closing. The degree of freedom configuration of the slave-end hydraulic manipulator arm is similar to the degree of freedom of the human upper limb, so it is considered to perform master-slave control of the manipulator arm through the human upper limb exoskeleton device.

[0027] As attached Figure 2 , Attachment Figure 4 As shown, the present invention comprises a fixed base 1 and an exoskeleton component 2, and the exoskeleton component 2 is arranged through the base 1 in a mirrored manner; each exoskeleton component 2 adopts a degree of freedom series design. In order to fully measure the motion information of each joint of the upper limbs of the human body and match the degree of freedom configuration of the slave hydraulic manipulator, the present invention adopts a "shoulder-axis-wrist" upper limb exoskeleton structure, with three degrees of freedom set at the shoulder joint, one degree of freedom set at the elbow joint, three degrees of freedom set at the wrist joint, and one degree of freedom set at the gripper mechanism. By fully considering the adjustability and size margin, the upper limb exoskeleton robot can achieve the following measurement effect of operators of different body shapes. At the same time, the design that the axes of the three degrees of freedom of the shoulder joint and the wrist joint intersect at one point makes the inverse solution form of the manipulator simpler, reduces the calculation complexity, and improves the calculation efficiency and control accuracy.

[0028] When the operator wears the master upper limb exoskeleton and moves, the servo motors on the exoskeleton can measure the current rotation angle, rotation speed, rotation acceleration, joint motion torque and other motion information of each joint in real time. After the correct kinematics of the upper limb exoskeleton mechanical arm, the current position, posture, Cartesian space motion speed and rotation speed of the operator's upper limb end, i.e., the grip part, can be measured, and then transmitted to the slave hydraulic mechanical arm. Through methods such as variable proportional position imaging or speed imaging, it is converted into the Cartesian space motion speed and rotation speed of the slave mechanical arm's gripper part, and through accurate inverse solution of the program, it is converted into the rotation speed of each joint. By integrating the rotation speed, the change in the rotation angle of each joint of the slave mechanical arm can be obtained, so as to control the slave mechanical arm. At the same time, by modeling the dynamics of the master upper limb exoskeleton mechanical arm, the joint torque measured by the servo motor can be used to compensate for the gravity of the mechanical arm itself in real time, reduce the difficulty of use, and improve the transparency of the movement of the mechanical arm during measurement.

[0029] like Figure 3As shown, the base 1 in the present invention includes a base 11, a hexagonal bolt and nut assembly 12, a copper sleeve 13, a telescopic rod 14, and a shoulder bracket 15; The overall structural parts of the base 1 are made of high-strength aluminum alloy material, which has good mechanical strength and can firmly fix the upper limb exoskeleton to ensure that there is no interference with remote operation. The base 11 is used to determine the overall position of the upper limb exoskeleton robot. The telescopic rod 14 is provided with multiple through holes distributed along its length, which are embedded in the hollow cylinder contained in the base 11 through the copper sleeve 13 and fixed with the help of the hexagonal bolt and nut assembly 12; the shoulder bracket 15 is connected to the telescopic rod 14 through four hexagonal screws, and two rows of parallel slide grooves are provided on the surface to adjust the distance between the two arms to adapt to the shoulder width of different operators. The length and angle design of the parallel slide grooves take into account the ergonomic principles and can provide sufficient support without affecting the comfort.

[0030] like Figure 5 As shown, the three-degree-of-freedom shoulder joint assembly 21 in the present invention includes a first shoulder joint connecting rod 211, a first driver protective shell 212, a first joint limiter 213, a first motor module 214, a second shoulder joint connecting rod 215, a second driver protective shell 216, a second joint limiter 217, a second motor module 218, a third driver protective shell 220, a third joint limiter 221, a third motor module 222, a fourth shoulder joint connecting rod 223, a six-axis force sensor connector 224, a six-axis force sensor 225, and an upper arm binding device 226.

[0031] The rear end of the first shoulder joint connecting rod 211 is fixed in the slide groove of the shoulder bracket 15 by means of hexagon socket bolts and nuts, and support ribs are arranged at the corners to enhance the strength of the connecting rod structure. The support ribs are designed by finite element optimization to ensure that they do not deform when bearing the deadweight of the exoskeleton. The front end is fixedly installed with the first motor module 214; the rear end of the second shoulder joint connecting rod 215 is connected to the first motor module 214, and the front end is fixedly installed with the second motor module 218; the rear end of the third shoulder joint connecting rod 219 is connected to the second motor module 218, and the front end is fixedly installed with the third motor module 222; the rear end of the fourth shoulder joint connecting rod 219 is connected to the third motor module 222; the connection parts of the joint connecting rod and the joint module are all annular structures, and the annular structure is provided with 16 evenly distributed small holes around the center of the circle, and is connected to the flange on the joint module by means of hexagon socket screws and nuts. The use of multiple screws for evenly distributed fixing can improve the connection strength and ensure the measurement accuracy.

[0032] The fourth shoulder joint connecting rod 219 is provided with three slide grooves, the six-axis force sensor connecting piece 224 is fixed in the middle slide groove by means of hexagon socket bolts and nuts, the six-axis force sensor 225 is fixed to the six-axis force sensor connecting piece 224 by means of hexagon socket screws, and the upper arm binding device 226 is fixed to the six-axis force sensor 225 by means of hexagon socket screws. The force sensor can move along the direction of the fourth joint connecting rod through the slide groove, and the height of the six-axis force sensor 225 is adjustable, so as to ensure that the upper arm binding device 226 is coaxial with the upper arm of the operator, ensure the accurate installation of the exoskeleton, and reduce the measurement error.

[0033] The second shoulder joint connecting rod 215 and the third shoulder joint connecting rod 219 are bent at 120 degrees, which can realize that the first shoulder joint axis is aligned with the third shoulder joint axis in the initial state, and intersects with the second shoulder joint axis at the operator's shoulder joint. The connecting rod lengths of the second shoulder joint connecting rod 215 and the third shoulder joint connecting rod 219 have been optimized based on the joint module size, avoiding the self-interference collision problem and the human-machine collision interference problem generated by the exoskeleton within the joint motion range, avoiding the restriction of the exoskeleton on the upper limb movement of the human body, strengthening the extensive human adaptability of the exoskeleton, and improving the movement transparency.

[0034] like Figure 6 As shown, the elbow joint assembly 23 of the present invention includes a first elbow connecting rod 231, a fourth driver protection shell 232, a joint limiter 233, a fourth motor module 234, and a second elbow connecting rod 235; The first elbow link 231 has a slide groove and two rows of small holes, which are fixed to the end of the fourth shoulder joint link 219 by bolts and nuts. The first elbow link 231 and the second elbow link 235 are connected to the elbow motor module 234 through the rings and small holes at the ends, and the connection method is the same as that of the three-degree-of-freedom shoulder joint assembly 21; like Figure 7 As shown, the wrist joint assembly 24 of the present invention includes a first wrist joint connecting rod 241, a transmission gear set 242, a first joint motor module 243, a gear end cover 244, a second wrist joint connecting rod 245, a fifth drive protective shell 246, a second joint motor module 247, a third wrist joint connecting rod 248, a third joint motor module 249, and a fourth wrist joint connecting rod 250; The first wrist joint connecting rod 241 is composed of two circular ring structures and a connecting rod structure, and the end connecting rod structure is provided with small holes and grooves, and is fixed to the second elbow connecting rod 235 by bolts and nuts; an annular protrusion is provided on the inner side of the large circular ring of the first wrist joint connecting rod 241, and a thin-walled roller bearing is fixed on the annular protrusion, and the large gear in the transmission gear set 242 is fixed on the outer wall of the thin-walled roller bearing; three threaded holes are provided on the small gear, which is fixed to the first joint motor module 243 by hexagon socket screws; the annular protrusion on the inner side of the large circular ring and the gear end cover 244 are both provided with 8 small holes, which are fixed by hexagon socket screws and nuts; two annular protrusions are provided on one side of the gear end cover 244, which are used to clamp the inner ring of the bearing and provide radial Support; 8 threaded holes are set on the large gear in the transmission gear set 242, which is fixed to the semi-annular structure of the second wrist joint connecting rod 245 by hexagon socket screws and nuts; three small holes and a circular through hole are set on the other side of the second wrist joint connecting rod 245, and the second joint motor module 247 is fixed to the small holes by hexagon socket screws; the rear end of the third wrist joint connecting rod 248 is a two-layer cylindrical structure, whose diameter is slightly smaller than the circular through hole of the second wrist joint connecting rod 245, and is fixed to the flange of the second joint motor module 247 by hexagon socket screws; the front end of the third wrist joint connecting rod 248 has the same structure as the rear end of the second wrist joint connecting rod 245, and is connected to the fourth wrist joint connecting rod 250 through the third joint motor module 249.

[0035] The one-degree-of-freedom clamping jaw assembly 25 of the present invention includes an enabling handle 251, a clamping jaw fixing device 252, a steering gear and a gear rack assembly 253, and an end clamping jaw 254; The end of the fourth wrist joint link 250 is provided with two parallel sliding grooves and four small holes, so that the enabling handle 251 can be fixed in the sliding groove by means of hexagon socket screws and nuts, and the position can be adjusted along the sliding groove to adapt to the palm size of different operators; the clamping jaw fixing device 252 is fixed in the small hole by means of four hexagon socket screws and nuts, and the servo is fixed on the protruding platform on the inner side of the annular structure of the clamping jaw fixing device 252, and its axis corresponds to the axis of the clamping jaw fixing device 252, and is connected to the gear rack assembly 253 by means of a flange; the surface of the clamping jaw fixing device 252 is provided with two parallel sliding grooves for limiting the movement of the rack in the gear rack assembly 253; the two racks are respectively provided with two threaded holes, and the end clamping jaw 254 is fixed in the threaded holes by means of screws; the operator can control the opening and closing of the clamping jaw by operating the enabling handle 251, thereby controlling the movement of the clamping jaw at the end of the robotic arm, and confirming the state of the clamping jaw in real time to assist the remote operation task.

[0036] The driver of the motor module in the present invention is arranged in a driver protective shell, and the driver protective shell is installed on the back of the joint connecting rod; the first driver protective shell 212 is installed on the first shoulder joint connecting rod 211, the second driver protective shell 216 and the third driver protective shell 220 are both installed on the third shoulder joint connecting rod 219, and the fourth driver protective shell 232 is installed on the first elbow connecting rod 231; the installation position of each driver protective shell is selected on the back of the joint connecting rod close to the rotation axis of each joint, which not only reduces the rotational inertia of the rotating joint, but also makes the wiring simple, and will not cause any interference to the joint rotation of the exoskeleton.

[0037] Since the overall motor torque requirement of the wrist joint is relatively small, its motor module is small in size and low in power, and only one drive board is required to control the wrist joint motor module. The fifth driver protective shell 246 is installed on the second wrist joint connecting rod 245; semicircular grooves are provided on both sides of the driver protective shell for arranging the CAN bus.

[0038] In the present invention, the joint limits of the shoulder joint and the elbow joint are designed with independent parts to improve the overall strength. Each joint limit is fixed at a position with a 5° margin reduced from the corresponding degree of freedom limit position. The first shoulder joint limit 213 is installed on the first shoulder joint connecting rod 211, the second shoulder joint limit 217 is installed on the second shoulder joint connecting rod 215, the third shoulder joint limit 221 is installed on the third shoulder joint connecting rod 219, and the elbow joint limit 233 is installed on the first elbow connecting rod 231. The joint limit of the wrist joint assembly 23 is not designed with independent parts, but is integrated on the gear end cover 244, the second wrist joint connecting rod 245 and the third wrist joint connecting rod 248 to reduce the overall weight of the wrist joint. The joint limit does not affect the operator's joint movement, while preventing joint damage caused by factors such as motor movement overshoot or environmental interference, thereby further improving operational safety.

[0039] The present invention has been disclosed as above in the form of a preferred embodiment, but it is not intended to limit the present invention. Any technician familiar with the profession, without departing from the scope of the technical solution of the present invention, makes any simple modifications, equivalent changes and modifications to the above implementation cases based on the technical essence of the present invention, which still fall within the scope of the technical solution of the present invention.

Claims

1. A dual-arm heavy-load robot teleoperated exoskeleton device with limit protection, characterized in that: The equipment includes: A liftable base (1) for adjusting the height of the exoskeleton; An exoskeleton assembly (2) is mounted in mirror symmetry with respect to a base (1), comprising a three-degree-of-freedom shoulder joint assembly (21), a one-degree-of-freedom elbow joint assembly (23), a three-degree-of-freedom wrist joint assembly (24), and a one-degree-of-freedom gripper assembly (26) connected in sequence; the three-degree-of-freedom shoulder joint assembly (21) is mounted on both sides of the top of the base (1); The three-degree-of-freedom shoulder joint assembly (21) and the three-degree-of-freedom wrist joint assembly (24) are both connected in series via multiple connecting rods and motors to achieve three-degree-of-freedom motion; The base (1) and the three-degree-of-freedom shoulder joint component (21) as well as the components are connected via sliding grooves for adjusting the size.

2. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 1 is characterized in that: The base (1) comprises a base (11), a telescopic rod (14), and a shoulder bracket (15); The base (11) is used to determine the overall position of the upper limb exoskeleton robot. The telescopic rod (14) is provided with a plurality of through holes distributed along its length direction and is embedded and fixed in the hollow cylinder of the base (11). The shoulder bracket (15) is connected to the telescopic rod (14) and has two rows of parallel sliding grooves on its surface for adjusting the distance between the two arms to adapt to the shoulder width of different operators.

3. The double-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 1 is characterized in that: The three-degree-of-freedom shoulder joint assembly (21) comprises a first shoulder joint connecting rod (211), a first motor module (214), a second shoulder joint connecting rod (215), a second motor module (218), a third shoulder joint connecting rod (219), a third motor module (222), a fourth shoulder joint connecting rod (223), a six-axis force sensor connecting piece (224), a six-axis force sensor (225) and a upper arm binding device (226); The rear end of the first shoulder joint connecting rod (211) is fixed in the slide groove of the shoulder bracket (15), and a supporting rib is arranged at the corner to enhance the strength of the connecting rod structure. The front end of the first shoulder joint connecting rod is fixedly mounted on the first motor module (214). Each shoulder joint connecting rod is mounted on the corresponding motor module in the same manner, and the rear shoulder joint connecting rod is fixed on the front motor module. The fourth shoulder joint connecting rod (219) is provided with evenly distributed sliding grooves, the six-axis force sensor connecting piece (224) is fixed in the middle sliding groove, the six-axis force sensor (225) is fixed on the six-axis force sensor connecting piece (224), and the upper arm binding device (226) is fixed on the six-axis force sensor (225).

4. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 3 is characterized in that: The connecting parts between the shoulder joint connecting rod and the motor module are both annular structures. The annular structure has evenly distributed small holes around the center of the circle and is connected to the flange on the motor module.

5. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 3 is characterized in that: The second shoulder joint connecting rod (215) and the third shoulder joint connecting rod (219) are both bent at 120 degrees, so that the first shoulder joint axis and the third shoulder joint axis are aligned in the initial state, and intersect with the second shoulder joint axis at the operator's shoulder joint.

6. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 3 is characterized in that: The connecting rod lengths of the second shoulder joint connecting rod (215) and the third shoulder joint connecting rod (219) are optimized and designed based on the joint size, so that each joint module has no interference and no collision at any shoulder joint angle.

7. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 1, characterized in that: The elbow joint assembly (23) comprises a first elbow connecting rod (231), an elbow motor module (234), and a second elbow connecting rod (235); The first elbow link (231) is provided with a slide groove and two rows of small holes and is fixed to the end of the fourth shoulder joint link (219). The first elbow link (231) and the second elbow link (235) are connected to the elbow motor module (234) through the circular ring and small holes provided at the end, and the connection method is the same as that of the three-degree-of-freedom shoulder joint assembly (21).

8. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 1, characterized in that: The wrist joint assembly (24) comprises a first wrist joint connecting rod (241), a transmission gear set (242), a first joint motor module (243), a gear end cover (244), a second wrist joint connecting rod (245), a second joint motor module (247), a third wrist joint connecting rod (248), a third joint motor module (249), and a fourth wrist joint connecting rod (250); The first wrist joint connecting rod (241) is composed of two circular ring structures and a connecting rod structure, and a small hole and a groove are arranged on the end connecting rod structure, which is fixed to the second elbow connecting rod (235); an annular protrusion is arranged on the inner side of the large circular ring of the first wrist joint connecting rod (241), a thin-walled roller bearing is fixed on the annular protrusion, and the large gear in the transmission gear set (242) is fixed on the outer wall of the thin-walled roller bearing; the small gear is fixed on the first joint motor module (243); the annular protrusion on the inner side of the large circular ring and the gear end cover (244) are connected through evenly distributed small holes; two annular protrusions are arranged on one side of the gear end cover (244) for clamping the inner ring of the bearing and providing radial support for the gear set ; The semi-annular structure of the second wrist joint connecting rod (245) is fixed on the large gear in the transmission gear set (242); the other side of the second wrist joint connecting rod (245) is provided with three small holes and a circular through hole, and the second joint motor module (247) is fixed on the small holes; the rear end of the third wrist joint connecting rod (248) is a two-layer cylindrical structure, the diameter of which is smaller than the circular through hole of the second wrist joint connecting rod (245), and is fixed on the flange of the second joint motor module (247); the front end of the third wrist joint connecting rod (248) is the same as the rear end structure of the second wrist joint connecting rod (245), and is connected to the fourth wrist joint connecting rod (250) through the third joint motor module (249).

9. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 1, characterized in that: The one-degree-of-freedom clamping jaw assembly (25) comprises an enabling handle (251), a clamping jaw fixing device (252), a steering gear and a gear rack assembly (253), and an end clamping jaw (254); The end of the fourth wrist joint link (250) is provided with two parallel sliding grooves and four small holes, so that the enabling handle (251) can be fixed in the sliding grooves and the position can be adjusted along the sliding grooves to adapt to the palm sizes of different operators; the clamping jaw fixing device (252) is fixed in the small holes, and the steering gear is fixed on the protruding platform on the inner side of the annular structure of the clamping jaw fixing device (252), and its axis corresponds to the axis of the clamping jaw fixing device (252), and is connected to the gear rack assembly (253) through a flange; the surface of the clamping jaw fixing device (252) is provided with two parallel sliding grooves for limiting the movement of the rack in the gear rack assembly (253), and the end clamping jaw (254) is fixed on one side of the two racks; the operator controls the opening and closing of the clamping jaw by operating the enabling handle (251), thereby controlling the movement of the clamping jaw at the end of the robotic arm, and confirms the state of the clamping jaw in real time to assist the remote operation task.

10. The dual-arm heavy-load robot teleoperated exoskeleton device with limit protection according to claim 1, characterized in that: The joint limits of the shoulder joint and the elbow joint are designed with independent parts, and each joint limit is fixed at a position where the corresponding freedom limit position is reduced by 5° margin; the first shoulder joint limit (213) is installed on the first shoulder joint connecting rod (211), the second shoulder joint limit (217) is installed on the second shoulder joint connecting rod (215), the third shoulder joint limit (221) is installed on the third shoulder joint connecting rod (219), and the elbow joint limit (233) is installed on the first elbow connecting rod (231); the joint limit of the wrist joint assembly (23) is not designed with independent parts, but is integrated on the gear end cover (244), the second wrist joint connecting rod (245) and the third wrist joint connecting rod (248).

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