Wearable exoskeleton device, operation method and robot teleoperation system

Abstract

The invention provides a wearable exoskeleton device, an operation method and a robot teleoperation system. The wearable exoskeleton device comprises a backpack connecting piece and an arm exoskeleton. The bearing connecting piece is used for enabling a user to bear the exoskeleton device, and arm exoskeletons are arranged at the positions, corresponding to the left arm and / or the right arm of the user, of the bearing connecting piece. The information collector is arranged on the arm exoskeleton, so that the motion data of the arm in multiple dimensions when the user operates the arm exoskeleton can be collected. Compared with a traditional mechanical robot teaching system which is complex and high in cost, due to the fact that the structure is relatively simple, the production cost is greatly reduced, and meanwhile the mechanical robot teaching system has the advantages of being light, stable, convenient, wearable and the like. Through the arrangement of the information collector, accurate motion data can be rapidly obtained from all the human body joint components corresponding to the exoskeleton, the precision degree and efficiency of robot teleoperation can be rapidly improved, and the cost of training the robot is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a wearable exoskeleton device, a control system and a robot teleoperation system. Background Art

[0002] Existing robot remote control and joint teaching usually adopt programming teaching, dragging teaching, visual teaching and other methods. Among them, programming teaching requires writing program code in advance to plan the robot's movements; dragging teaching requires the operator to drag the robot's mechanical arm directly by hand or with the help of auxiliary tools to make it move along the desired trajectory; visual teaching requires the robot to arrange its environment in advance for visual acquisition.

[0003] These existing robot teaching methods are time-consuming, cumbersome, and have great uncertainty in control accuracy, making it difficult to teach complex movements of humanoid robots. When conducting robot learning and training, some colleges and research and development institutions also use joint motors to build 1:1 robotic arms for robot teaching and remote operation. They are heavy, costly, and cannot meet the wearability requirements of humans, which makes the overall learning and training efficiency low. Summary of the invention

[0004] In view of this, the present application proposes a wearable exoskeleton device, a control system and a robot teleoperation system, and the specific scheme is as follows:

[0005] In a first aspect, a wearable exoskeleton device is provided, comprising: a back-carrying connector and an arm exoskeleton;

[0006] The back connecting piece is used to enable the user to carry the exoskeleton device, and an arm exoskeleton is arranged at a position on the back connecting piece corresponding to the left arm and / or right arm of the user;

[0007] The arm exoskeleton includes at least one or more of a shoulder module, an upper arm module, an elbow module, a forearm module and a wrist module; wherein at least one or more of the shoulder module, the upper arm module, the elbow module, the forearm module and the wrist module is provided with an information collector for collecting motion data of a user when operating the arm exoskeleton.

[0008] It should be noted that the present application does not limit the specific number of modules in each arm exoskeleton. In actual applications, users can choose to set the modules in the arm exoskeleton according to their own needs. For example, only the shoulder module and the upper arm module are set in the arm exoskeleton to obtain the motion data of the shoulder joint, or only the upper arm module and the elbow module are set to obtain the motion data of the upper arm rotation and the motion data of the elbow, or only the forearm module and the wrist module are set to obtain the motion data of the forearm and wrist joints, or only the upper arm module is set to obtain only the upper arm rotation data, or only the wrist module is set to obtain the motion data of the wrist joint.

[0009] In a specific embodiment, the shoulder module in the arm exoskeleton includes an upper shoulder joint module, a shoulder link, and a lower shoulder joint module;

[0010] The upper shoulder joint module is movably connected to one side of the back-carrying connecting piece; the two ends of the shoulder connecting rod are movably connected to the upper shoulder joint module and the lower shoulder joint module respectively;

[0011] The shoulder link is provided with a curved portion matching the outer shape of the user's shoulder; the upper shoulder joint module and / or the lower shoulder joint module are provided with an information collector for collecting movement data of the corresponding user's shoulder.

[0012] In a specific embodiment, the upper arm module in the arm exoskeleton includes an upper arm connecting rod and an upper arm rotating joint module; an information collector is provided in the upper arm rotating joint module; one end of the upper arm connecting rod is used to movably connect to the shoulder module in the arm exoskeleton, and the other end is connected to the information collector; the upper arm connecting rod is rotatable relative to the information collector; an upper arm fixing piece is provided on the upper arm connecting rod, and the upper arm fixing piece is used to be fixed relative to the user's arm. Among them, one end of the upper arm connecting rod can be movably connected to the lower shoulder joint module in the shoulder module.

[0013] In actual application, the upper arm fixing part includes an elastic upper arm strap, and the user can fix the upper arm and the upper arm connecting rod relatively through the upper arm strap. Specifically, the upper arm rotation joint module includes an upper arm shaft, which is connected to one end of the information collector in the upper arm module, and the other end of the information collector is connected to the upper arm connecting rod; the upper arm shaft and the upper arm connecting rod can rotate relative to the information collector in the upper arm module. When the user's upper arm rotates relative to the shoulder joint, the upper arm connecting rod also rotates relative to the information collector in the upper arm module. At this time, the information collector can collect the movement data of the user's upper arm.

[0014] In a specific embodiment, it also includes a coupling, a fixed seat, a fastener and a damping adjustment member; a first joint connection hole and a rotating shaft member are provided in the shoulder module. Specifically, the shoulder module may include a rotating shaft member and a sub-shoulder joint module, wherein the sub-shoulder joint module is provided with a first joint connection hole, and the rotating shaft member may be a hollow bolt. The coupling is fixed to the second joint connection hole of the upper arm module in the arm exoskeleton through a fastener; the rotating shaft member of the shoulder module passes through the fixed seat, the damping adjustment member, the first joint connection hole and the second joint connection hole, and is connected to the coupling; so as to realize that the shoulder module can be movably connected to the upper arm module, specifically, the lower shoulder joint module in the shoulder module can be rotatably connected to the upper arm connecting rod in the upper arm module.

[0015] The information collector is used to collect the movement data of the corresponding user's boom when the boom link rotates; the damping adjustment part is used to reduce the wear of the boom link and the shoulder module during the rotation process. At the same time, the damping adjustment part can also adjust the size of the rotational damping between the boom link and the shoulder module.

[0016] In actual applications, the fastener includes at least one locking nut, and the damping adjustment component includes a gasket and / or a metal sleeve, which is used to be sleeved with the rotating shaft. Through the damping adjustment component, the damped rotation between the upper arm connecting rod and the shoulder joint module of the shoulder module can be achieved.

[0017] In a specific embodiment, the elbow module in the arm exoskeleton includes an elbow joint module and an elbow fixing frame;

[0018] One end of the elbow joint module is used to be movably connected to the upper arm module in the arm exoskeleton, and the other end is movably connected to the elbow fixing frame; specifically, one end of the elbow joint module can be movably connected to the upper arm shaft in the upper arm module;

[0019] The elbow fixing frame is provided with an elbow fixing piece, which is used to fix the elbow of the user relatively; the elbow joint module is provided with an information collector, which is used to collect the motion data of the elbow of the user. In actual application, the elbow fixing piece includes an elastic elbow strap, through which the user can fix the elbow relatively to the elbow fixing frame.

[0020] In a specific embodiment, the forearm module in the arm exoskeleton includes a forearm link and an information collector, the forearm link is used to rotate relative to the information collector, and the information collector is used to collect motion data corresponding to the user's forearm.

[0021] In one specific embodiment, the arm link includes a collector link and a telescopic link;

[0022] The information collector is connected to the elbow module in the arm exoskeleton; one end of the collector connecting rod is rotatably connected to the information collector, and the other end is connected to the telescopic connecting rod;

[0023] The information collector is used to collect the motion data of the corresponding user's forearm through the rotation of the collector connecting rod and / or the retractable connecting rod when the user's forearm rotates;

[0024] One end of the retractable link is used to movably connect to the wrist module in the arm exoskeleton, and the retractable link is used to retract to adjust the distance between the information collector and the wrist module to match the length of the user's forearm. Specifically, one end of the retractable link can be movably connected to the wrist bracket in the wrist module.

[0025] In practical applications, the telescopic link includes a first telescopic portion and a second telescopic portion, wherein the second telescopic portion is provided with a sliding groove, and the first telescopic portion is provided with a clamping piece, and the first telescopic portion is slidably connected to the sliding groove through the clamping piece to slide relative to the second telescopic portion to adjust the total length of the telescopic link. Furthermore, the first telescopic portion can be fixed at a certain point in the sliding groove by adjusting the connection tightness of the clamping piece, so as to fix the total length of the telescopic link to a length range required by the user.

[0026] In a specific embodiment, the wrist module in the arm exoskeleton includes a wrist fixator, a front wrist support, a rear wrist support, a wrist joint module and a back-of-hand connecting frame; the wrist fixator is arranged on the rear wrist support; one end of the front wrist support and one end of the rear wrist support are rotatably connected to the wrist joint module so as to be movable relative to the wrist joint module; one end of the back-of-hand connecting frame is movably arranged on the front wrist support; in actual application, the wrist fixator includes an elastic wrist strap.

[0027] The information collector is arranged at the connection between the front wrist support and the back of hand connecting frame, and is used to collect the motion data of the back of hand or finger joints of the corresponding user; and / or the information collector is arranged in the wrist joint module, and is used to collect the motion data of the user's wrist.

[0028] In a specific embodiment, the wrist joint module also includes a protective cover and a gear structure; the front wrist bracket and the rear wrist bracket are coaxially rotatably connected to each other; the information collector of the wrist joint module and part or all of the gear structure are located in the protective cover, one end of the gear structure is connected to the front wrist bracket, and the other end is connected to the information collector of the wrist joint module; the information collector of the wrist joint module is used to collect the motion data of the corresponding user's wrist through the transmission of the gear structure when the user's wrist rotates. In a specific embodiment, the gear structure and the information collector are both arranged in the protective cover, and during the rotation of the user's wrist, the front wrist bracket and the rear wrist bracket in the wrist module rotate relative to each other as the user's wrist rotates, and at this time, the information collector can collect motion data from the movement between the front wrist bracket and the rear wrist bracket, wherein the motion data includes the relative rotation angle data of the front wrist bracket and the rear wrist bracket.

[0029] In a specific embodiment, the backpack connector includes a back mounting frame, a control box, a main bracket and a shoulder strap; the shoulder strap is arranged on the back mounting frame and / or the main bracket, and is used for a user to carry the exoskeleton device; the control box can be movably connected to the back mounting frame or fixedly connected to the back mounting frame; in a specific embodiment, a sliding track is arranged on the back mounting frame, and the control box can be slidably arranged on the back mounting frame, so that the user can adjust the position of the control box on the back mounting frame according to their specific needs.

[0030] The main support is detachably connected to the back mounting frame, and an arm exoskeleton is connected to one or both sides of the main support. In a specific embodiment, an arm exoskeleton is connected to both sides of the main support, and the arm exoskeletons on both sides are symmetrically arranged relative to the main support.

[0031] The control box is provided with a control module and a power module connected to each other; the information collector is connected to the control module in communication; in a specific embodiment, the control box also includes a wireless transceiver module, which is connected to each information collector, control module or external device in communication, and is used to upload the data collected by each information collector to the control module or external device, so that the user can uniformly analyze and manage the collected data. In the specific use or testing process, the user can obtain the data collected by the information collector and the control module through wireless communication, or obtain data from the information collector and the control module through a wired connection.

[0032] The information collector includes an encoder, and the motion data includes rotation angle data. In practical applications, the encoder includes an absolute value encoder.

[0033] In practical applications, by setting an absolute encoder, the rotation angle of the components themselves in each module or the rotation angle data of the joints between the components can be accurately obtained in real time, and the specific angles of each joint and part of the arm exoskeleton in space can be fed back to the user in time. The rotation angle data obtained is recorded by the absolute encoder, and when the action needs to be reviewed later, the action is repeated accurately to ensure the accuracy and consistency of each action. At the same time, since the absolute encoder does not need to perform additional initialization operations such as zeroing to determine the starting angle, the absolute encoder can quickly obtain the current joint accurate position when the arm exoskeleton is turned on. By adopting an absolute encoder, the accuracy and sensitivity of the feedback are guaranteed. Compared with the traditional visual robot teaching system based on camera or VR, each joint in the exoskeleton of this application corresponds to the robot joint mechanism one by one, and the joint position can be fed back in real time using the absolute encoder, so it has a faster response speed and higher control accuracy in remote operation.

[0034] The shoulder strap includes a shoulder strap and / or a waist strap, one end of the shoulder strap is arranged on the main support at a position corresponding to the user's shoulder, and the other end is arranged on the back mounting frame; the waist strap is arranged on the back mounting frame at a position corresponding to the user's waist.

[0035] Furthermore, the exoskeleton device in the present application can replace the robot body to collect data in neural network learning and training. Its production cost and production cycle are much lower than producing a robot, which can greatly reduce the cost of robot learning and training.

[0036] In a second aspect, a method for operating a wearable exoskeleton device is proposed, which is applied to any one of the wearable exoskeleton devices in the aforementioned technical solutions; the method comprises:

[0037] The exoskeleton device is carried on the user's back through the carrying assembly, and the arm exoskeleton of the exoskeleton device is arranged at the position corresponding to the user's left arm and / or right arm;

[0038] Collecting motion data of the user's left arm and / or right arm through an information collector of the arm exoskeleton;

[0039] The motion data is stored or analyzed to obtain learning and training data for other robots. In a specific embodiment, the exoskeleton device can also be connected to an external robot for communication, and the motion data can be transmitted to the external robot body in real time.

[0040] In a third aspect, a robot teleoperation system is proposed, comprising a target robot and any one of the wearable exoskeleton devices used in the aforementioned technical solutions;

[0041] The target robot includes a driving device and a mechanical arm structure corresponding to the arm exoskeleton of the exoskeleton device, and the mechanical arm structure is provided with movable joints corresponding to each module of the arm exoskeleton; the driving device is communicatively connected to the movable joints;

[0042] The driving device of the target robot is communicatively connected to the information collector of the exoskeleton device, and is used to control the movement of the active joints according to the movement data collected by the information collector, so as to control the movement of the target robot.

[0043] In a specific teleoperation process, the user wears the arm exoskeleton device to perform actions. The information collector in the arm exoskeleton device collects motion data and feeds it back to the target robot in real time. The target robot can synchronously control the target robot's own active joints to rotate to corresponding angles based on the collected motion data of the user's human body joints, and perform automatic actions at the same time based on the motion data to replicate the user's actions in real time and achieve precise remote operation of the target robot. Furthermore, after recording and saving the motion data of the arm exoskeleton, it can be repeatedly applied to the target robot later to achieve multiple replications of specific actions on the target robot; the motion data can also be further studied and analyzed to continuously optimize the target's action operations.

[0044] Beneficial effects: The present application proposes a wearable exoskeleton device, comprising: a backpack connector and an arm exoskeleton; the backpack connector is used to enable the user to carry the exoskeleton device, and an arm exoskeleton is provided on the backpack connector at a position corresponding to the left arm and / or right arm of the user; by providing an information collector on the arm exoskeleton, it is possible to collect the motion data of the arm in multiple dimensions when the user operates the arm exoskeleton. Compared with the traditional complex and costly mechanical robot teaching system, due to its relatively simple structure, the production cost is greatly reduced, and it has the advantages of being lightweight, stable, convenient and wearable. By providing an information collector, it is possible to quickly obtain motion data from each joint component of the exoskeleton, which can quickly improve the efficiency of robot teaching and reduce the cost of training the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the exoskeleton device in this application;

[0047] Figure 2It is a schematic diagram of the overall front view structure of the exoskeleton device in this application;

[0048] Figure 3 It is a schematic diagram of the overall top view of the exoskeleton device in this application;

[0049] Figure 4 It is a schematic diagram of the three-dimensional structure of the arm exoskeleton in this application;

[0050] Figure 5 It is a side view structural diagram of the arm exoskeleton in this application;

[0051] Figure 6 This is a schematic diagram of the front view of the arm exoskeleton in this application;

[0052] Figure 7 This is a three-dimensional schematic diagram of the explosion structure at the connection between the shoulder module and the boom module in this application;

[0053] Figure 8 It is a schematic side view of the explosion structure at the connection between the shoulder module and the boom module in this application;

[0054] Fig. 9 This is a schematic diagram of the connection relationship between the shoulder module and the upper arm module in this application;

[0055] Fig.10 This is a schematic diagram of the three-dimensional structure of the elbow module and the wrist module connected in this application;

[0056] Fig.11 It is an exploded schematic diagram of a part of the structure of the wrist module in this application;

[0057] Fig.12 It is an exploded schematic diagram of another partial structure of the wrist module in the present application;

[0058] Fig.13 It is an exploded schematic diagram of another partial structure of the wrist module in the present application;

[0059] Fig.14 It is a partial schematic diagram of the three-dimensional structure of the backpack connecting member in this application.

[0060] Figure numerals: 1-back connecting piece; 11-main bracket; 12-back mounting frame; 13-control box; 14-sliding track; 15-shoulder strap; 16-fixing mechanism; 2-arm exoskeleton; 3-shoulder module; 31-shoulder joint module; 32-shoulder connecting rod; 33-shoulder joint module; 331-first joint connecting hole; 332-rotating shaft; 333-fixing seat; 334-fastener; 335-gasket; 336-metal sleeve; 4-upper arm module; 41-upper arm connecting rod; 411-second joint connecting hole; 42-upper arm fixing piece; 43-upper arm rotating joint module; 431-upper arm rotating shaft ;5-elbow module;51-elbow joint module;52-elbow fixing frame;53-elbow fixing piece;54-opening;6-forearm module;61-collector connecting rod;62-telescopic connecting rod;621-first telescopic part;622-second telescopic part;623-clamping piece;624-sliding groove;7-wrist module;71-wrist fixing piece;72-wrist front bracket;73-wrist rear bracket;74-wrist joint module;741-gear structure;742-first bevel gear;743-second bevel gear;744-protective cover;75-back of hand connecting frame;8-information collector;81-coupling. DETAILED DESCRIPTION

[0061] Hereinafter, various embodiments disclosed in the present application will be described more fully. The present application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed in the present application to the specific embodiments disclosed herein, but the present application should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments disclosed in the present application.

[0062] The terms used in the various embodiments disclosed in the present application are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments disclosed in the present application. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used here (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of various embodiments disclosed in the present application. Terms (such as terms defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments disclosed in the present application.

[0063] Example 1

[0064] Embodiment 1 of the present application discloses a wearable exoskeleton device, and the specific scheme is as follows:

[0065] A wearable exoskeleton device comprises: a back connector 1 and an arm exoskeleton 2. The back connector 1 is used for a user to carry the exoskeleton device, and the arm exoskeleton 2 is arranged at a position on the back connector 1 corresponding to the left arm and / or right arm of the user.

[0066] The arm exoskeleton 2 includes at least one or more of a shoulder module 3, an upper arm module 4, an elbow module 5, a lower arm module 6 and a wrist module 7; at least one or more of the shoulder module 3, the upper arm module 4, the elbow module 5, the lower arm module 6 and the wrist module 7 is provided with an information collector 8 for collecting motion data when the user operates the arm exoskeleton 2. The overall structure of the exoskeleton device is as follows: Figure 1 , Figure 2 , Figure 3 As shown; the overall structure and multi-angle views of the arm exoskeleton 2 are as follows Figure 3 , Figure 4 and Figure 5 shown.

[0067] It should be noted that the present application does not limit the specific number of modules in each arm exoskeleton 2. In actual applications, users can choose to set the modules in the arm exoskeleton 2 according to their own needs. For example, only the shoulder module 3 and the upper arm module 4 are set in the arm exoskeleton to obtain the motion data of the shoulder joint, or only the upper arm module 4 and the elbow module 5 are set to obtain the motion data of the upper arm rotation and the motion data of the elbow, or only the forearm module 6 and the wrist module 7 are set to obtain the motion data of the forearm and wrist joints, or only the upper arm module 4 is set to obtain only the rotation data of the upper arm, or only the wrist module 7 is set to obtain the motion data of the wrist joint.

[0068] In a specific embodiment, the shoulder module 3 in the arm exoskeleton 2 includes an upper shoulder joint module 31, a shoulder link 32 and a lower shoulder joint module 33;

[0069] The shoulder joint module 31 is movably connected to one side of the carrying connector 1; the two ends of the shoulder connecting rod 32 are movably connected to the shoulder joint module 31 and the lower shoulder joint module 33 respectively;

[0070] The shoulder link 32 is provided with a curved portion that matches the outer shape of the user's shoulder; the upper shoulder joint module 31 and / or the lower shoulder joint module 33 are provided with an information collector 8, and the information collector 8 is used to collect movement data of the corresponding user's shoulder.

[0071] In a specific embodiment, Figure 7 , Figure 8 and Fig. 9As shown, the upper arm module 4 in the arm exoskeleton 2 includes an upper arm connecting rod 41 and an upper arm rotating joint module 43; an information collector 8 is provided in the upper arm rotating joint module 43; one end of the upper arm connecting rod 41 is used to movably connect to the shoulder module 3 in the arm exoskeleton 2, and the other end is connected to the information collector 8; the upper arm connecting rod 41 is rotatable relative to the information collector 8; an upper arm fixing part 42 is provided on the upper arm connecting rod 41, and the upper arm fixing part 42 is used to be fixed relative to the user's arm. Among them, one end of the upper arm connecting rod 41 can be movably connected to the lower shoulder joint module 33 in the shoulder module 3.

[0072] In actual application, the upper arm fixing member 42 includes an elastic upper arm strap, and the user can fix the upper arm and the upper arm connecting rod 41 relatively through the upper arm strap. Specifically, the upper arm rotation joint module 43 includes an upper arm shaft 431, and the upper arm shaft 431 is connected to one end of the information collector 8 in the upper arm module 4, and the other end of the information collector 8 is connected to the upper arm connecting rod 41; the upper arm shaft 431 and the upper arm connecting rod 41 can rotate relative to the information collector 8 in the upper arm module 4. When the user's upper arm rotates relative to the shoulder joint, the upper arm connecting rod 41 also rotates relative to the information collector 8 in the upper arm module 4. At this time, the information collector 8 can collect the movement data of the user's upper arm.

[0073] In a specific embodiment, it also includes a coupling 81, a fixing seat 333, a fastener 334 and a damping adjustment member; a first joint connection hole 331 and a rotating shaft member 332 are provided in the shoulder module 3. Specifically, the shoulder module 3 includes a rotating shaft member 332 and a sub-shoulder joint module 33, wherein the sub-shoulder joint module 33 is provided with a first joint connection hole 331, and the rotating shaft member 332 can be a hollow bolt. The coupling 81 is fixed in the second joint connection hole 411 of the upper arm module 4 in the arm exoskeleton 2 by means of a fastener 334; the rotating shaft 332 of the shoulder module 3 passes through the fixing seat 333, the damping adjustment member, the first joint connection hole 331 and the second joint connection hole 411, and is connected to the coupling 81; so as to realize that the shoulder module 3 can be movably connected to the upper arm module 4. Specifically, the information collector 8 of the shoulder module 3 can be used to collect the motion data of the corresponding user's upper arm when the upper arm connecting rod 41 rotates; the damping adjustment member is used to reduce the wear of the upper arm connecting rod 41 and the shoulder module 3 during the rotation process. At the same time, the damping adjustment member can also adjust the size of the rotational damping between the upper arm connecting rod 41 and the shoulder module 3.

[0074] It should be noted that the present application does not specifically limit the specific installation structure of the information collector 8. In the present application, all information collectors 8 can choose whether to configure the information collector 8 with a fixing seat 333, a coupling 81 and a damping adjustment member according to actual needs. In a specific embodiment, an information collector 8 is provided on the arm exoskeleton 2, and at least one information collector 8 is provided in the arm exoskeleton 2 through a fixing seat 333 and a coupling 81. A damping adjustment member is provided between the fixing seat 333 and the coupling 81 to reduce the friction between the information collector 8 and the components of the arm exoskeleton 2.

[0075] In practical applications, the fastener 334 includes at least one locking nut, and the damping adjustment member includes a Teflon gasket 335 and / or a metal sleeve 336, which is used to be sleeved with the rotating shaft member 332. By providing the damping adjustment member and the hollow bolt, the damped rotation between the upper arm connecting rod 41 and the shoulder joint module 33 of the shoulder module 3 can be achieved, and the wear resistance of the rotating shaft member 332 can be improved. Specifically, the metal sleeve 336 includes a copper sleeve.

[0076] It should be noted that the present embodiment does not specifically limit the damping adjustment component to exist only in the shoulder module 3. In actual applications, the user can set the damping adjustment component on any information collector 8 according to actual usage conditions to achieve the damped rotation of the information collector 8 between the connection points of each module, and obtain more accurate motion data through the damped rotation.

[0077] In a specific embodiment, the elbow module 5 in the arm exoskeleton 2 includes an elbow joint module 51 and an elbow fixing frame 52; one end of the elbow joint module 51 is used to be movably connected to the upper arm module 4 in the arm exoskeleton 2, and the other end is movably connected to the elbow fixing frame 52; specifically, one end of the elbow joint module 51 can be movably connected to the upper arm rotation shaft 43 in the upper arm module 4.

[0078] The elbow fixing frame 52 is provided with an elbow fixing member 53, which is used to be fixed relative to the user's elbow; the elbow joint module 51 is provided with an information collector 8, which is used to collect the motion data of the corresponding user's elbow. In practical applications, the elbow fixing member 53 includes an elastic elbow strap, through which the user can fix the elbow relative to the elbow fixing frame 52. In a specific embodiment, the elbow fixing frame 52 is provided with an opening 54, so that when the user's arm is bent, the bent elbow can be exposed from the opening 54 of the elbow fixing frame 52, and the user's elbow will not collide with the elbow fixing frame 52 to cause unstable information acquisition.

[0079] In a specific embodiment, the forearm module 6 in the arm exoskeleton 2 includes a forearm link and an information collector 8, wherein the forearm link is used to rotate relative to the information collector 8, and the information collector 8 is used to collect motion data corresponding to the user's forearm.

[0080] In a specific embodiment, the forearm link includes a collector link 61 and a retractable link 62; the information collector 8 is connected to the elbow module 5 in the arm exoskeleton 2; one end of the collector link 61 is rotatably connected to the information collector 8, and the other end is connected to the retractable link 62; the information collector 8 is used to collect the motion data of the corresponding user's forearm through the rotation of the collector link 61 and / or the retractable link 62 when the user's forearm rotates;

[0081] One end of the telescopic link 62 is used to movably connect to the wrist module 7 in the arm exoskeleton 2, and the telescopic link 62 is used to extend and retract to adjust the distance between the information collector 8 and the wrist module 7 to match the length of the user's forearm. Specifically, one end of the telescopic link 62 can be rotatably connected to the wrist bracket in the wrist module 7.

[0082] In practical applications, the telescopic link 62 includes a first telescopic portion 621 and a second telescopic portion 622, wherein the second telescopic portion 622 is provided with a sliding groove 624, and the first telescopic portion 621 is provided with a clamping member 623, and the first telescopic portion 621 is slidably connected to the sliding groove 624 through the clamping member 623, so as to slide relative to the second telescopic portion 622, and adjust the total length of the telescopic link 62. Further, the first telescopic portion 621 can be fixed to a certain point in the sliding groove 624 by adjusting the connection tightness of the clamping member 623, so as to fix the total length of the telescopic link 62 to the length range required by the user. In this way, the length of the forearm module 6 can be flexibly adjusted according to the actual length of the user's forearm, so that the exoskeleton device can be suitable for users with different heights and body shapes, and has universal applicability.

[0083] In a specific embodiment, the wrist module 7 in the arm exoskeleton 2 includes a wrist fixing member 71, a wrist front bracket 72, a wrist rear bracket 73, a wrist joint module 74 and a back-of-hand connecting frame 75; the wrist fixing member 71 is arranged on the wrist rear bracket 73; one end of the wrist front bracket 72 and one end of the wrist rear bracket 73 are rotatably connected to the wrist joint module 74 so as to be movable relative to the wrist joint module 74; one end of the back-of-hand connecting frame 75 is movably arranged on the wrist front bracket 72; in practical applications, the wrist fixing member 71 includes an elastic wrist strap. When the user's forearm rotates, the rotation angle of the user's forearm can be transmitted to the information collector 8 in the forearm module 6 through the transmission of the wrist rear bracket 73 and the telescopic connecting rod 62.

[0084] The information collector 8 is arranged at the connection between the front wrist support 72 and the back of the hand connecting frame 75, and is used to collect the motion data of the back of the hand or finger joints of the corresponding user; and / or the information collector 8 is arranged in the wrist joint module 74, and is used to collect the motion data of the user's wrist.

[0085] In a specific embodiment, Fig.11 , Fig.12 and Fig.13 As shown in the three views, the wrist joint module 74 also includes a protective cover 744 and a gear structure 741; the front wrist bracket 72 and the rear wrist bracket 73 are coaxially rotatably connected to each other; in a specific embodiment, the rear wrist bracket 73 corresponds to the rear part of the user's wrist joint near the forearm, and the front wrist bracket 72 corresponds to the front part of the user's wrist joint near the palm. Both the rear wrist bracket 73 and the front wrist bracket 72 include a half-enclosed shell, and the user's wrist joint corresponds to the position exposed between the half-enclosed shells of the front wrist bracket 72 and the rear wrist bracket 73. By arranging the front wrist bracket 72 and the rear wrist bracket 73 to be coaxially rotatably connected to each other, the relative movement between the front wrist bracket 72 and the rear wrist bracket 73 can accurately reflect the rotation process of the user's wrist in different directions, such as swinging back and forth or swinging left and right.

[0086] The information collector 8 of the wrist joint module 74 and part or all of the gear structure 741 are located in the protective cover 744. One end of the gear structure 741 is connected to the wrist front bracket 72, and the other end is connected to the information collector 8 of the wrist joint module 74. The information collector 8 of the wrist joint module 74 is used to collect the motion data of the corresponding user's wrist through the transmission of the gear structure 741 when the user's wrist rotates. In a specific embodiment, the gear structure 741 and the information collector 8 are both arranged in the protective cover 744. During the rotation of the user's wrist, the front bracket 72 and the rear bracket 73 of the wrist in the wrist module 7 rotate relative to each other as the user's wrist rotates. At this time, the information collector 8 can collect motion data from the movement between the front bracket 72 and the rear bracket 73 of the wrist, wherein the motion data includes the relative rotation angle data of the front bracket 72 and the rear bracket 73 of the wrist. In a specific embodiment, the gear structure 741 includes a first bevel gear 742 and a second bevel gear 743 that mesh with each other, wherein the first bevel gear 742 is coaxially arranged with the front wrist bracket 72 and the rear wrist bracket 73, and the second bevel gear is coaxially arranged with the information collector 8. When the user's wrist rotates, the relative positions of the front wrist bracket 72 and the rear wrist bracket 73 change, and the first bevel gear 742 and the second bevel gear 743 mesh with each other and rotate. During the rotation, the second bevel gear 743 drives the information collector 8 to rotate, so that the information collector 8 can collect the rotation angle data of the user's wrist.

[0087] In a specific embodiment, the information collector 8 of the wrist joint module 74 in the wrist module 7 and the information collector 8 connected to the back-of-hand connecting frame 75 can collect the rotation angle data of the user's wrist in different directions.

[0088] In a specific embodiment, the carrying connector 1 includes a back mounting frame 12, a control box 13, a main support 11 and a shoulder strap 15; the shoulder strap 15 is arranged on the back mounting frame 12 and / or the main support 11, and is used for the user to carry the exoskeleton device; the control box 13 can be movably connected to the back mounting frame 12 or fixedly connected to the back mounting frame 12; in a specific embodiment, as Fig.14 As shown, a sliding track 14 is provided on the back mounting frame 12, and the control box 13 is slidably provided on the back mounting frame 12, so that the user can adjust the position of the control box 13 on the back mounting frame 12 according to his specific needs.

[0089] The main support 11 is detachably connected to the back mounting frame 12, and an arm exoskeleton 2 is connected to one or both sides of the main support 11. In a specific embodiment, the arm exoskeleton 2 is connected to both sides of the main support 11, and the arm exoskeletons 2 on both sides are symmetrically arranged relative to the main support 11; it also includes at least one fixing mechanism 16, which passes through the back mounting frame 12 and the main support 11 in sequence to fix the main support 11 to the back mounting frame 12. In a specific embodiment, the fixing mechanism 16 includes a hand screw, and the user can manually adjust the tightness of the connection between the main support 11 and the back mounting frame 12 by hand screwing.

[0090] The control box 13 is provided with a control module and a power module connected to each other; the information collector 8 is connected to the control module in communication; in a specific embodiment, the control box 13 also includes a wireless transceiver module, which is connected to each information collector 8, the control module or an external device in communication, and is used to upload the data collected by each information collector 8 to the control module or the external device, so that the user can uniformly analyze and manage the collected data. In the specific use or testing process, the user can obtain the data collected by the information collector 8 and the control module through wireless communication, or obtain data from the information collector 8 and the control module through a wired connection.

[0091] The information collector 8 includes an encoder, and the motion data includes rotation angle data. In practical applications, the encoder includes an absolute value encoder.

[0092] In practical applications, by setting an absolute encoder, the rotation angle of the components themselves in each module or the rotation angle data of the joints between the components can be accurately obtained in real time, and the specific angles of each joint and part of the arm exoskeleton 2 in space can be fed back to the user in time, and the rotation angle data obtained is recorded by the absolute encoder. When the action needs to be reviewed later, the action is repeated accurately to ensure the accuracy and consistency of each action. At the same time, since the absolute encoder does not need to perform additional initialization operations such as zeroing to determine the starting angle, the absolute encoder can quickly obtain the current joint accurate position when the arm exoskeleton 2 is turned on. By adopting an absolute encoder, the accuracy and sensitivity of the feedback are guaranteed. Compared with the traditional visual robot teaching system based on camera or VR, each joint in the exoskeleton of this application corresponds to the robot joint mechanism one by one, and the joint position can be fed back in real time using the absolute encoder, so it has a faster reaction speed and higher control accuracy in remote operation.

[0093] In a specific remote operation process, such as Figure 6 As shown, an arm exoskeleton 2 includes seven information collectors 8, which are respectively arranged in the shoulder joint module 31, the shoulder joint module 33, the upper arm rotation joint module 43, the elbow joint module 51, the forearm connecting rod, the wrist joint module 74 and the connection between the front wrist bracket 72 and the rear wrist bracket 73. The rotation angle data of the user's arm in different directions in seven dimensions can be collected, and the collected rotation angle data can be used to accurately reproduce the forward and backward swinging, left and right swinging and rotation movements of the user's shoulder, upper arm, forearm, elbow, wrist and fingers, and locate the spatial dimensions where each module is located, effectively improving the accuracy and stability of the collection of user motion data.

[0094] In a specific embodiment, an elastic fixing belt is also included, which is set on one or more of the shoulder module 3, the upper arm module 4, the elbow module 5, the forearm module 6 and the wrist module 7, so that the corresponding part of the user's arm can be fitted with the arm exoskeleton 2.

[0095] The back mounting frame 12 is elastic and can fit the user's back. The shoulder strap 15 includes a shoulder fixing strap and / or a waist fixing strap. The two ends of the shoulder fixing strap are arranged on the back mounting frame 12. The main body of the shoulder fixing strap corresponds to the position of the user's shoulder. The waist fixing strap is arranged on the back mounting frame 12 at a position corresponding to the user's waist. In actual application, each elastic fixing strap and the shoulder strap 15 are adjustable in length, so that the user can adjust the length and tightness of the elastic fixing strap and / or the shoulder strap 15 according to their own needs.

[0096] In a specific embodiment, one or more hollow through holes are further provided on the back mounting plate 12 and / or the main support 11. By providing the hollow through holes, the overall air permeability of the back assembly 1 can be improved, while the weight of the back assembly 1 can be reduced, so that the overall weight of the exoskeleton device is further reduced, making it easier for users to carry it.

[0097] In a specific embodiment, the main structure of the arm exoskeleton 2 is made of lightweight materials including plastic, so that its overall weight can be less than 2 kg; and according to the wearable design that fits the ergonomics of human joints, by providing a shoulder strap 15, when the user wears the carrying assembly 1, multiple parts of the body can be supported more softly, greatly improving the wearing comfort, so that the user can wear the arm exoskeleton 2 for a long time.

[0098] Furthermore, the exoskeleton device in the present application can replace the robot body to collect data in neural network learning and training. Its production cost and production cycle are much lower than producing a robot, which can greatly reduce the cost of robot learning and training.

[0099] This embodiment provides a wearable exoskeleton device, including: a back connector and an arm exoskeleton; the back connector is used to allow the user to carry the exoskeleton device, and the arm exoskeleton is arranged at the position of the back connector corresponding to the left arm and / or right arm of the user; by arranging an information collector on the arm exoskeleton, the motion data of the arm in multiple dimensions when the user operates the arm exoskeleton can be collected. Compared with the traditional complex and expensive robot device, its structure is relatively simple, the production cost is low, the data that can be collected is more comprehensive, and it has the advantages of lightness, stability, convenience and wearability.

[0100] Example 2

[0101] Embodiment 2 of the present application discloses a method for operating a wearable exoskeleton device, and the specific scheme is as follows: The method comprises:

[0102] The exoskeleton device is carried on the user's back through the carrying assembly 1, and the arm exoskeleton 2 of the exoskeleton device is arranged at the position corresponding to the user's left arm and / or right arm;

[0103] Collecting the motion data of the user's left arm and / or right arm through the information collector 8 of the arm exoskeleton 2;

[0104] The motion data is stored or analyzed to obtain learning and training data for other robots. In a specific embodiment, the exoskeleton device can be connected to an external robot for communication, and the motion data can be transmitted to the external robot body in real time.

[0105] In a specific embodiment, it also includes an elastic fixing belt, which is set on one or more of the shoulder module 3, the upper arm module 4, the elbow module 5, the forearm module 6 and the wrist module 7. The user uses the elastic fixing belt to make the corresponding part of the arm fit with the arm exoskeleton 2.

[0106] During a specific operation, the user moves his arm, and the information collector in the arm exoskeleton collects the relative activities and rotation angles and coordinates between the modules, and locates the positions of the joints of the user's arm in space to obtain corresponding motion data. Furthermore, the motion data is stored and learned, and eventually optimized learning and training data can be obtained that can be applied to other robot operation processes.

[0107] This embodiment provides an operation method of a wearable exoskeleton device, which is easy for users to wear, simple in structure, and easy to operate, and can quickly collect the motion data of the user's arm in multiple dimensions when operating the arm exoskeleton. Through the wearable exoskeleton device adopted by it, the collected data is more comprehensive, and has the advantages of being lightweight, stable, convenient, and wearable. At the same time, the obtained motion data can be further recorded and learned as learning training data to further optimize the development process of the robot.

[0108] Example 3

[0109] Embodiment 3 of the present application discloses a robot teleoperation system, and the specific scheme is as follows:

[0110] A target robot and any wearable exoskeleton device used in the aforementioned technical solution;

[0111] The target robot includes a driving device and a mechanical arm structure corresponding to the arm exoskeleton 2 of the exoskeleton device, and the mechanical arm structure is provided with movable joints corresponding to each module of the arm exoskeleton 2; the driving device is communicatively connected to the movable joints;

[0112] The driving device of the target robot is communicatively connected to the information collector 8 of the exoskeleton device, and is used to control the movement of the active joints according to the movement data collected by the information collector 8, so as to control the movement of the target robot.

[0113] The user wears the arm exoskeleton 2 device to perform actions, and the information collector 8 in the arm exoskeleton 2 device collects the motion data and feeds it back to the target robot in real time. The target robot can then perform automatic actions simultaneously according to the motion data. Specifically, it can be based on the collected motion data of each joint of the user's body to synchronously control the target robot's own active joints to rotate to corresponding angles, so as to replicate the user's actions in real time and achieve accurate remote operation of the target robot. Furthermore, the motion data of the arm exoskeleton 2 is recorded and saved, and can be repeatedly applied to the target robot later, so that specific actions can be replicated on the target robot multiple times, and the motion data can be further studied and analyzed to continuously optimize the action operation of the target robot.

[0114] A method for operating a wearable exoskeleton device can collect the motion data of the user's arm in multiple dimensions when operating the arm exoskeleton and feed it back to the target robot in real time. Compared with the traditional complex and expensive mechanical robot teaching system, its structure is relatively simple, the production cost is low, the data that can be collected is more comprehensive, and the action operation of the target robot can be continuously optimized during the data collection process.

[0115] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for the implementation of the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more devices different from the present implementation scenario. The modules of the above-mentioned implementation scenarios can be combined into one module, or can be further split into multiple sub-modules. The above-mentioned serial numbers of this application are only for description and do not represent the pros and cons of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any changes that can be thought of by a technician in this field should fall within the scope of protection of the present application.

Claims

1. A wearable exoskeleton device, characterized in that: include: Back-mounted connector and arm exoskeleton; The carrying connection piece is used for a user to carry the exoskeleton device, and the arm exoskeleton is arranged at a position on the carrying connection piece corresponding to the left arm and / or right arm of the user; The arm exoskeleton includes at least one or more of a shoulder module, an upper arm module, an elbow module, a lower arm module and a wrist module; At least one or more of the shoulder module, the upper arm module, the elbow module, the forearm module and the wrist module is provided with an information collector for collecting motion data of the user when operating the arm exoskeleton.

2. A wearable exoskeleton device according to claim 1, characterized in that: The shoulder module in the arm exoskeleton includes an upper shoulder joint module, a shoulder connecting rod and a lower shoulder joint module; The shoulder joint module is movably connected to one side of the carrying connector; the two ends of the shoulder connecting rod are movably connected to the shoulder joint module and the lower shoulder joint module respectively; the shoulder connecting rod is provided with a curved portion that matches the user's shoulder shape; The information collector is provided in the suprashoulder joint module and / or the subshoulder joint module, and the information collector is used to collect the motion data of the corresponding user's shoulder.

3. A wearable exoskeleton device according to claim 1, characterized in that: The upper arm module in the arm exoskeleton includes an upper arm connecting rod and an upper arm rotating joint module; the upper arm rotating joint module is provided with the information collector; One end of the upper arm connecting rod is used to be movably connected to the shoulder module in the arm exoskeleton, and the other end is connected to the information collector; the upper arm connecting rod is rotatable relative to the information collector; the upper arm fixing piece is provided on the upper arm connecting rod, and the upper arm fixing piece is used to be fixed relative to the user's arm.

4. A wearable exoskeleton device according to claim 3, characterized in that: It also includes a coupling, a fixing seat, a fastener and a damping adjustment member; the shoulder module is provided with a first joint connection hole and a rotating shaft member; The coupling is fixed in the second joint connection hole of the upper arm module in the arm exoskeleton through the fastener; the rotating shaft of the shoulder module passes through the fixing seat, the damping adjustment member, the first joint connection hole and the second joint connection hole to be connected with the coupling; so that the shoulder module can be movably connected to the upper arm module; The information collector is used to collect the motion data of the corresponding user's upper arm when the upper arm connecting rod rotates; the damping adjustment member is used to reduce the friction between the upper arm connecting rod and the shoulder module during the rotation process.

5. A wearable exoskeleton device according to claim 1, characterized in that: The elbow module in the arm exoskeleton includes an elbow joint module and an elbow fixing frame; One end of the elbow joint module is used to be movably connected to the upper arm module in the arm exoskeleton, and the other end is movably connected to the elbow fixing frame; The elbow fixing frame is provided with an elbow fixing piece, and the elbow fixing piece is used to be fixed relative to the user's elbow; the information collector is provided in the elbow joint module, and is used to collect the motion data corresponding to the user's elbow.

6. A wearable exoskeleton device according to claim 1, characterized in that: The forearm module in the arm exoskeleton includes a forearm link and the information collector, the forearm link is used to rotate relative to the information collector, and the information collector is used to collect the motion data corresponding to the user's forearm.

7. A wearable exoskeleton device according to claim 6, characterized in that: The small arm connecting rod comprises a collector connecting rod and a telescopic connecting rod; The information collector is connected to the elbow module in the arm exoskeleton; one end of the collector connecting rod is rotatably connected to the information collector, and the other end is connected to the retractable connecting rod; The information collector is used to collect the motion data of the corresponding user's forearm through the rotation of the collector connecting rod and / or the retractable connecting rod when the user's forearm rotates; One end of the retractable connecting rod is used to movably connect to the wrist module in the arm exoskeleton, and the retractable connecting rod is used to retract to adjust the distance between the information collector and the wrist module to match the length of the user's forearm.

8. A wearable exoskeleton device according to claim 1, characterized in that: The wrist module in the arm exoskeleton includes a wrist fixing part, a front wrist bracket, a rear wrist bracket, a wrist joint module and a back hand connecting frame; The wrist fixing member is arranged on the wrist rear support; One end of the wrist front bracket and one end of the wrist rear bracket are rotatably connected to the wrist joint module so as to be movable relative to the wrist joint module; One end of the back-of-hand connecting frame is movably arranged on the wrist front support; The information collector is arranged at the connection between the wrist front support and the hand back connection frame, and is used to collect the motion data corresponding to the hand back or finger joints of the user; And / or the information collector is arranged in the wrist joint module to collect the motion data of the user's wrist.

9. A wearable exoskeleton device according to claim 8, characterized in that: The wrist joint module also includes a protective cover and a gear structure; The front wrist support and the rear wrist support are coaxially rotatably connected to each other; The information collector of the wrist joint module and part or all of the gear structure are located in the protective cover, one end of the gear structure is connected to the wrist front bracket, and the other end is connected to the information collector of the wrist joint module; The information collector is used to collect the motion data corresponding to the user's wrist through the transmission of the gear structure when the user's wrist rotates.

10. A wearable exoskeleton device according to claim 1, characterized in that: The backpack connector includes a back mounting frame, a control box, a main bracket and a shoulder strap; The shoulder strap is arranged on the back mounting frame and / or the main support, and is used for a user to carry the exoskeleton device; the control box can be movably connected to the back mounting frame or fixedly connected to the back mounting frame; The main support is detachably connected to the back mounting frame, and the arm exoskeleton is connected to one side or both sides of the main support; The control box is provided with a control module and a power supply module connected to each other; the information collector is communicatively connected to the control module; The information collector includes an encoder, and the motion data includes rotation angle data.

11. A method for operating a wearable exoskeleton device, characterized in that: A wearable exoskeleton device according to any one of claims 1 to 10; the method comprising: The exoskeleton device is carried on the user via the carrying assembly, and the arm exoskeleton of the exoskeleton device is arranged at a position corresponding to the left arm and / or right arm of the user; Collecting motion data of the user's left arm and / or right arm through the information collector of the arm exoskeleton; The motion data is stored or the motion data is subjected to learning analysis to obtain learning and training data for other robots.

12. A robot teleoperation system, characterized in that: A wearable exoskeleton device comprising a target robot and any one of claims 1 to 10; The target robot comprises a driving device and a mechanical arm structure corresponding to the arm exoskeleton of the exoskeleton device, wherein the mechanical arm structure is provided with movable joints corresponding to each module of the arm exoskeleton; the driving device is communicatively connected to the movable joints; The driving device of the target robot is communicatively connected to the information collector of the exoskeleton device, and is used to control the movement of the active joint according to the motion data collected by the information collector, so as to control the movement of the target robot.

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