Wearable demonstrator

Abstract

The invention discloses a wearable demonstrator, which relates to the technical field of robots and comprises a rack, a rear arm, a first front arm, a second front arm and a handle. One side of the rack is connected with a shoulder joint group; one end of the rear arm is connected with a first rotary biasing device, the other end of the rear arm is connected with an elbow joint group, the first rotary biasing device is connected with a shoulder joint group, and a first bandage is arranged on the side surface of the rear arm; one end of the first front arm is movably connected with the rear arm through the elbow joint set. The other end of the first front arm is connected with a second rotary offset device; a second bandage is arranged on the side surface of the first front arm; one end of the second forearm is connected with the first forearm through a second rotary offset device, the other end of the second forearm is connected with a wrist joint group, and a third bandage is arranged on the side surface of the second forearm; and the handle is movably connected with the second front arm through the wrist joint group. According to the invention, the rotation of the arm can be biased to the telecentric position, so that wearable teaching is realized.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a wearable teaching pendant. Background Art

[0002] A robot is a machine device that performs work automatically. A robot can accept human commands, execute pre-programmed programs, or act according to principles and guidelines formulated by artificial intelligence technology. Robots perform work that replaces or assists human work, such as manufacturing, construction, or dangerous work. The existing technology usually adopts the master-slave arm remote control method, which has the disadvantages of being difficult to fine-tune the end position, non-direct mapping between the slave arm joint and the operator joint, the need for further data processing, and weak synesthesia between the human and the teaching pendant. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a wearable teaching device that can offset the rotation of the arm to the telecentric position, thereby realizing wearable teaching.

[0004] A wearable teaching pendant according to an embodiment of the first aspect of the present invention comprises: a frame, a rear arm, a first forearm, a second forearm, and a handle. A shoulder joint group is connected to one side of the frame; a first rotation biasing device is connected to one end of the rear arm, and an elbow joint group is connected to the other end, the first rotation biasing device is connected to the shoulder joint group, and a first strap is provided on the side of the rear arm; one end of the first forearm is movably connected to the rear arm through the elbow joint group. A second rotation biasing device is connected to the other end, and a second strap is provided on the side of the first forearm; one end of the second forearm is connected to the first forearm through the second rotation biasing device, and the other end is connected to the wrist joint group, and a third strap is provided on the side of the second forearm; the handle is movably connected to the second forearm through the wrist joint group.

[0005] A wearable teaching pendant according to an embodiment of the present invention has at least the following beneficial effects: after the operator puts on the first strap, the second strap, and the third strap, the operator can control each joint of the robot, and can be used as a control platform for the robot, and can also be used as a data collector for robot motion data training. The first rotation bias device and the second rotation bias device can bias the rotation of the arm to the telecentric position, avoiding interference between the mechanical structure and the user's arm, and making it easy to wear and operate.

[0006] According to some embodiments of the present invention, the frame includes a seat, a column and a base plate, the column is vertically fixedly connected to the seat, the base plate is installed on the column in an adjustable position up and down, and the shoulder joint group is installed on the base plate.

[0007] According to some embodiments of the present invention, the shoulder joint group includes a first rod and a second rod, the first rod is rotatably mounted on the substrate, a first encoder is provided on the substrate at a position corresponding to the first rod, the second rod is rotatably mounted on the first rod, a second encoder is provided on the first rod at a position corresponding to the second rod, the first rotation biasing device is connected to the second rod, and the rotation axis of the first rod is perpendicular to the rotation axis of the second rod.

[0008] According to some embodiments of the present invention, the first rotation biasing device includes two first Y-shaped rods and two first transfer rods, a first connecting rod is provided on the side of the rear arm away from the first strap, three ends of the first Y-shaped rod are respectively hinged to the first connecting rod and the two first transfer rods, one end of the first transfer rod away from the first Y-shaped rod is hinged to the second rod, a third encoder is provided at the position of the first transfer rod corresponding to the first Y-shaped rod, the rotation axes of the first transfer rod and the first Y-shaped rod are parallel, the first strap is annular, and when the rear arm rotates around the first strap as the center, it can drive the first transfer rod and the first Y-shaped rod to rotate relative to each other.

[0009] According to some embodiments of the present invention, one end of the elbow joint group is rotatably mounted on the rear arm, and the other end is rotatably mounted on the first forearm, the rotation axis of the first forearm is perpendicular to the rotation axis of the rear arm, and a fourth encoder is provided at the position of the elbow joint group corresponding to the first forearm.

[0010] According to some embodiments of the present invention, the second rotation biasing device includes two second Y-shaped rods and two second transfer rods, a second connecting rod is provided on the side of the second forearm away from the third strap, three ends of the second Y-shaped rod are respectively hinged to the second connecting rod and the two second transfer rods, one end of the second transfer rod away from the second Y-shaped rod is hinged to the first forearm, a fifth encoder is provided at the position of the second transfer rod corresponding to the second Y-shaped rod, the rotation axes of the second transfer rod and the second Y-shaped rod are parallel, the third strap is annular, and when the second forearm rotates around the third strap as the center, it can drive the second transfer rod and the second Y-shaped rod to rotate relative to each other.

[0011] According to some embodiments of the present invention, one end of the wrist joint group is rotatably mounted on the second forearm, and the other end is rotatably mounted on the handle, the rotation axis of the second forearm is perpendicular to the rotation axis of the handle, and a sixth encoder is provided at the position of the wrist joint group corresponding to the handle.

[0012] According to some embodiments of the present invention, a rotating roller is disposed on the handle, and a seventh encoder is disposed on the handle at a position corresponding to the rotating roller.

[0013] According to some embodiments of the present invention, the rear arm, the first forearm, the second forearm, and the handle are symmetrically arranged in two groups to facilitate two-handed operation by the user.

[0014] According to some embodiments of the present invention, the first strap, the second strap, and the third strap are all connected with quick-release buckles.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A schematic diagram of a use state of an embodiment of the present invention; Figure 2 A partial schematic diagram of an embodiment of the present invention Figure 3 An exploded schematic diagram of an embodiment of the present invention Figure 4 A schematic diagram of a rack according to an embodiment of the present invention Figure 5 A schematic diagram of a first rod member according to an embodiment of the present invention Figure 6 A schematic diagram of a second rod member according to an embodiment of the present invention Figure 7 Schematic diagram of a first rotation biasing device according to an embodiment of the present invention Figure 8 A schematic diagram of a rear arm of an embodiment of the present invention Fig. 9 Schematic diagram of an elbow joint assembly according to an embodiment of the present invention Fig.10 A schematic diagram of a first forearm according to an embodiment of the present invention Fig.11 A schematic diagram of a second rotation biasing device according to an embodiment of the present invention Fig.12 A schematic diagram of a second forearm according to an embodiment of the present invention Fig.13 A schematic diagram of a handle according to an embodiment of the present invention.

[0017] Figure Number: Frame 100, seat 110, column 120, base plate 130; The shoulder joint assembly 200, the first rod 210, and the second rod 220; The rear arm 300, the first strap 310, and the first connecting rod 320; A first rotation biasing device 400, a first Y-shaped rod 410, and two first transfer rods 420; Elbow joint group 500; A first forearm 600, a second strap 610; A second rotation biasing device 700, a second Y-shaped rod 710, and two second transfer rods 720; A second forearm 800, a third strap 810, and a second connecting rod 820; Wrist joint assembly 900 and handle 910 . DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0019] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0020] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0021] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0022] Reference Figures 1 to 13As shown, a wearable teaching pendant according to an embodiment of the present invention comprises: a frame 100, a rear arm 300, a first forearm 600, a second forearm 800, and a handle 910. The frame 100 is used for the user to maintain a sitting posture, and a shoulder joint group 200 is connected to one side of the frame 100; a first rotation biasing device 400 is connected to one end of the rear arm 300, and an elbow joint group 500 is connected to the other end, the first rotation biasing device 400 is connected to the shoulder joint group 200, and a first strap 310 is arranged on the side of the rear arm 300; the first strap 310 binds the upper arm of the user, and one end of the first forearm 600 is movably connected to the rear arm 300 through the elbow joint group 500. The other end is connected to the second rotation biasing device 700, and a second strap 610 is arranged on the side of the first forearm 600; the second strap 610 binds the part of the user's forearm close to the upper arm. One end of the second forearm 800 is connected to the first forearm 600 through the second rotation biasing device 700, and the other end is connected to the wrist joint group 900. A third strap 810 is arranged on the side of the second forearm 800; the third strap 810 binds the part of the user's forearm near the wrist. The handle 910 is movably connected to the second forearm 800 through the wrist joint group 900. When a person grabs the handle 910, the user's arm can move the rear arm 300, the first forearm 600, the second forearm 800, and the handle 910 under the drive of the first strap 310, the second strap 610, and the third strap 810. The angle of each joint arm is measured by the components inside each joint group, and the position and posture of the end of the human hand are calculated. The obtained data is used to control the robot. The first rotation biasing device 400 is eccentrically installed, which provides a degree of freedom for the user's upper arm to rotate without affecting the user's wearing. The second rotation biasing device 700 is eccentrically mounted, providing the user with a degree of freedom to rotate the forearm without affecting the user's wearing.

[0023] Reference Figure 4 As shown, it is understood that the frame 100 includes a seat 110, a column 120 and a base plate 130, and the seat 110 and the column 120 are formed by bolting an aluminum alloy profile. The column 120 is vertically fixedly connected to the seat 110. When the user sits on the seat 110, the column 120 can also serve as a backrest to support the user's back. The side of the column 120 is provided with a mounting groove extending up and down, and the base plate 130 is mounted on the column 120 with an adjustable position up and down. The base plate 130 is connected to the mounting groove by bolts. By mounting the base plate 130 at different positions of the mounting groove, the effect of adjusting the height of the base plate 130 can be achieved. The shoulder joint group 200 is installed on the base plate 130. When the user's body shape is different, by adjusting the height of the base plate 130, the height of the shoulder joint group 200 is equal to the shoulder height of the user. It is foreseeable that a plurality of universal wheels are provided at the bottom of the seat, and the seat can be conveniently moved by the universal wheels.

[0024] Reference Figure 3 , Figure 5 and Figure 6 As shown, it can be understood that the shoulder joint assembly 200 includes a first rod 210 and a second rod 220, the first rod 210 is rotatably mounted on the base plate 130, and a first encoder is provided at a position of the base plate 130 corresponding to the first rod 210, and the first encoder is used to measure the rotation angle between the first rod 210 and the base plate 130, the second rod 220 is rotatably mounted on the first rod 210, and a second encoder is provided at a position of the first rod 210 corresponding to the second rod 220, and the first encoder is used to measure the rotation angle between the first rod 210 and the second rod 220, and the first rotation biasing device 400 is connected to the second rod 220, and the rotation axis of the first rod 210 is perpendicular to the rotation axis of the second rod 220. Through the mutual rotation between the first rod 210 and the second rod 220, the user can freely point the upper arm to any direction through shoulder movement. The position and direction of the upper arm can be calculated by the data measured by the first encoder and the second encoder.

[0025] Reference Figure 3 and Figure 7 As shown, it can be understood that the first rotation biasing device 400 includes two first Y-shaped rods 410 and two first transfer rods 420, a first connecting rod 320 is provided on the side of the rear arm 300 away from the first strap 310, the first connecting rod 320 is hinged to the two first Y-shaped rods 410 at the same time, three ends of the first Y-shaped rod 410 are respectively hinged to the first connecting rod 320 and the two first transfer rods 420, one end of the first transfer rod 420 away from the first Y-shaped rod 410 is hinged to the second rod 220, and a third encoder is provided at the position of the first transfer rod 420 corresponding to the first Y-shaped rod 410, and the third encoder is used to measure the rotation angle between the first transfer rod 420 and the first Y-shaped rod 410. The rotation axes of the first transfer rod 420 and the first Y-shaped rod 410 are parallel. The first strap 310 is annular, and when the rear arm 300 rotates around the first strap 310 as the center, the first transfer rod 420 and the first Y-shaped rod 410 can be driven to rotate relative to each other. The first Y-shaped rod 410 and the first transfer rod 420 are located on the side of the rear arm 300 away from the first strap 310. Therefore, the user will not touch the first Y-shaped rod 410 and the first transfer rod 420 when rotating the upper arm. The connecting rod structure formed by the two first Y-shaped rods 410 and the two first transfer rods 420 not only provides the user with the freedom of rotation of the upper arm, but also plays the role of connecting and fixing the rear arm 300 and the second rod 220. The rotation angle of the user's upper arm can be calculated by the data measured by the third encoder.

[0026] Reference Figure 3As shown, it can be understood that one end of the elbow joint assembly 500 is rotatably mounted on the rear arm 300, and the other end is rotatably mounted on the first forearm 600, the rotation axis of the first forearm 600 is perpendicular to the rotation axis of the rear arm 300, and the fourth encoder is provided at the position of the elbow joint assembly 500 corresponding to the first forearm 600. The fourth encoder is used to measure the rotation angle between the rear arm 300 and the first forearm 600, so as to calculate the position of the user's forearm relative to the user's upper arm.

[0027] Reference Figures 1 to 9 As shown, it can be understood that the second rotation biasing device 700 includes two second Y-shaped rods 710 and two second transfer rods 720, and a second connecting rod 820 is arranged on the side of the second forearm 800 away from the third strap 810, and the second connecting rod 820 is hinged to the two second Y-shaped rods 710 at the same time, and the three ends of the second Y-shaped rod 710 are respectively hinged to the second connecting rod 820 and the two second transfer rods 720, and one end of the second transfer rod 720 away from the second Y-shaped rod 710 is hinged to the first forearm 600, and a fifth encoder is arranged on the second transfer rod 720 corresponding to the position of the second Y-shaped rod 710, and the fifth encoder is used to measure the rotation angle between the second transfer rod 720 and the second Y-shaped rod 710. The rotation axis of the second transfer rod 720 and the second Y-shaped rod 710 are parallel, and the third strap 810 is annular. When the second forearm 800 rotates around the third strap 810 as the center, the second transfer rod 720 and the second Y-shaped rod 710 can be driven to rotate relative to each other. The second Y-shaped rod 710 and the second transfer rod 720 are located on the side of the second forearm 800 away from the third strap 810. Therefore, the user will not touch the two Y-shaped rods and the second transfer rod 720 when rotating the forearm. The connecting rod structure formed by the two second Y-shaped rods 710 and the two second transfer rods 720 not only provides the user with the freedom of rotation of the forearm, but also plays the role of connecting and fixing the first forearm 600 and the second forearm 800. The angle of the user's forearm relative to the user's upper arm can be calculated by the data measured by the fifth encoder.

[0028] Reference Fig.12 and Fig.13 As shown, it can be understood that one end of the wrist joint assembly 900 is rotatably mounted on the second forearm 800, and the other end is rotatably mounted on the handle 910, the rotation axis of the second forearm 800 is perpendicular to the rotation axis of the handle 910, and the wrist joint assembly 900 is provided with a sixth encoder at a position corresponding to the handle 910. The sixth encoder is used to measure the relative position between the palm and the forearm of the user.

[0029] Reference Fig.13As shown, it can be understood that a rotating roller is provided on the handle 910, and the rotating roller is rotatably mounted on the handle 910, and a seventh encoder is provided at a position corresponding to the rotating roller on the handle 910. The user can simulate the movement of the hand by rotating the roller, and the seventh encoder records it. It is foreseeable that a plurality of buttons are also provided on the handle 910 to realize start, pause or other preset functions.

[0030] Reference Figure 3 and Figure 4 As shown, it can be understood that the rear arm 300, the first forearm 600, the second forearm 800, and the handle 910 are symmetrically arranged in two groups to facilitate the user's two-handed operation. The user usually uses both hands to cooperate to complete the action, so two groups of the rear arm 300, the first forearm 600, the second forearm 800, and the handle 910 are arranged to record the user's left and right hand actions respectively.

[0031] Reference Figure 2 and Figure 3 As shown, it can be understood that the first strap 310, the second strap 610, and the third strap 810 are all connected with a quick release buckle, and the inner layer of the first strap 310, the second strap 610, and the third strap 810 has a sponge pad layer to improve the comfort of use. The quick release buckle can be a Velcro or a snap. The function of the quick release buckle is to facilitate the user to wear.

[0032] Usage steps: Wear the robot on the human body through the first strap 310, the second strap 610, and the third strap 810, and grab the handle 910 by hand. Under the action of the shoulder joint group 200, the elbow joint group 500, the first rotation bias device 400, the second rotation bias device 700, and the wrist joint group 900, the rear arm 300, the first forearm 600, the second forearm 800, and the handle 910 will follow the human arm movement, and each encoder will measure the angle of each joint arm, calculate the position and posture of the end of the human hand, and according to the obtained data, the user can control each joint of the dual-arm robot at the same time. As a control platform for the dual-arm robot, it can also be used as a data collector for robot motion data training.

[0033] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A wearable teaching pendant, characterized in that: include: A frame (100), wherein one side of the frame (100) is connected to a shoulder joint assembly (200); A rear arm (300), one end of the rear arm (300) being connected to a first rotation biasing device (400), and the other end being connected to an elbow joint assembly (500), the first rotation biasing device (400) being connected to the shoulder joint assembly (200), and a first binding strap (310) being provided on a side surface of the rear arm (300); A first forearm (600), one end of the first forearm (600) being movably connected to the rear arm (300) via the elbow joint assembly (500). The other end is connected to a second rotation biasing device (700), and a second strap (610) is provided on the side of the first forearm (600); a second forearm (800), one end of the second forearm (800) being connected to the first forearm (600) via the second rotation biasing device (700), and the other end being connected to a wrist joint assembly (900), and a third binding strap (810) being provided on a side surface of the second forearm (800); A handle (910), wherein the handle (910) is movably connected to the second forearm (800) via the wrist joint assembly (900).

2. The wearable teaching pendant according to claim 1, characterized in that: The frame (100) comprises a seat (110), a column (120) and a base plate (130); the column (120) is vertically fixedly connected to the seat (110); the base plate (130) is mounted on the column (120) in an up-and-down adjustable position; and the shoulder joint assembly (200) is mounted on the base plate (130).

3. The wearable teaching pendant according to claim 2, characterized in that: The shoulder joint assembly (200) comprises a first rod (210) and a second rod (220); the first rod (210) is rotatably mounted on the base plate (130); a first encoder is provided on the base plate (130) at a position corresponding to the first rod (210); the second rod (220) is rotatably mounted on the first rod (210); a second encoder is provided on the first rod (210) at a position corresponding to the second rod (220); the first rotation biasing device (400) is connected to the second rod (220); and a rotation axis of the first rod (210) and a rotation axis of the second rod (220) are perpendicular to each other.

4. The wearable teaching pendant according to claim 3, characterized in that: The first rotation biasing device (400) comprises two first Y-shaped rods (410) and two first transfer rods (420); a first connecting rod (320) is provided on a side of the rear arm (300) away from the first binding strap (310); three ends of the first Y-shaped rod (410) are respectively hinged to the first connecting rod (320) and the two first transfer rods (420); an end of the first transfer rod (420) away from the first Y-shaped rod (410) is connected to the first connecting rod (320) and the two first transfer rods (420); The second rod (220) is hinged, a third encoder is provided on the first transfer rod (420) at a position corresponding to the first Y-shaped rod (410), the rotation axes of the first transfer rod (420) and the first Y-shaped rod (410) are parallel, the first strap (310) is annular, and when the rear arm (300) rotates around the first strap (310), it can drive the first transfer rod (420) and the first Y-shaped rod (410) to rotate relative to each other.

5. The wearable teaching pendant according to claim 4, characterized in that: One end of the elbow joint assembly (500) is rotatably mounted on the rear arm (300), and the other end is rotatably mounted on the first forearm (600); the rotation axis of the first forearm (600) is perpendicular to the rotation axis of the rear arm (300); and a fourth encoder is provided at a position of the elbow joint assembly (500) corresponding to the first forearm (600).

6. The wearable teaching pendant according to claim 5, characterized in that: The second rotation biasing device (700) comprises two second Y-shaped rods (710) and two second transfer rods (720); a second connecting rod (820) is provided on a side of the second forearm (800) away from the third binding strap (810); three ends of the second Y-shaped rod (710) are respectively hinged to the second connecting rod (820) and the two second transfer rods (720); an end of the second transfer rod (720) away from the second Y-shaped rod (710) is connected to the second Y-shaped rod (710) and the second transfer rod (720) is connected to the second Y-shaped rod (710). The first forearm (600) is hinged, a fifth encoder is provided on the second transfer rod (720) at a position corresponding to the second Y-shaped rod (710), the rotation axes of the second transfer rod (720) and the second Y-shaped rod (710) are parallel, the third binding strap (810) is annular, and when the second forearm (800) rotates around the third binding strap (810), it can drive the second transfer rod (720) and the second Y-shaped rod (710) to rotate relative to each other.

7. The wearable teaching pendant according to claim 6, characterized in that: One end of the wrist joint assembly (900) is rotatably mounted on the second forearm (800), and the other end is rotatably mounted on the handle (910); the rotation axis of the second forearm (800) and the rotation axis of the handle (910) are perpendicular; and a sixth encoder is provided at a position of the wrist joint assembly (900) corresponding to the handle (910).

8. The wearable teaching pendant according to claim 1, characterized in that: The handle (910) is provided with a rotating roller, and a seventh encoder is provided on the handle (910) at a position corresponding to the rotating roller.

9. The wearable teaching pendant according to claim 1, characterized in that: The rear arm (300), the first forearm (600), the second forearm (800), and the handle (910) are symmetrically arranged in two groups to facilitate operation by a user with both hands.

10. The wearable teaching pendant according to claim 1, characterized in that: The first binding strap (310), the second binding strap (610), and the third binding strap (810) are all connected with quick-release buckles.

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