Exoskeleton for remote control operation of multi-axis mechanical arm or humanoid robot

Abstract

The invention relates to an exoskeleton for remote control operation of a multi-axis mechanical arm or a humanoid robot, and relates to the technical field of mechanical arms, the exoskeleton comprises a robot and a mechanical arm structure, and the mechanical arm structure is worn on the chest of the robot. Each mechanical arm structure comprises a mechanical arm assembly, a shoulder blade bottom plate, a waist rotating seat, a waist supporting seat, a chest elastic fixing belt, a shoulder blade rotating encoder, a shoulder blade rotating joint, a shoulder blade abduction joint and a shoulder blade abduction joint encoder, and the shoulder blade bottom plate is installed between the two sets of mechanical arm assemblies; a waist rotating seat is mounted below the shoulder blade bottom plate through bolts, and a waist supporting seat is mounted below the waist rotating seat; the remote control device can be used in cooperation with a robot to achieve remote operation, an operator is made to be far away from a high-risk or difficult-to-approach environment, and the exposure risk of the operator is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to an exoskeleton for remote control of a multi-axis robotic arm or a humanoid robot. Background Art

[0002] With the continuous development of the manufacturing industry, the level of intelligence in the manufacturing industry has been continuously improved. Using intelligent equipment such as robots to replace humans in complicated, heavy and repetitive labor has become a major trend in the manufacturing industry. The unmanned and automated manufacturing production lines have reduced the overload of workers and reduced the danger of workers working in dusty and toxic gas environments to a certain extent. The new generation of intelligent manufacturing technology emphasizes the integration of man and machine manufacturing, that is, fully combining the wisdom of people in intelligent decision-making and logical reasoning in unstructured environments with the performance of robots in terms of reliability, precision, and strength to form complementary advantages. Therefore, the development of digital remote-operated manufacturing and the promotion of the upgrading and optimization of intelligent equipment have become the current development hotspots in the field of robotics. In this context, the use of remote-operated input devices to control industrial robots can give full play to the intelligent decision-making role of people in the loop. At the same time, remote operation allows operators not to enter the actual production operation space, which can ensure human safety to a certain extent. In the prior art, the related technology of the mechanical arm can refer to the Chinese patent with publication number CN109176463B, which discloses a multifunctional auxiliary arm self-balancing mechanical exoskeleton, including a left exoskeleton arm and a right exoskeleton arm, the left exoskeleton arm and the right exoskeleton arm are respectively connected to the exoskeleton trunk, the exoskeleton hip joint is respectively connected to the left exoskeleton lower limb and the right exoskeleton lower limb, and is characterized in that a left balance auxiliary mechanical arm and a right balance auxiliary mechanical arm and an electric power automatic control system are also provided, the left balance auxiliary mechanical arm and the right balance auxiliary mechanical arm are respectively connected to the exoskeleton hip joint, and the electric power automatic control system is respectively electrically connected to the left exoskeleton arm and the right exoskeleton arm, the exoskeleton trunk, the exoskeleton hip joint, the left exoskeleton lower limb and the right exoskeleton lower limb and the left balance auxiliary mechanical arm and the right balance auxiliary mechanical arm. The structure is simple, the applicability is good, the safety is high, it is not only suitable for medical rehabilitation elderly or patients to prevent tilting and falling to maintain balance, but also suitable for auxiliary handling of heavy objects, and improves the weight of heavy objects that can be handled.

[0003] The inventor discovered the following problems in the prior art during the implementation of this application: In the process of using the robotic arm, there is often dust and toxic gas environment, which is not suitable for human body to wear the robotic arm. Therefore, the robotic arm cannot be used normally with the user, thus wasting the normal use effect of the robotic arm. Although the robot structure can enter the environment of dust and toxic gas, because of the insufficient mechanical force of the robot itself, it cannot directly replace people to perform dangerous operations. Summary of the invention

[0004] The purpose of this application is to provide an exoskeleton for remote control of a multi-axis robotic arm or a humanoid robot.

[0005] The present application provides an exoskeleton for remote control of a multi-axis manipulator or a humanoid robot using the following technical solutions: An exoskeleton for remote control of a multi-axis robot or a humanoid robot, comprising a robot and a robot arm structure, wherein the robot is provided with a robot arm structure on its chest, and the robot arm structure comprises a robot arm assembly, a scapula base plate, a waist swivel seat, a waist support seat, a thoracic elastic fixing belt, a scapula swivel encoder, a scapula swivel joint, a scapula abduction joint and a scapula abduction joint encoder, and a scapula base plate is installed between two sets of the robot arm assemblies, and the lower part of the scapula base plate is installed by bolts. There is a waist swivel seat, and a waist support seat is installed below the waist swivel seat, and a chest elastic fixing belt is installed at the edges of the shoulder blade base plate and the waist support seat, and a shoulder blade swivel joint is installed on the side of the shoulder blade base plate away from the chest elastic fixing belt, and a shoulder blade swivel encoder is arranged on the side of the shoulder blade swivel joint away from the shoulder blade base plate, and a scapula abduction joint is arranged on one side of the scapula swivel joint, and a scapula abduction joint encoder is installed on the side of the scapula abduction joint.

[0006] By adopting the above technical solution, the robot and the mechanical arm structure are the core of the entire structure, carrying other components and providing power and control. The mechanical arm structure is composed of a mechanical arm assembly, a shoulder blade base plate, a waist swivel seat and a waist support seat, and cooperates with a chest elastic fixing belt, aiming to achieve precise control and operation of the robot, wherein the mechanical arm assembly is the key part of the execution operation of the assembly, responsible for the activity and function realization of the mechanical arm structure, and the shoulder blade base plate serves as the basis for connecting various components to provide stable support, and then the waist swivel seat allows the mechanical arm to support its waist during use to maintain the stable use of the mechanical arm, and then the installed waist support seat provides additional support to ensure the stability and comfort of the wearer, and cooperates with the chest elastic fixing belt through elastic design to fix the exoskeleton on the operator's chest to ensure its safety and stability. During the use of the robotic arm assembly, the scapula rotation joint allows the scapula to rotate, thereby increasing the range of motion of the robotic arm, and cooperates with the scapula rotation encoder to monitor the rotation angle of the scapula, providing feedback information for precise control. Then, during the lifting of the robotic arm, the scapula abduction joint enables the robotic arm to move in the abduction direction to increase flexibility, and uses the scapula abduction joint encoder to monitor the movement state of the abduction joint, providing real-time feedback to the operator and summarizing the process of use. The design of the robotic arm assembly and joints allows the operator to more accurately control the robot to perform complex operations. Since the operator can operate at a safe distance, the risk of working in a dangerous environment is reduced. The design of the scapula rotation and abduction joints enables the robotic arm to flexibly cope with different tasks in a variety of environments.

[0007] The robotic arm assembly includes a shoulder rotary encoder, a shoulder rotary joint and a shoulder abduction encoder, and the shoulder rotary joint is installed on the side of the shoulder rotary encoder, and a shoulder abduction encoder is arranged on the side of the shoulder rotary joint away from the shoulder rotary encoder, and the shoulder abduction encoder includes a shoulder abduction joint encoder body, a shoulder abduction joint encoder head and a shoulder abduction joint core shaft, and the shoulder abduction joint encoder head is installed on the side of the shoulder abduction joint encoder body, and a shoulder abduction joint core shaft is arranged on the side of the shoulder abduction joint encoder head away from the shoulder abduction joint encoder body.

[0008] By adopting the above technical scheme, the shoulder rotary encoder is a sensing structure for measuring the shoulder rotation angle. Because it is installed at the shoulder position of the robotic arm, the robotic arm can provide real-time feedback on the rotation state of the shoulder during use for precise control, and the shoulder rotary joint connects the joint part of the shoulder rotary encoder and the shoulder abduction encoder, wherein the shoulder rotary joint allows the robotic arm to rotate at the shoulder, increasing the flexibility and operability of the robotic arm, and the shoulder abduction encoder is used to measure the angle of shoulder abduction, wherein the shoulder abduction joint encoder body is the main component of the shoulder abduction encoder, which is responsible for carrying other components and providing necessary support, and then the shoulder abduction joint encoder head is used to sense and measure the dynamic data during the movement of the abduction joint, so as to monitor whether the data during use is at a normal value, so as to facilitate subsequent processing, and then the shoulder abduction joint core shaft is used to provide mechanical connection and motion transmission functions to facilitate the normal use of the robotic arm.

[0009] The robotic arm assembly also includes a shoulder abduction joint, a shoulder abduction joint bracket, a shoulder rotating spindle, a shoulder abduction joint encoder bracket and a shoulder abduction joint encoder, and the shoulder abduction joint bracket is installed below the shoulder abduction joint, and the shoulder rotating spindle is installed below the shoulder abduction joint bracket, and the shoulder abduction joint encoder bracket is installed below the shoulder rotating spindle, and the shoulder abduction joint encoder is installed below the shoulder abduction joint encoder bracket.

[0010] By adopting the above technical solution, the shoulder abduction joint bracket is used to support the shoulder abduction joint, and during use, it provides a stable use effect to the robotic arm, and maintains the reliability of the robotic arm by providing necessary mechanical support. Then the shoulder rotation mandrel is installed under the shoulder abduction joint bracket, and the shoulder rotation mandrel allows the shoulder joint to rotate, thereby increasing the flexibility of the robotic arm, and the shoulder of the robotic arm is still installed with a shoulder abduction joint encoder bracket, which can not only fix the shoulder abduction joint encoder, but also ensure the precise positioning of the encoder during the use of the robotic arm. During the use of the robotic arm, its shoulder abduction joint encoder is used to monitor the angle and position of the shoulder abduction joint in real time, and provide feedback information for precise control.

[0011] A brachial inversion joint is installed below the shoulder abduction joint, and a brachial inversion encoder is installed below the brachial inversion joint, and the brachial inversion encoder includes a brachial inversion joint encoder body, a brachial inversion joint encoder head and a brachial inversion joint core shaft, and the brachial inversion joint encoder head is installed on the side of the brachial inversion joint encoder body, and the brachial inversion joint core shaft is arranged on the side of the brachial inversion joint encoder head away from the brachial inversion joint encoder body.

[0012] By adopting the above technical solution, when the robotic arm is swinging, the shoulder abduction joint at the shoulder allows the robotic arm to perform abduction movement in the horizontal plane, so that the robotic arm can have multifunctional practicality like the human arm, and the upper arm inversion joint is responsible for controlling the inversion movement of the upper arm, wherein the inversion movement refers to the movement of the upper arm toward the center of the body, which can make the robotic arm more in line with the effect of human use during human use, and during the use of the robotic arm, the installed upper arm inversion encoder monitors and feedbacks the movement state of the upper arm inversion joint in real time, wherein the upper arm inversion joint encoder body is responsible for data processing and signal output, and the upper arm inversion joint encoder head is used to read the position information of the joint and obtain the joint movement data through the magnetic head sensing technology, and then the upper arm inversion joint core shaft is used to support and connect the mechanical structure between the encoder and the joint, to ensure that the upper arm inversion encoder can provide data normally and stably during normal use of the robotic arm.

[0013] A boom length adjustment mechanism is installed below the boom inversion joint, and the boom length adjustment mechanism includes a boom fixing seat and an elbow swivel joint, and a boom fixing seat is installed between the boom length adjustment mechanism and the boom inversion joint, and an elbow swivel joint is arranged below the boom length adjustment mechanism, and an elbow swivel encoder is installed through the elbow swivel joint.

[0014] By adopting the above technical solution, an arm inversion joint is installed in the arm structure of the robot arm, which allows the arm to be used in a state that conforms to ergonomics. When installed on the robot, it can perform inversion movement in the corresponding direction of the robot according to the joint structure of the robot to achieve more flexible operation, and the arm length adjustment mechanism is to adjust the length of the arm to adapt to different work requirements and environments. By adjusting the length of the arm, the adaptability of the robot arm to different users can be improved, and the arm length adjustment structure is installed through the arm fixing seat to ensure the stability and safety of the arm during operation, and the elbow swivel joint allows the arm to perform swivel movement at the elbow, thereby increasing the working range and flexibility of the robot arm. At this time, the elbow swivel encoder monitors the swivel angle of the elbow in real time and provides feedback information so that the control system can accurately determine the current position of the elbow.

[0015] A forearm varus encoder is installed below the elbow rotation joint, and the forearm varus encoder includes a forearm varus encoder body, a forearm varus encoder bracket, a forearm varus encoder head, a forearm body, a forearm varus core shaft and a forearm varus fixing seat, and the forearm varus encoder bracket is installed on the side of the forearm varus encoder body, and the forearm varus encoder head is arranged on the side of the forearm varus encoder bracket away from the forearm varus encoder body, and the forearm body is installed below the forearm varus encoder bracket by bolts, and the forearm varus core shaft is arranged above the forearm body, and the forearm varus fixing seat is arranged on the side of the forearm varus core shaft away from the forearm varus encoder bracket.

[0016] By adopting the above technical scheme, the forearm inversion encoder body is the core part of the forearm inversion encoder, which is responsible for receiving and processing data from other components to ensure the normal operation of the encoder, wherein the forearm inversion encoder bracket supports and fixes the forearm inversion encoder body and ensures its stability during work, and the forearm inversion encoder head is responsible for sensing the inversion angle of the forearm and feeding back the information to the encoder body, and the forearm body is one of the core parts of the robotic arm simulating the human body, and the forearm inversion core shaft, as the rotation axis, allows the forearm to perform inversion movement, and the forearm inversion fixing seat fixes the forearm body to ensure that during operation, the forearm body will not have normal collision during use and be directly affected.

[0017] A forearm fixing seat is installed on the side of the forearm body away from the forearm inversion encoder bracket, and a multi-eye camera is installed below the forearm fixing seat, and a forearm connecting rod is arranged below the multi-eye camera, and a palm ulnar deviation encoder is arranged below the forearm connecting rod.

[0018] By adopting the above technical solution, the forearm body is responsible for supporting and connecting other components. It is designed based on the human body structure so that it can withstand a certain load and maintain good motion performance during remote operation, and is convenient for operators and robots to use. The forearm inversion encoder bracket fixes the forearm inversion encoder to ensure that the movement state of the forearm can be captured during use, and the angle change of the forearm is also monitored during use, thereby providing feedback information for remote operation. The forearm fixing seat fixes the forearm and other components to ensure the stability of the structure, and the installed multi-eye camera directly captures the three-dimensional information of the surrounding environment during use, so that the operator can obtain information around the robotic arm during remote operation.

[0019] The palm size deviation encoder includes a palm size deviation encoder body, a palm size deviation encoder bracket, a palm size deviation encoder magnetic head, a palm rotary encoder bracket, a palm rotary encoder magnetic head, a palm rotary encoder body and a palm rotary core shaft, and a palm size deviation encoder bracket is arranged below the palm size deviation encoder body, and a palm size deviation encoder magnetic head is installed inside the palm size deviation encoder bracket.

[0020] By adopting the above technical scheme, the palm deflection encoder body is a component of the entire palm deflection encoder, which is responsible for processing and transmitting the position information of the palm, and the palm deflection encoder bracket supports the encoder body to ensure its stability during use, and the palm deflection encoder head is responsible for sensing the movement changes of the palm and obtaining relevant data for subsequent processing, and the palm rotary encoder bracket is used to support the structure of the palm rotary encoder to ensure that it can remain stable during the movement of the palm, and in the process of the robot arm using the palm structure, the palm rotary encoder head cooperates with the palm rotary encoder bracket to sense the rotational movement of the palm, and then the palm rotary core shaft is connected to the palm rotary encoder body to allow the palm to rotate on a specific axis, and the forearm connecting rod connects the forearm and the palm deflection encoder, and the connecting rod simulates the human skeletal structure to facilitate the support effect of the robot arm or the human body structure mechanics, and then the palm deflection encoder during use, the movement state of the palm is fed back, so that the robot arm can respond quickly when the operator grabs or lets go.

[0021] A palm rotating seat is installed on the side of the palm size deviation encoder bracket away from the palm size deviation encoder body, and a palm connecting plate is installed on the side of the palm rotating seat away from the palm size deviation encoder, and the palm rotating seat includes a palm rotary encoder bracket, a palm rotary encoder magnetic head, a palm rotary encoder body and a palm rotary core shaft, and a palm rotary encoder magnetic head is arranged on the side of the palm rotary encoder bracket, and a palm rotary encoder body is arranged on the side of the palm rotary encoder bracket away from the palm rotary encoder magnetic head, and a palm rotary core shaft is installed through the palm rotary encoder magnetic head and the palm rotary encoder body, and a palm rotary encoder is installed inside the palm rotary encoder body.

[0022] By adopting the above technical solution, the palm deflection encoder bracket is the supporting structure of the entire palm rotation system, and the palm deflection encoder body is connected to protect the safety of the palm deflection encoder bracket during use. The palm rotation seat provides a supporting platform during the rotation of the palm to facilitate the rotation of the palm. Then the palm connecting plate is used to connect the additional components to facilitate the operator to use. At the same time, the palm connecting plate is located at the position of the operator's palm. When connecting the additional components, the flexible use of the palm can be ensured. Then the palm rotation encoder bracket is the supporting structure of the palm rotation encoder, which is responsible for detecting the palm The palm rotary encoder head senses the rotation position of the palm and provides a feedback signal, which enters the palm rotary encoder body to process the signal from the magnetic head and perform corresponding encoding. The palm rotary core shaft serves as the axis of the rotational motion to ensure the flexible rotation of the palm, and the palm rotary encoder is responsible for feedback on the rotation angle of the palm, so that during the use of the robotic arm, when the robotic arm is rotated, flipped, etc., the use data of the robotic arm can be directly fed back to the operator, so that any situation of the robotic arm can be found in time.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. It can be used in conjunction with a robot to achieve remote teleoperation, keeping the operator away from high-risk or inaccessible environments and reducing the operator's exposure risk; 2. It can realize the control of the robot arm through the operator's intelligent decision-making and logical reasoning, making up for the lack of intelligent state reflected in the current multi-axis robot or humanoid robot during use; 3. It can reduce the instability of manual operation by the operator, so that the reliable, precise and standardized power of the multi-axis robot or humanoid robot can be brought into play; 4. The robot and the robotic arm structure are the core of the entire structure, carrying other components and providing power and control. The robotic arm structure consists of a robotic arm assembly, a scapula base plate, a waist swivel seat and a waist support seat, and cooperates with a thoracic elastic fixing belt, aiming to achieve precise control and operation of the robot, wherein the robotic arm assembly is the key part of the component's execution operation, responsible for the movement and function realization of the robotic arm structure, and the scapula base plate serves as the basis for connecting various components to provide stable support, and then the waist swivel seat allows the robotic arm to support its waist during use to maintain the stable use of the robotic arm, and then the installed waist support seat provides additional support to ensure the wearer's stability and comfort, and cooperates with the thoracic elastic fixing belt through elastic design to fix the exoskeleton on the operator's chest to ensure its safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 is a schematic diagram of the robot structure of an embodiment of the present application; Figure 3 is a structural schematic diagram of the mechanical arm structure of an embodiment of the present application; Figure 4 This is a schematic diagram of the structure of the elastic fixing belt for the chest area of ​​an embodiment of the present application; Figure 5 is a front view structural schematic diagram of a palm lateral deviation encoder according to an embodiment of the present application; Figure 6 is a front view cross-sectional structural schematic diagram of a palm rotating mandrel according to an embodiment of the present application; Figure 7 This is a schematic diagram of the structure of a forearm varus encoder according to an embodiment of the present application; Figure 8 is a schematic diagram of the top view of the shoulder abduction joint according to an embodiment of the present application; Fig. 9 is a schematic structural diagram of a front cross-section of a varus joint of the upper arm according to an embodiment of the present application; Explanation of reference numerals: 1. robot; 2. robot arm structure; 201. robot arm assembly; 3. shoulder blade base plate; 4. waist swivel seat; 5. waist support seat; 6. thoracic elastic fixing belt; 7. shoulder blade swivel encoder; 8. shoulder blade swivel joint; 9. shoulder blade abduction joint; 10. shoulder blade abduction joint encoder; 11. shoulder swivel encoder; 12. shoulder swivel joint; 13. shoulder abduction encoder; 1301. shoulder abduction joint encoder Main body; 1302, shoulder abduction joint encoder head; 1303, shoulder abduction joint mandrel; 14, shoulder abduction joint; 1401, shoulder abduction joint bracket; 1402, shoulder rotation mandrel; 1403, shoulder abduction joint encoder bracket; 1404, shoulder abduction joint encoder; 15, upper arm inversion joint; 16, upper arm inversion encoder; 1601, upper arm inversion joint encoder body; 1602, upper arm inversion joint encoder head; 1 603, upper arm inversion joint spindle; 17, upper arm length adjustment mechanism; 1701, upper arm fixed seat; 18, elbow rotation joint; 19, elbow rotation encoder; 20, forearm inversion encoder; 2001, forearm inversion encoder body; 2002, forearm inversion encoder bracket; 2003, forearm inversion encoder head; 2004, forearm body; 2005, forearm inversion spindle; 2006, forearm inversion fixed seat; 21, forearm fixed seat; 2 2. Multi-eye camera; 23. Forearm connecting rod; 24. Palm scale deviation encoder; 2401. Palm scale deviation encoder body; 2402. Palm scale deviation encoder bracket; 2403. Palm scale deviation encoder head; 25. Palm connecting plate; 26. Palm rotary seat; 2601. Palm rotary encoder bracket; 2602. Palm rotary encoder head; 2603. Palm rotary encoder body; 2604. Palm rotary core shaft; 27. Palm rotary encoder. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1 - Attachment Fig. 9 , further details of this application are given.

[0026] Embodiment: An exoskeleton for remote control of a multi-axis robot or a humanoid robot, comprising a robot 1 and a robot arm structure 2, wherein the robot 1 is worn on the chest of the robot 1, and the robot arm structure 2 comprises a robot arm assembly 201, a shoulder blade base plate 3, a waist swivel seat 4, a waist support seat 5, a thoracic elastic fixing belt 6, a shoulder blade swivel encoder 7, a shoulder blade swivel joint 8, a shoulder blade abduction joint 9 and a shoulder blade abduction joint encoder 10, and a shoulder blade base plate 3 is installed between two sets of robot arm assemblies 201, and a waist swivel seat 4 is installed below the shoulder blade base plate 3 by bolts, and a waist support seat 5 is installed below the waist swivel seat 4, and the edges of the shoulder blade base plate 3 and the waist support seat 5 are installed. A thoracic elastic fixing belt 6 is provided, and a scapula rotation joint 8 is installed on the side of the scapula base plate 3 away from the thoracic elastic fixing belt 6, and a scapula rotation encoder 7 is provided on the side of the scapula rotation joint 8 away from the scapula base plate 3, and a scapula abduction joint 9 is provided on one side of the scapula rotation joint 8, and a scapula abduction joint encoder 10 is installed on the side of the scapula abduction joint 9. The robot 1 and the mechanical arm structure 2 are the core of the entire structure, carrying other components and providing power and control. The mechanical arm structure 2 is composed of a mechanical arm assembly 201, a scapula base plate 3, a waist rotation seat 4 and a waist support seat 5, and cooperates with the thoracic elastic fixing belt 6, aiming to achieve precise control and operation of the robot 1, wherein the mechanical arm Component 201 is the key part of the execution operation of the component, which is responsible for the movement and function realization of the robot arm structure 2, and the scapula base plate 3 serves as the basis for connecting various components to provide stable support, and then the waist swivel seat 4 allows the robot arm to support its waist during use to maintain the stable use of the robot arm, and then the installed waist support seat 5 provides additional support to ensure the stability and comfort of the wearer, and cooperates with the thoracic elastic fixing belt 6 through elastic design to fix the exoskeleton on the operator's chest to ensure its safety and stability. During the use of the robot arm component 201, the scapula swivel joint 8 allows the scapula to rotate, improves the range of motion of the robot arm, and cooperates with the scapula The bone rotation encoder 7 monitors the rotation angle of the scapula and provides feedback information for precise control. Then, during the lifting of the robotic arm, its scapula abduction joint 9 enables the robotic arm to move in the abduction direction to increase flexibility, and uses the scapula abduction joint encoder 10 to monitor the movement state of the abduction joint to provide real-time feedback to the operator and summarize the process of use. The design of the robotic arm assembly 201 and the joints can enable the operator to more accurately control the robot 1 to perform complex operations. Since the operator can operate at a safe distance, the risk of working in a dangerous environment is reduced. The design of the scapula rotation and abduction joints enables the robotic arm to flexibly cope with different tasks in a variety of environments.

[0027] The robot arm assembly 201 includes a shoulder rotation encoder 11, a shoulder rotation joint 12 and a shoulder abduction encoder 13, and the shoulder rotation joint 12 is installed on the side of the shoulder rotation encoder 11, and the shoulder abduction encoder 13 is arranged on the side of the shoulder rotation joint 12 away from the shoulder rotation encoder 11, and the shoulder abduction encoder 13 includes a shoulder abduction joint encoder body 1301, a shoulder abduction joint encoder head 1302 and a shoulder abduction joint core shaft 1303, and the shoulder abduction joint encoder head 1302 is installed on the side of the shoulder abduction joint encoder body 1301, and the shoulder abduction joint encoder head 1302 is arranged on the side away from the shoulder abduction joint encoder body 1301. Then the shoulder rotation encoder 11 is a sensing structure for measuring the shoulder rotation angle. Because it is installed at the shoulder position of the robot arm, the robot arm During use, the rotation state of the shoulder can be fed back in real time for precise control, and the shoulder rotation joint 12 connects the joint parts of the shoulder rotation encoder 11 and the shoulder abduction encoder 13, wherein the shoulder rotation joint 12 allows the robot arm to rotate at the shoulder, increasing the flexibility and operability of the robot arm, and the shoulder abduction encoder 13 is used to measure the angle of shoulder abduction, wherein the shoulder abduction joint encoder body 1301 is the main component of the shoulder abduction encoder 13, which is responsible for carrying other components and providing necessary support, and then the shoulder abduction joint encoder head 1302 is used to sense and measure the dynamic data of the abduction joint during the movement process, so as to monitor whether the data during use is at a normal value, so as to facilitate subsequent processing, and then the shoulder abduction joint core shaft 1303 is used to provide mechanical connection and motion transmission functions to facilitate the normal use of the robot arm.

[0028] The robot arm assembly 201 also includes a shoulder abduction joint 14, a shoulder abduction joint bracket 1401, a shoulder rotation spindle 1402, a shoulder abduction joint encoder bracket 1403 and a shoulder abduction joint encoder 1404, and the shoulder abduction joint bracket 1401 is installed below the shoulder abduction joint 14, and the shoulder rotation spindle 1402 is installed below the shoulder abduction joint bracket 1401, and the shoulder abduction joint encoder bracket 1403 is installed below the shoulder rotation spindle 1402, and the shoulder abduction joint encoder 1404 is installed below the shoulder abduction joint encoder bracket 1403, then, the shoulder abduction joint bracket 1401 is used to support the shoulder abduction joint 14, and during use, Provide a stable use effect for the robotic arm and maintain the reliability of the robotic arm by providing necessary mechanical support. Then the shoulder rotation spindle 1402 is installed under the shoulder abduction joint bracket 1401, and the shoulder rotation spindle 1402 allows the shoulder joint to rotate, thereby increasing the flexibility of the robotic arm. The shoulder of the robotic arm is still installed with a shoulder abduction joint encoder bracket 1403, which can not only fix the shoulder abduction joint encoder 1404, but also ensure the precise positioning of the encoder during the use of the robotic arm. During the use of the robotic arm, its shoulder abduction joint encoder 1404 is used to monitor the angle and position of the shoulder abduction joint 14 in real time, and provide feedback information for precise control.

[0029] A brachial inversion joint 15 is installed below the shoulder abduction joint 14, and a brachial inversion encoder 16 is installed below the brachial inversion joint 15, and the brachial inversion encoder 16 includes a brachial inversion joint encoder body 1601, a brachial inversion joint encoder head 1602 and a brachial inversion joint core shaft 1603, and the brachial inversion joint encoder head 1602 is installed on the side of the brachial inversion joint encoder body 1601, and the brachial inversion joint core shaft 1603 is arranged on the side of the brachial inversion joint encoder head 1602 away from the brachial inversion joint encoder body 1601, and during the swinging process of the robotic arm, the shoulder abduction joint 14 at the shoulder allows the robotic arm to perform abduction movement in the horizontal plane, so that the robotic arm can have multifunctional practicality like a human arm, and the brachial inversion joint encoder head 1602 is installed on the side of the brachial inversion joint encoder body 1601. The inversion joint 15 is responsible for controlling the inversion movement of the upper arm, wherein the inversion movement refers to the movement of the upper arm toward the center of the body, which can make the robot arm more in line with the effect of human use during use, and during the use of the robot arm, the installed upper arm inversion encoder 16 monitors and feedbacks the movement state of the upper arm inversion joint 15 in real time, wherein the upper arm inversion joint encoder body 1601 is responsible for data processing and signal output, and the upper arm inversion joint encoder head 1602 is used to read the position information of the joint and obtain the joint movement data through the head sensing technology, and then the upper arm inversion joint core shaft 1603 is used to support and connect the mechanical structure between the encoder and the joint, to ensure that during the normal use of the robot arm, its upper arm inversion encoder 16 can provide data normally and stably.

[0030] A boom length adjustment mechanism 17 is installed below the boom inversion joint 15, and the boom length adjustment mechanism 17 includes a boom fixing seat 1701 and an elbow swivel joint 18, and a boom fixing seat 1701 is installed between the boom length adjustment mechanism 17 and the boom inversion joint 15, and an elbow swivel joint 18 is arranged below the boom length adjustment mechanism 17, and an elbow swivel encoder 19 is installed through the elbow swivel joint 18, and the boom inversion joint 15 is installed in the boom structure of the robot arm, which allows the boom to be used in a state that conforms to human mechanics, and when installed on the robot 1, it can be moved to the corresponding direction of the robot 1 according to the joint structure of the robot 1. The upper arm performs inversion movement to achieve more flexible operation, and the upper arm length adjustment mechanism 17 is used to adjust the length of the upper arm to adapt to different work requirements and environments. By adjusting the length of the upper arm, the adaptability of the robot arm to different users can be improved, and the upper arm length adjustment mechanism 17 is installed through the upper arm fixing seat 1701 to ensure the stability and safety of the upper arm during operation, and the elbow swivel joint 18 allows the upper arm to perform swivel movement at the elbow, thereby increasing the working range and flexibility of the robot arm. At this time, the elbow swivel encoder 19 monitors the swivel angle of the elbow in real time and provides feedback information so that the control system can accurately determine the current position of the elbow.

[0031] A forearm inversion encoder 20 is installed below the elbow swivel joint 18, and the forearm inversion encoder 20 includes a forearm inversion encoder body 2001, a forearm inversion encoder bracket 2002, a forearm inversion encoder head 2003, a forearm body 2004, a forearm inversion core shaft 2005 and a forearm inversion fixing seat 2006, and the forearm inversion encoder bracket 2002 is installed on the side of the forearm inversion encoder body 2001, and the forearm inversion encoder head 2003 is arranged on the side of the forearm inversion encoder bracket 2002 away from the forearm inversion encoder body 2001, and the forearm body 2004 is installed below the forearm inversion encoder bracket 2002 by bolts, and the forearm inversion core shaft 2005 is arranged above the forearm body 2004, and the forearm inversion core shaft 2005 is arranged on the side of the forearm inversion encoder bracket 2002 away from the forearm inversion encoder A forearm inversion fixing seat 2006 is provided, and the forearm inversion encoder body 2001 is the core part of the forearm inversion encoder 20, which is responsible for receiving and processing data from other components to ensure the normal operation of the encoder, wherein the forearm inversion encoder bracket 2002 supports and fixes the forearm inversion encoder body 2001 and ensures its stability during operation, and the forearm inversion encoder head 2003 is responsible for sensing the inversion angle of the forearm and feeding back the information to the encoder body, and the forearm body 2004 is one of the core parts of the robot arm simulating the human body, and the forearm inversion core shaft 2005, as the rotation axis, allows the forearm to perform inversion movement, and the forearm inversion fixing seat 2006 fixes the forearm body 2004 to ensure that during operation, the forearm body 2004 will not have normal collisions during use and be directly affected.

[0032] A forearm fixing seat 21 is installed on the side of the forearm main body 2004 away from the forearm inversion encoder bracket 2002, and a multi-eye camera 22 is installed below the forearm fixing seat 21, and a forearm connecting rod 23 is arranged below the multi-eye camera 22, and a palm ulnar deviation encoder 24 is arranged below the forearm connecting rod 23. The forearm main body 2004 is responsible for supporting and connecting other components. It is designed based on the human body structure so that it can withstand a certain load and maintain good motion performance during remote operation, and is convenient for the operator and the robot 1 to use. The forearm inversion encoder bracket 2002 fixes the forearm inversion encoder 20 to ensure that the movement state of the forearm can be captured during use, and during use, the angle change of the forearm is also monitored to provide feedback information for remote operation, while the forearm fixing seat 21 fixes the forearm and other components to ensure the stability of the structure, and the installed multi-eye camera 22 directly captures the three-dimensional information of the surrounding environment during use, so that the operator can obtain information around the robot arm during remote operation.

[0033] The palm deflection encoder 24 includes a palm deflection encoder body 2401, a palm deflection encoder bracket 2402, a palm deflection encoder head 2403, a palm rotary encoder bracket 2601, a palm rotary encoder head 2602, a palm rotary encoder body 2603 and a palm rotary core shaft 2604, and a palm deflection encoder bracket 2402 is arranged below the palm deflection encoder body 2401, and a palm deflection encoder head 2403 is installed inside the palm deflection encoder bracket 2402, and the palm deflection encoder body 2401 is a component of the entire palm deflection encoder 24, and is responsible for processing and transmitting the position information of the palm, and the palm deflection encoder bracket 2402 supports the encoder body to ensure its stability during use, and the palm deflection encoder head 2403 is responsible for sensing the movement of the palm Changes, obtain relevant data for subsequent processing, and the palm rotary encoder bracket 2601 is used to support the structure of the palm rotary encoder to ensure that it can remain stable during the movement of the palm, and when the robotic arm uses the palm structure, its palm rotary encoder head 2602 cooperates with the palm rotary encoder bracket 2601 to sense the rotational movement of the palm, and then the palm rotary core shaft 2604 is connected to the palm rotary encoder body 2603, allowing the palm to rotate on a specific axis, and the forearm connecting rod 23 connects the forearm and the palm ulnar deviation encoder 24, and the connecting rod simulates the human skeletal structure to facilitate the support effect of the robotic arm or the human body structure mechanics, and then the palm ulnar deviation encoder 24 is used to feedback the movement state of the palm, so that the robotic arm can respond quickly when the operator grabs or lets go.

[0034] A palm rotary seat 26 is installed on the side of the palm sizing encoder bracket 2402 away from the palm sizing encoder body 2401, and a palm connecting plate 25 is installed on the side of the palm rotary seat 26 away from the palm sizing encoder 24, and the palm rotary seat 26 includes a palm rotary encoder bracket 2601, a palm rotary encoder magnetic head 2602, a palm rotary encoder body 2603 and a palm rotary core shaft 2604, and a palm rotary encoder magnetic head 2602 is arranged on the side of the palm rotary encoder bracket 2601, and the palm rotary encoder bracket 260 A palm rotary encoder body 2603 is arranged on the side away from the palm rotary encoder magnetic head 2602, and a palm rotary core shaft 2604 is installed between the palm rotary encoder magnetic head 2602 and the palm rotary encoder body 2603, and a palm rotary encoder 27 is installed inside the palm rotary encoder body 2603, wherein the palm sizing encoder bracket 2402 is the supporting structure of the entire palm rotary system, and is connected to the palm sizing encoder body 2401 to protect the palm sizing encoder bracket 2402 during use. The palm rotating seat 26 provides a support platform during the palm rotating motion to facilitate the rotation of the palm, and then the palm connecting plate 25 is used to connect the additional components to facilitate the operator to use, and at the same time, the palm connecting plate 25 is located at the position of the operator's palm, and when connecting the additional components, the flexible use of the palm can be ensured, and then the palm rotary encoder bracket 2601 is the supporting structure of the palm rotary encoder 27, which is responsible for detecting the rotation angle of the palm structure, and the palm rotary encoder magnetic head 2602 senses the rotation position of the palm and provides feedback information. The signal enters the palm rotary encoder body 2603, which is responsible for processing the signal from the magnetic head and performing corresponding encoding. The palm rotary core shaft 2604 serves as the axis of the rotary motion to ensure the flexible rotation of the palm, and the palm rotary encoder 27 is responsible for feeding back the rotation angle of the palm, so that during the use of the robotic arm, when the robotic arm is rotated, flipped, etc., the use data of the robotic arm can be directly fed back to the operator, so that any situation of the robotic arm can be found in time.

[0035] The implementation principle of the embodiment of the present application is as follows: the shoulder rotation encoder 11 is a sensing structure for measuring the shoulder rotation angle. Because it is installed at the shoulder position of the robotic arm, the robotic arm can provide real-time feedback on the rotation state of the shoulder during use in order to perform precise control. The shoulder rotation joint 12 connects the joint part of the shoulder rotation encoder 11 and the shoulder abduction encoder 13, wherein the shoulder rotation joint 12 allows the robotic arm to perform rotational movement at the shoulder, and the shoulder abduction encoder 13 is used to measure the angle of shoulder abduction, wherein the shoulder abduction joint encoder body 1301 is the main component of the shoulder abduction encoder 13, and then the shoulder abduction joint encoder head 1302 is used to sense and measure the dynamic data of the abduction joint during its movement, and detect whether the data is at a normal value during the monitoring process for subsequent processing, and then the shoulder abduction joint core shaft 1303 is used to provide the functions of mechanical connection and motion transmission to facilitate the normal use of the robotic arm; The shoulder abduction joint bracket 1401 is used to support the shoulder abduction joint 14, and during use, it provides a stable use effect for the robot arm, and maintains the reliability of the robot arm by providing necessary mechanical support, and then the shoulder rotation spindle 1402 is installed under the shoulder abduction joint bracket 1401, and the shoulder rotation spindle 1402 allows the shoulder joint to perform rotational movement, thereby increasing the flexibility of the robot arm, and the shoulder of the robot arm is still installed with a shoulder abduction joint encoder bracket 1403, which can not only fix the shoulder abduction joint encoder 1404, but also ensure the precise positioning of the encoder during the use of the robot arm. During the use of the robot arm, its shoulder abduction joint encoder 1404 is used to monitor the angle and position of the shoulder abduction joint 14 in real time, and provide feedback information for precise control; During the swinging process of the robotic arm, the shoulder abduction joint 14 at the shoulder allows the robotic arm to perform abduction movement in the horizontal plane, so that the robotic arm can be as multifunctional and practical as a human arm, and the upper arm inversion joint 15 is responsible for controlling the inversion movement of the upper arm, wherein the inversion movement refers to the movement of the upper arm toward the center of the body, which can make the robotic arm more in line with the effect of human use during the use of the human body, and during the use of the robotic arm, the installed upper arm inversion encoder 16 monitors and feedbacks the movement state of the upper arm inversion joint 15 in real time, wherein the upper arm inversion joint encoder body 1601 is responsible for data processing and signal output, and the upper arm inversion joint encoder magnetic head 1602 is used to read the position information of the joint and obtain the movement data of the joint through the magnetic head sensing technology, and then the upper arm inversion joint core shaft 1603 is used to support and connect the mechanical structure between the encoder and the joint, to ensure that during the normal use of the robotic arm, its upper arm inversion encoder 16 can provide data normally and stably; The arm structure of the robot arm is provided with an arm inversion joint 15, which allows the arm to be used in a state that conforms to human mechanics, and when installed on the robot 1, it can perform inversion movement in the corresponding direction of the robot 1 according to the joint structure of the robot 1, so as to achieve more flexible operation, and the arm length adjustment mechanism 17 is used to adjust the length of the arm to adapt to different work requirements and environments. By adjusting the length of the arm, the adaptability of the robot arm to different users can be improved, and the arm length adjustment mechanism 17 is installed through the arm fixing seat 1701 to ensure the stability and safety of the arm during operation, and the elbow swivel joint 18 allows the arm to perform swivel movement at the elbow, thereby increasing the working range and flexibility of the robot arm, and at this time the elbow swivel encoder 19 monitors the swivel angle of the elbow in real time and provides feedback information so that the control system can accurately determine the current position of the elbow; The forearm inversion encoder body 2001 is the core part of the forearm inversion encoder 20, which is responsible for receiving and processing data from other components to ensure the normal operation of the encoder, wherein the forearm inversion encoder bracket 2002 supports and fixes the forearm inversion encoder body 2001 and ensures its stability during operation, and the forearm inversion encoder magnetic head 2003 is responsible for sensing the inversion angle of the forearm and feeding back the information to the encoder body, and the forearm body 2004 is one of the core parts of the robot arm simulating the human body, and the forearm inversion core shaft 2005, as the rotation axis, allows the forearm to perform inversion movement, and the forearm inversion fixing seat 2006 fixes the forearm body 2004 to ensure that during the operation, the forearm body 2004 will not have normal collisions during use and be directly affected; The forearm body 2004 is responsible for supporting and connecting other components. It is designed based on the human body structure so that it can withstand a certain load and maintain good motion performance during teleoperation, and is convenient for the operator and the robot 1 to use. The forearm inversion encoder bracket 2002 fixes the forearm inversion encoder 20 to ensure that the motion state of the forearm can be captured during use, and the angle change of the forearm is also monitored during use, so as to provide feedback information for teleoperation. The forearm fixing seat 21 fixes the forearm and other components to ensure the stability of the structure, and the installed multi-eye camera 22 directly captures the three-dimensional information of the surrounding environment during use, so that the operator can obtain information around the robot arm during teleoperation; The palm deflection encoder body 2401 is a component of the entire palm deflection encoder 24, and is responsible for processing and transmitting the position information of the palm. The palm deflection encoder bracket 2402 supports the encoder body to ensure its stability during use. The palm deflection encoder magnetic head 2403 is responsible for sensing the movement changes of the palm and obtaining relevant data for subsequent processing. The palm rotation encoder bracket 2601 is used to support the structure of the palm rotation encoder 27 to ensure that it can remain stable during the palm movement and maintain the palm rotation encoder 27 during the use of the palm structure by the robot arm. The encoder magnetic head 2602 cooperates with the palm rotary encoder bracket 2601 to sense the rotation of the palm, and then the palm rotary core shaft 2604 is connected to the palm rotary encoder body 2603, allowing the palm to rotate on a specific axis, and the forearm connecting rod 23 connects the forearm and the palm ulnar deviation encoder 24, and the connecting rod simulates the human skeletal structure to facilitate the support effect of the mechanical arm or the human body structure mechanics, and then the palm ulnar deviation encoder 24 during use, the movement state of the palm is fed back, so that the robot arm can respond quickly when the operator grabs or releases the hand; The palm spherical deflection encoder bracket 2402 is the supporting structure of the entire palm rotation system. It is connected to the palm spherical deflection encoder body 2401 to protect the safety of the palm spherical deflection encoder bracket 2402 during use. The palm rotation seat 26 provides a supporting platform during the rotation of the palm to facilitate the rotation of the palm. Then the palm connecting plate 25 is used to connect additional components to facilitate the operator to use. At the same time, the palm connecting plate 25 is located at the position of the operator's palm. When connecting additional components, the flexible use of the palm can be ensured. Then the palm rotation encoder bracket 2601 is the supporting structure of the palm rotation encoder 27, which is responsible for detecting the palm The palm rotary encoder head 2602 senses the rotation position of the palm and provides a feedback signal, which enters the palm rotary encoder body 2603 to process the signal from the head and perform corresponding encoding. The palm rotary core shaft 2604 serves as the axis of the rotary motion to ensure the flexible rotation of the palm, and the palm rotary encoder 27 is responsible for feedback on the rotation angle of the palm, so that during the use of the robotic arm, when the robotic arm is rotated, flipped, etc., the use data of the robotic arm can be directly fed back to the operator, so that any situation of the robotic arm can be found in time.

[0036] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An exoskeleton for remote control of a multi-axis robotic arm or a humanoid robot, comprising a robot (1) and a robotic arm structure (2), characterized in that: The robot (1) is provided with a mechanical arm structure (2) on its chest, and the mechanical arm structure (2) comprises a mechanical arm assembly (201), a shoulder blade base plate (3), a waist swivel seat (4), a waist support seat (5), a chest elastic fixing belt (6), a shoulder blade swivel encoder (7), a shoulder blade swivel joint (8), a shoulder blade abduction joint (9) and a shoulder blade abduction joint encoder (10), and a shoulder blade base plate (3) is installed between two sets of the mechanical arm assemblies (201), and a waist swivel seat (4) is installed below the shoulder blade base plate (3) via bolts, and the waist swivel seat A waist support seat (5) is installed below the shoulder blade base plate (4), and a chest elastic fixing belt (6) is installed at the edges of the shoulder blade base plate (3) and the waist support seat (5), and a shoulder blade rotation joint (8) is installed on the side of the shoulder blade base plate (3) away from the chest elastic fixing belt (6), and a shoulder blade rotation encoder (7) is arranged on the side of the shoulder blade rotation joint (8) away from the shoulder blade base plate (3), and a shoulder blade abduction joint (9) is arranged on one side of the shoulder blade rotation joint (8), and a shoulder blade abduction joint encoder (10) is installed on the side of the shoulder blade abduction joint (9).

2. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 1, characterized in that: The robot arm assembly (201) comprises a shoulder rotary encoder (11), a shoulder rotary joint (12) and a shoulder abduction encoder (13), wherein the shoulder rotary joint (12) is installed on the side of the shoulder rotary encoder (11), and the shoulder abduction encoder (13) is arranged on the side of the shoulder rotary joint (12) away from the shoulder rotary encoder (11), and the shoulder abduction encoder (13) comprises a shoulder abduction joint encoder body (1301), a shoulder abduction joint encoder magnetic head (1302) and a shoulder abduction joint core shaft (1303), and the shoulder abduction joint encoder magnetic head (1302) is installed on the side of the shoulder abduction joint encoder body (1301), and the shoulder abduction joint core shaft (1303) is arranged on the side of the shoulder abduction joint encoder magnetic head (1302) away from the shoulder abduction joint encoder body (1301).

3. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 1, characterized in that: The robotic arm assembly (201) further comprises a shoulder abduction joint (14), a shoulder abduction joint bracket (1401), a shoulder rotating spindle (1402), a shoulder abduction joint encoder bracket (1403) and a shoulder abduction joint encoder (1404), wherein the shoulder abduction joint bracket (1401) is installed below the shoulder abduction joint (14), the shoulder rotating spindle (1402) is installed below the shoulder abduction joint bracket (1401), the shoulder abduction joint encoder bracket (1403) is installed below the shoulder rotating spindle (1402), and the shoulder abduction joint encoder (1404) is installed below the shoulder abduction joint encoder bracket (1403).

4. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 3, characterized in that: A brachial inversion joint (15) is installed below the shoulder abduction joint (14), and a brachial inversion encoder (16) is installed below the brachial inversion joint (15), and the brachial inversion encoder (16) comprises a brachial inversion joint encoder body (1601), a brachial inversion joint encoder magnetic head (1602) and a brachial inversion joint core shaft (1603), and the brachial inversion joint encoder magnetic head (1602) is installed on the side of the brachial inversion joint encoder body (1601), and the brachial inversion joint core shaft (1603) is arranged on the side of the brachial inversion joint encoder magnetic head (1602) away from the brachial inversion joint encoder body (1601).

5. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 4, characterized in that: A boom length adjustment mechanism (17) is installed below the boom inversion joint (15), and the boom length adjustment mechanism (17) includes a boom fixing seat (1701) and an elbow swivel joint (18), and a boom fixing seat (1701) is installed between the boom length adjustment mechanism (17) and the boom inversion joint (15), and an elbow swivel joint (18) is provided below the boom length adjustment mechanism (17), and an elbow swivel encoder (19) is installed through the elbow swivel joint (18).

6. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 5, characterized in that: A forearm varus encoder (20) is installed below the elbow swivel joint (18), and the forearm varus encoder (20) comprises a forearm varus encoder body (2001), a forearm varus encoder bracket (2002), a forearm varus encoder magnetic head (2003), a forearm body (2004), a forearm varus core shaft (2005) and a forearm varus fixing seat (2006), and a forearm varus encoder bracket (2002) is installed on the side of the forearm varus encoder body (2001), and the A forearm inversion encoder magnetic head (2003) is arranged on the side of the forearm inversion encoder bracket (2002) away from the forearm inversion encoder body (2001), and a forearm body (2004) is installed below the forearm inversion encoder bracket (2002) by bolts, and a forearm inversion core shaft (2005) is arranged above the forearm body (2004), and a forearm inversion fixing seat (2006) is arranged on the side of the forearm inversion core shaft (2005) away from the forearm inversion encoder bracket (2002).

7. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 6, characterized in that: A forearm fixing seat (21) is installed on the side of the forearm body (2004) away from the forearm inversion encoder bracket (2002), and a multi-eye camera (22) is installed below the forearm fixing seat (21), and a forearm connecting rod (23) is arranged below the multi-eye camera (22), and a palm ulnar deviation encoder (24) is arranged below the forearm connecting rod (23).

8. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 7, characterized in that: The palm deflection encoder (24) comprises a palm deflection encoder body (2401), a palm deflection encoder bracket (2402), a palm deflection encoder magnetic head (2403), a palm rotary encoder bracket (2601), a palm rotary encoder magnetic head (2602), a palm rotary encoder body (2603) and a palm rotary spindle (2604), and a palm deflection encoder bracket (2402) is arranged below the palm deflection encoder body (2401), and a palm deflection encoder magnetic head (2403) is installed inside the palm deflection encoder bracket (2402).

9. An exoskeleton for remote control of a multi-axis manipulator or a humanoid robot according to claim 8, characterized in that: A palm rotating seat (26) is installed on the side of the palm sizing encoder bracket (2402) away from the palm sizing encoder body (2401), and a palm connecting plate (25) is installed on the side of the palm rotating seat (26) away from the palm sizing encoder (24), and the palm rotating seat (26) includes a palm rotating encoder bracket (2601), a palm rotating encoder magnetic head (2602), a palm rotating encoder body (2603) and a palm rotating core shaft (2604), and the palm rotating encoder A palm rotary encoder magnetic head (2602) is arranged on the side of the bracket (2601), and a palm rotary encoder body (2603) is arranged on the side of the palm rotary encoder bracket (2601) away from the palm rotary encoder magnetic head (2602), and a palm rotary core shaft (2604) is installed between the palm rotary encoder magnetic head (2602) and the palm rotary encoder body (2603), and a palm rotary encoder (27) is installed inside the palm rotary encoder body (2603).

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