Teleoperation master based on power-off brake

Abstract

The application belongs to the technical field of robots, in particular to the technical field of teleoperation robots, and specifically relates to a teleoperation master hand based on a power-off brake, which comprises a pose acquisition part and an end operation part; in an actual use scene, an operator holds an end handle, pulls the trigger, and the power-off brake is electrified to contact brake, so that the operator drags the master hand to move; in the moving process, the absolute encoders of each shaft collect the current angle, which is directly transmitted to the isomorphic mechanical arm or is calculated by forward kinematics to the end pose of the master hand, and then is mapped to the heterogeneous mechanical arm by inverse kinematics; when the trigger is released, the power-off brake is immediately powered off, each joint of the master hand is locked, and then the pose is locked, so that the pose keeping mode is entered. The joint motor in the master hand is replaced by a brake, so that the motor servo control system is also removed, and the cost and out-of-control risk are reduced.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, particularly the field of teleoperated robot technology, and specifically relates to a teleoperated master hand based on a power failure brake. Background Technology

[0002] The teleoperation master hand plays a multifaceted role in humanoid robots, which is mainly reflected in the following aspects:

[0003] In complex and ever-changing work tasks and hazardous working environments, relying solely on a robot's autonomous intelligent system is insufficient to complete predetermined planned tasks. Human-in-the-loop teleoperation technology is needed, combining flexible human decision-making with the robot's high-precision motion capabilities to enable the robot to better accomplish its intended tasks. The master teleoperation device is responsible for transmitting the operator's desired robot pose to the remote working environment, forming a crucial link in human-in-the-loop teleoperation. Furthermore, with imitation learning technology becoming an increasingly popular research area, the master teleoperation device can also serve as a motion capture system for human arm behavior, providing learning samples for the robot's intelligent decision-making.

[0004] The concept of a teleoperation master hand is broad, encompassing any device capable of acquiring the operator's arm pose and mapping it from the master end to the slave end. Based on the physical principles of the acquisition device, they can be categorized into optical, inertial, and mechanical types. Among these, mechanical master hands are widely used in robot teleoperation systems due to their high precision, strong anti-interference capabilities, convenient deployment, and low cost.

[0005] Most existing master hand technologies are robotic arm-type configurations, with each joint of the master hand equipped with a motor to provide force interaction functions such as posture maintenance, gravity compensation, and force feedback.

[0006] Chinese invention patent CN 113183184 A discloses a six-degree-of-freedom force feedback teleoperation master hand with gravity compensation, each degree of freedom is equipped with an active motor.

[0007] Chinese invention patent CN 113618698 A discloses a remote-operated manipulator and its spindle and remote-operation device. The assembly is essentially a manipulator with an active motor.

[0008] The existing humanoid dexterous hands mainly have the following problems:

[0009] In existing technical solutions, the inclusion of an active motor provides the master with more possibilities for force interaction, but it also brings the characteristics of system complexity and high cost. Furthermore, since the active motor can input mechanical energy into the system, it makes the system a dissipative system, increasing the risk of loss of control. Summary of the Invention

[0010] (a) Technical problems to be solved

[0011] The technical problem to be solved by the present invention is how to provide a remote operation master hand based on a power failure brake.

[0012] (II) Technical Solution

[0013] To solve the above-mentioned technical problems, the present invention provides a remote operation master hand based on a power failure brake, the remote operation master hand including a pose acquisition part and an end effector part;

[0014] The pose acquisition part consists of 6 modular acquisition joints and corresponding links, namely 3 position acquisition joints for acquiring position and 3 attitude acquisition joints for acquiring attitude, which together constitute a 6-DOF end-effector pose acquisition capability.

[0015] The end-effector is structured as an end-effector handle, which has a trigger and an operation panel. The trigger is used to start and stop the remote operation, and the operation panel is used for the end-effector's gripping and mode switching operations.

[0016] In actual use, the operator holds the end handle, pulls the trigger, the power-off brake is energized and engages, and the operator pulls the main hand to move;

[0017] During the movement, the absolute encoders of each axis collect the current angle and transmit it directly to the homogeneous robotic arm, or calculate the end pose of the master hand through forward kinematics and then map it to the heterogeneous robotic arm through inverse kinematics.

[0018] Releasing the trigger immediately cuts off power to the power-off brake, locking all joints of the main hand and locking the position, entering the position holding mode. At this time, the operator can rest and think about the next action.

[0019] Among them, PWM control of the brakes on each axis can also control the magnitude of the braking force, thus achieving preliminary force feedback.

[0020] Among them, such as Figure 1 As shown, the remote operation master hand includes: base (1), position acquisition joint (2), L plate (3), upper arm link (4), lower arm link (5), posture acquisition joint (6), end effector first link (7), end effector second link (8), and end effector handle (9).

[0021] The three position acquisition joints (2) are connected as one unit through the base (1), L plate (3), upper arm link (4), and lower arm link (5) to form the main hand structure, providing three degrees of freedom for position acquisition;

[0022] The three attitude acquisition joints (6) are connected by the first end link (7), the second end link (8), and the end handle (9), forming the end structure of the master hand and providing three degrees of freedom for attitude acquisition.

[0023] The end handle (9) is for the operator to grip and operate the end effector.

[0024] Among them, such as Figure 2 As shown, the position acquisition joint (2) includes: a multi-turn absolute encoder (2-1), an adapter shaft (2-2), a first encoder mounting plate (2-3), a power failure brake (2-4), a reducer mounting plate (2-5), and a reducer (2-6).

[0025] The multi-turn absolute encoder (2-1) is used to record the joint position. Its number of turns is greater than the reduction ratio of the reducer, so that the count in a single turn at the output end of the reducer is not repeated.

[0026] The position acquisition joint (2) needs to bear the overall weight of the main hand and requires a large holding torque, so it is equipped with a reducer (2-6);

[0027] When the power is cut off, the power-off brake (2-4) locks the adapter shaft (2-2), thereby locking the output end of the reducer (2-6) and locking the position.

[0028] The multi-turn absolute encoder (2-1) is connected to the first encoder mounting plate (2-3) via an adapter shaft (2-2); the first encoder mounting plate (2-3) is connected to the power-off brake (2-4) via a threaded connection;

[0029] The power failure brake (2-4) and the reducer (2-6) are respectively sleeved onto the reducer mounting plate (2-5) from both sides.

[0030] Among them, such as Figure 3 The attitude acquisition joint (6) includes: a single-turn absolute encoder (6-1), a second encoder mounting plate (6-2), a power failure brake (6-3), an outer ring sleeve (6-4), a bearing seat (6-5), a main shaft (6-6), a bearing (6-7), and an inner ring sleeve (6-8).

[0031] The attitude acquisition joint (6) is located at the end of the main hand. When the power is off, the required holding torque is small, so there is no need to equip it with a reducer. The corresponding absolute encoder can also be used in a single turn.

[0032] The single-turn absolute encoder (6-1) is mounted on the second encoder mounting plate (6-2), and the second encoder mounting plate (6-2) is connected to the power failure brake (6-3) by a thread;

[0033] One end of the main shaft (6-6) passes through the power failure brake (6-3) and the second encoder mounting plate (6-2) in sequence, and then connects with the connecting hole in the center of the single-turn absolute encoder (6-1);

[0034] The other end of the spindle (6-6) is fitted with a bearing (6-7) and then embedded inside the bearing housing (6-5);

[0035] The bearing housing (6-5) and the power failure brake (6-3) are connected by circumferentially distributed screws.

[0036] Among them, such as Figure 4 As shown, the end handle (9) includes: a grip (9-1), an end adapter flange (9-2), a trigger (9-3), and an operation panel (9-4);

[0037] The grip (9-1) is for the operator to hold, thereby pulling the main hand to move the entire arm and obtain the trajectory of the main end position change;

[0038] The end adapter flange (9-2) is installed on the last attitude acquisition joint of the master hand;

[0039] The trigger (9-3) is used by the operator to activate / deactivate remote operation;

[0040] The operator panel (9-4) allows the operator to control the end effector.

[0041] When the trigger (9-3) is pulled, all joints of the main hand lose power and the brakes are energized, releasing the position holding and allowing the operator to freely drag the main hand;

[0042] When the trigger (9-3) is released, the power-off brake is de-energized, the main hand engages the position holding mode, and the operator can temporarily leave the hand.

[0043] The operation panel (9-4) allows the operator to control the end effector, including grippers, dexterous hands, etc., and flexibly arranges operation units including knobs and buttons to control different gripping modes and displacements of different end effectors.

[0044] (III) Beneficial Effects

[0045] This invention provides a remote-operated master hand based on a power-off brake. By replacing the joint motors in the master hand with a brake, the motor servo control system is eliminated, reducing costs and the risk of loss of control. Simultaneously, the presence of the power-off brake allows the master hand to maintain its current position after the operator leaves, ensuring that the pose sent to the slave end does not change abruptly upon the next startup. This allows the operator to rest at any time, reducing mental strain.

[0046] Compared with the prior art, the present invention has the following innovations:

[0047] 1. Master Hand Structure Based on Power-Off Brake. The overall structure of the master hand is a typical serial 6-DOF robotic arm, equipped with a handle at the end effector. Each joint of the master hand adopts a modular design. The core components of the position acquisition joint are the reducer, brake, and encoder; the core components of the attitude acquisition joint are the brake and encoder. This teleoperated master hand consists of 6 modular acquisition joints and necessary linkages.

[0048] 2. Master Hand Control Mode. When the trigger is pulled, all joints of the master hand lose power and the brake is energized, releasing the position holding mode, allowing the operator to freely drag the master hand; when the trigger is released, the brake is de-energized, the master hand enters the position holding mode, and the operator can temporarily remove their hand.

[0049] The beneficial effects of this invention compared to existing technologies are as follows:

[0050] (1) Remove the active drive motor and the corresponding servo drive system, and use a brake to maintain the position of the master hand, thereby reducing costs and improving operational reliability.

[0051] (2) It adopts a modular design, with a simple and compact structure and high maintainability. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of a remote operation master hand based on a power failure brake;

[0053] Figure 2 This is a schematic diagram of the joint for position acquisition;

[0054] Figure 3 A schematic diagram of the joints for attitude acquisition;

[0055] Figure 4 This is a schematic diagram of the end handle.

[0056] Figure 1 : Base 1, Position acquisition joint 2, L-plate 3, Upper arm link 4, Lower arm link 5, Posture acquisition joint 6, End effector first link 7, End effector second link 8, End effector handle 9.

[0057] Figure 2 Position acquisition joint 2, multi-turn absolute encoder 2-1, adapter shaft 2-2, encoder mounting plate 2-3, power failure brake 2-4, reducer mounting plate 2-5, reducer 2-6.

[0058] Figure 3 : Attitude acquisition joint 6, single-turn absolute encoder 6-1, encoder mounting plate 6-2, power failure brake 6-3, outer ring sleeve 6-4, bearing housing 6-5, main shaft 6-6, bearing 6-7, inner ring sleeve 6-8.

[0059] Figure 4: End handle 9, grip 9-1, end adapter flange 9-2, trigger 9-3, control panel 9-4. Detailed Implementation

[0060] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0061] To solve the above-mentioned technical problems, the present invention provides a remote operation master hand based on a power failure brake, the remote operation master hand including a pose acquisition part and an end effector part;

[0062] The pose acquisition part consists of 6 modular acquisition joints and corresponding links, namely 3 position acquisition joints for acquiring position and 3 attitude acquisition joints for acquiring attitude, which together constitute a 6-DOF end-effector pose acquisition capability.

[0063] The end-effector is structured as an end-effector handle, which has a trigger and an operation panel. The trigger is used to start and stop the remote operation, and the operation panel is used for the end-effector's gripping and mode switching operations.

[0064] In actual use, the operator holds the end handle, pulls the trigger, the power-off brake is energized and engages, and the operator pulls the main hand to move;

[0065] During the movement, the absolute encoders of each axis collect the current angle and transmit it directly to the homogeneous robotic arm, or calculate the end pose of the master hand through forward kinematics and then map it to the heterogeneous robotic arm through inverse kinematics.

[0066] Releasing the trigger immediately cuts off power to the power-off brake, locking all joints of the main hand and locking the position, entering the position holding mode. At this time, the operator can rest and think about the next action.

[0067] Among them, PWM control of the brakes on each axis can also control the magnitude of the braking force, thus achieving preliminary force feedback.

[0068] Among them, such as Figure 1 As shown, the remote operation master hand includes: base (1), position acquisition joint (2), L plate (3), upper arm link (4), lower arm link (5), posture acquisition joint (6), end effector first link (7), end effector second link (8), and end effector handle (9).

[0069] The three position acquisition joints (2) are connected as one unit through the base (1), L plate (3), upper arm link (4), and lower arm link (5) to form the main hand structure, providing three degrees of freedom for position acquisition;

[0070] The three attitude acquisition joints (6) are connected by the first end link (7), the second end link (8), and the end handle (9), forming the end structure of the master hand and providing three degrees of freedom for attitude acquisition.

[0071] The end handle (9) is for the operator to grip and operate the end effector.

[0072] Among them, such as Figure 2 As shown, the position acquisition joint (2) includes: a multi-turn absolute encoder (2-1), an adapter shaft (2-2), a first encoder mounting plate (2-3), a power failure brake (2-4), a reducer mounting plate (2-5), and a reducer (2-6).

[0073] The multi-turn absolute encoder (2-1) is used to record the joint position. Its number of turns is greater than the reduction ratio of the reducer, so that the count in a single turn at the output end of the reducer is not repeated.

[0074] The position acquisition joint (2) needs to bear the overall weight of the main hand and requires a large holding torque, so it is equipped with a reducer (2-6);

[0075] When the power is cut off, the power-off brake (2-4) locks the adapter shaft (2-2), thereby locking the output end of the reducer (2-6) and locking the position.

[0076] The multi-turn absolute encoder (2-1) is connected to the first encoder mounting plate (2-3) via an adapter shaft (2-2); the first encoder mounting plate (2-3) is connected to the power-off brake (2-4) via a threaded connection;

[0077] The power failure brake (2-4) and the reducer (2-6) are respectively sleeved onto the reducer mounting plate (2-5) from both sides.

[0078] Among them, such as Figure 3 The attitude acquisition joint (6) includes: a single-turn absolute encoder (6-1), a second encoder mounting plate (6-2), a power failure brake (6-3), an outer ring sleeve (6-4), a bearing seat (6-5), a main shaft (6-6), a bearing (6-7), and an inner ring sleeve (6-8).

[0079] The attitude acquisition joint (6) is located at the end of the main hand. When the power is off, the required holding torque is small, so there is no need to equip it with a reducer. The corresponding absolute encoder can also be used in a single turn.

[0080] The single-turn absolute encoder (6-1) is mounted on the second encoder mounting plate (6-2), and the second encoder mounting plate (6-2) is connected to the power failure brake (6-3) by a thread;

[0081] One end of the main shaft (6-6) passes through the power failure brake (6-3) and the second encoder mounting plate (6-2) in sequence, and then connects with the connecting hole in the center of the single-turn absolute encoder (6-1);

[0082] The other end of the spindle (6-6) is fitted with a bearing (6-7) and then embedded inside the bearing housing (6-5);

[0083] The bearing housing (6-5) and the power failure brake (6-3) are connected by circumferentially distributed screws.

[0084] Among them, such as Figure 4 As shown, the end handle (9) includes: a grip (9-1), an end adapter flange (9-2), a trigger (9-3), and an operation panel (9-4);

[0085] The grip (9-1) is for the operator to hold, thereby pulling the main hand to move the entire arm and obtain the trajectory of the main end position change;

[0086] The end adapter flange (9-2) is installed on the last attitude acquisition joint of the master hand;

[0087] The trigger (9-3) is used by the operator to activate / deactivate the remote operation;

[0088] The operator panel (9-4) allows the operator to control the end effector.

[0089] When the trigger (9-3) is pulled, all joints of the main hand lose power and the brakes are energized, releasing the position holding and allowing the operator to freely drag the main hand;

[0090] When the trigger (9-3) is released, the power-off brake is de-energized, the main hand engages the position holding mode, and the operator can temporarily leave the hand.

[0091] The operation panel (9-4) allows the operator to control the end effector, including grippers, dexterous hands, etc., and flexibly arranges operation units including knobs and buttons to control different gripping modes and displacements of different end effectors.

[0092] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A remote operating master hand based on a power failure brake, characterized in that, The teleoperation master hand includes a pose acquisition part and an end-effector; The pose acquisition part consists of 6 modular acquisition joints and corresponding links, namely 3 position acquisition joints for acquiring position and 3 attitude acquisition joints for acquiring attitude, which together constitute a 6-DOF end pose acquisition capability. The end-effector is structured as an end-effector handle, which has a trigger and an operation panel. The trigger is used for remote operation to start and stop, and the operation panel is used for the end-effector's gripping and mode switching. In actual use, the operator holds the end handle, pulls the trigger, the power-off brake is energized and released, and the operator pulls the main hand to move; During the movement, the absolute encoders of each axis collect the current angle and transmit it directly to the homogeneous robotic arm, or calculate the end pose of the master hand through forward kinematics and then map it to the heterogeneous robotic arm through inverse kinematics. When the trigger is released, the power-off brake immediately cuts off the power, locking all joints of the main hand and locking the position, thus entering the position holding mode. The remote control master hand includes: a base (1), a position acquisition joint (2), an L-plate (3), an upper arm link (4), a lower arm link (5), an attitude acquisition joint (6), an end effector first link (7), an end effector second link (8), and an end effector handle (9). The three position acquisition joints (2) are connected as one unit through the base (1), L plate (3), upper arm link (4), and lower arm link (5) to form the main hand structure, providing three degrees of freedom for position acquisition; The three attitude acquisition joints (6) are connected by the first end link (7), the second end link (8), and the end handle (9), forming the end structure of the master hand and providing three degrees of freedom for attitude acquisition. The end handle (9) is for the operator to grip and operate the end effector; The position acquisition joint (2) includes: a multi-turn absolute encoder (2-1), a transfer shaft (2-2), a first encoder mounting plate (2-3), a first power failure brake (2-4), a reducer mounting plate (2-5), and a reducer (2-6). The attitude acquisition joint (6) includes: a single-turn absolute encoder (6-1), a second encoder mounting plate (6-2), a second power failure brake (6-3), a bearing seat (6-5), a main shaft (6-6), and a bearing (6-7). The attitude acquisition joint (6) is located at the end of the main hand. When the power is off, the required holding torque is small, so there is no need to equip it with a reducer. The corresponding absolute encoder is also a single-turn encoder.

2. The remote operation master hand based on the power failure brake as described in claim 1, characterized in that, The brakes on each axis are controlled by PWM, and force feedback is achieved by controlling the magnitude of the braking force.

3. The remote operation master hand based on the power failure brake as described in claim 1, characterized in that, The multi-turn absolute encoder (2-1) is used to record the joint position. Its number of turns is greater than the reduction ratio of the reducer, so that the count in a single turn at the output end of the reducer is not repeated. The position acquisition joint (2) needs to bear the overall weight of the main hand and requires a large holding torque, so it is equipped with a reducer (2-6). When the first power failure brake (2-4) is de-energized, it locks the adapter shaft (2-2), thereby locking the output end of the reducer (2-6) and locking the position.

4. The remote operation master hand based on the power failure brake as described in claim 1, characterized in that, The multi-turn absolute encoder (2-1) is connected to the first encoder mounting plate (2-3) via an adapter shaft (2-2); the first encoder mounting plate (2-3) is connected to the first power failure brake (2-4) via a threaded connection. The first power failure brake (2-4) and the reducer (2-6) are respectively sleeved onto the reducer mounting plate (2-5) from both sides.

5. The remote operation master hand based on the power failure brake as described in claim 1, characterized in that, The single-turn absolute encoder (6-1) is mounted on the second encoder mounting plate (6-2), and the second encoder mounting plate (6-2) is connected to the second power failure brake (6-3) by a thread. One end of the main shaft (6-6) passes through the second power failure brake (6-3) and the second encoder mounting plate (6-2) in sequence, and then connects with the connecting hole in the center of the single-turn absolute encoder (6-1); The other end of the spindle (6-6) is fitted with a bearing (6-7) and then embedded inside the bearing housing (6-5); The bearing housing (6-5) and the second power-off brake (6-3) are connected by circumferentially distributed screws.

6. The remote operation master hand based on the power failure brake as described in claim 5, characterized in that, The end handle (9) includes: a grip (9-1), an end adapter flange (9-2), a trigger (9-3), and an operation panel (9-4). The grip (9-1) is for the operator to hold, thereby pulling the main hand to move the entire arm and obtain the trajectory of the main end position change; The end adapter flange (9-2) is installed on the last attitude acquisition joint of the master hand; The trigger (9-3) is used by the operator to activate / deactivate remote operation; The operator panel (9-4) allows the operator to control the end effector.

7. The remote operation master hand based on the power failure brake as described in claim 6, characterized in that, When the trigger (9-3) is pulled, all joints of the main hand lose power and the brakes are energized, releasing the position holding and allowing the operator to freely drag the main hand; When the trigger (9-3) is released, the power-off brake is de-energized, the main hand engages the position holding mode, and the operator can temporarily leave the hand.

8. The remote operation master hand based on the power failure brake as described in claim 6, characterized in that, The operation panel (9-4) is used by the operator to control the end effector, including the gripper and the dexterous hand. It is equipped with operation units including knobs and buttons to control different gripping modes and displacements of different end effectors.

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