Robot control equipment based on virtual reality

Abstract

The invention discloses virtual reality robot control equipment, and relates to the technical field of virtual reality, and the virtual reality robot control equipment comprises a pedal device, a seat device, a backrest device, an arm device and a palm device; footstep movement is simulated, a user can complete stepping movement, and variable loads can be applied to footsteps through a thrust cylinder; movement of the waist is simulated, forward leaning and backward leaning with the angle not exceeding 25 degrees can be completed, and lateral bending can be conducted along with the waist. Seven-degree-of-freedom movement of an arm is simulated, the robot can adapt to different arm lengths, and variable loads can be applied to bending of a large arm and a small arm; the bending movement of the finger is simulated, and the finger movement can apply load.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual reality, and in particular to a virtual reality robot control device. Background Art

[0002] Virtual reality robotics uses virtual reality technology to present the appearance and behavior of a robot in a user's virtual environment, enabling interaction between the user and the robot. Virtual reality robotics has a wide range of applications, including education, healthcare, and entertainment. For example, in healthcare, doctors can use virtual reality technology for surgical simulations and training; in education, students can use virtual reality robotics for experiments and exploration. In the future, as the technology continues to develop and improve, virtual reality robotics will become increasingly mature, bringing greater convenience and enjoyment to people's lives.

[0003] Chinese invention patent application publication number CN104317196A discloses a control method for a virtual reality-based upper limb rehabilitation training robot. The method includes: using an instrument to collect electromyographic signals from the human body, filtering the electromyographic signals, and processing them as input signals to obtain joint movement angle values. The desired joint movement direction is also predicted. The joint movement angle values ​​and the desired joint movement direction are extracted to obtain the arm's movement trajectory. The instrument receives the movement trajectory signal and drives the upper limb exoskeleton to move along the movement trajectory, while displaying the actual position during movement in a 3D virtual environment. This invention can assist the operator in upper limb rehabilitation training by wearing an exoskeleton and allows the user to observe their own movements in virtual reality.

[0004] The aforementioned patent focuses solely on upper limb rehabilitation training, achieving this goal through integration with virtual reality technology. Virtual reality technology requires more than just arm simulation; it also requires movement simulation of the feet, waist, hands, and other parts of the body. Therefore, a device is required that can simulate and detect various human movements, apply and change loads to common movements, and transmit these loads to the virtual reality device via electrical signals, thereby enabling control of a virtual robot or remote control of a robot. Summary of the Invention

[0005] In response to the above technical problems, the technical solution adopted by the present invention is: a virtual reality robot control device, including a footrest device, a seat device, a backrest device, an arm device, and a palm device; the footrest device is fixedly installed on the seat device, the seat device is fixedly installed on the backrest device, the backrest device is hingedly installed on the arm device, and the arm device is hingedly installed on the palm device; the footrest device can simulate daily footsteps through a foot rope and an eccentric shaft, and a thrust cylinder is provided underneath it, which can apply a variable load to the footsteps. The seat device is used to provide sitting support, the backrest device can simulate forward and backward movements at an angle of up to 25 degrees, and can follow the waist to bend sideways, the arm device allows the arm to achieve seven degrees of freedom of movement and be detected, can adapt to different arm lengths and can apply a variable load to the arm bending movement, the palm device can detect the bending movement of the fingers therein and can apply a load, and the simulation and detection of body movements by the above devices transmit the signal to the virtual reality instrument, thereby achieving the function of virtual reality or remote operation of the robot.

[0006] Furthermore, the foot pedal device includes a foot pedal, an eccentric shaft, a foot pedal support, a turntable connection, a large turntable, a foot zipline, a foot base, a zipline connection, a first push rod connection, a foot push rod, a foot cylinder, a foot magnet, a first cylinder connection, and a foot spring; the foot pedal is hinged to the eccentric shaft, the eccentric shaft is hinged to the foot pedal support, the foot pedal is hinged to the turntable connection, the turntable connection is hinged to the large turntable, the foot zipline is slidably installed with the large turntable, the foot zipline is hinged to the zipline connection, the zipline connection is fixedly installed with the foot pedal, the foot pedal is fixedly installed with the first push rod, the first push rod is hinged to the foot push rod, the foot push rod is fixedly installed with the foot spring, the foot spring is slidably installed with the foot cylinder, the foot magnet is fixedly installed with the foot cylinder, the foot cylinder is hinged to the first cylinder, the first cylinder connection is fixedly installed with the foot base, and the foot base is fixedly installed with the foot pedal.

[0007] Furthermore, the arm device includes an outer rod of the forearm, a forearm collar, an upper arm strap, an upper arm retraction rod, an upper arm extension rod, a shoulder turntable, a second push rod connection, an arm thrust cylinder, a second cylinder body connection, an forearm retraction rod, and an forearm extension rod; the outer rod of the forearm is fixedly installed on the forearm collar, the outer rod of the forearm is hingedly installed on the upper arm retraction rod, the upper arm retraction rod is fixedly installed on the upper arm strap, the upper arm retraction rod is slidably installed on the upper arm extension rod, the upper arm extension rod is hingedly installed on the shoulder turntable, the upper arm retraction rod is connected and fixedly installed on the second push rod, the second push rod is fixedly hingedly installed on the arm thrust cylinder, the arm thrust cylinder is hingedly installed on the second cylinder body, the second cylinder body is hingedly installed on the outer rod of the forearm, the forearm retraction rod is hingedly installed on the forearm collar, and the forearm retraction rod is slidably installed on the forearm extension rod.

[0008] Furthermore, the backrest device includes a bent column connection, a backrest bent column, a backrest pillar, a first backrest spring, a second backrest spring, and a backrest support plate; the bent column connection is hingedly installed with the backrest bent column, the backrest bent column is fixedly installed with the first backrest spring, the backrest pillar is fixedly installed with the first backrest spring, the backrest pillar is fixedly installed with the second backrest spring, the second backrest spring is fixedly installed with the backrest support plate, and the backrest support plate is slidably installed with the backrest bent column.

[0009] Furthermore, the backrest device includes a backrest plate, a first elastic rod, an upper backrest, a second elastic rod, a lower backrest, and a third elastic rod; the backrest plate is fixedly installed on the backrest bending column, the backrest plate is fixedly installed on the first elastic rod, the first elastic rod is fixedly installed on the upper backrest, the upper backrest is fixedly installed on the second elastic rod, the second elastic rod is fixedly installed on the lower backrest, the lower backrest is fixedly installed on the third elastic rod, and the third elastic rod is fixedly installed on the backrest plate.

[0010] Furthermore, the forearm ring includes an forearm outer ring, an forearm inner ring, an forearm lock, and an forearm spring; the forearm outer ring and the forearm inner ring are hingedly installed, the forearm spring and the forearm inner ring are fixedly installed, and the forearm spring and the forearm lock are fixedly installed.

[0011] Furthermore, the arm thrust cylinder includes an arm cylinder body, an arm magnet, an arm spring, and an arm push rod; the arm cylinder body and the arm magnet are fixedly installed, the arm cylinder body and the arm spring are slidably installed, and the arm spring and the arm push rod are fixedly installed.

[0012] Furthermore, the palm device includes a wire draw box, finger wires, finger sleeves, and a palm plate; the wire draw box is fixedly installed on the palm plate, the finger wires are slidably installed on the wire draw box, and the finger wires are fixedly installed on the finger sleeves.

[0013] Furthermore, the seat device includes a seat pillar, a seat seat plate, and a seat bottom plate; the seat pillar and the seat seat plate are fixedly installed, and the seat pillar and the seat bottom plate are fixedly installed.

[0014] The advantages of the present invention compared with the prior art are as follows: (1) The present invention simulates the movement of the foot, allowing the user to complete the stepping motion, and can apply a variable load to the foot through the thrust cylinder. (2) The present invention simulates the movement of the waist, can complete the forward and backward leaning angle of no more than 25 degrees, and can follow the side bending of the waist. (3) The present invention simulates the seven-degree-of-freedom movement of the arm, can adapt to different arm lengths, and can apply a variable load to the bending of the upper arm and forearm. (4) The present invention simulates the bending movement of the finger and can apply a load to the finger movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the assembly structure of the working state of an embodiment of the present invention.

[0016] Figure 2Schematic diagram of the component structure of the pedal device of the present invention Figure 1 .

[0017] Figure 3 Schematic diagram of the component structure of the pedal device of the present invention Figure 2 .

[0018] Figure 4 Schematic diagram of the component structure of the seat device of the present invention.

[0019] Figure 5 Schematic diagram of the component structure of the backrest device of the present invention Figure 1 .

[0020] Figure 6 Schematic diagram of the component structure of the backrest device of the present invention Figure 2 .

[0021] Figure 7 Schematic diagram of the component structure of the arm device of the present invention.

[0022] Figure 8 Schematic diagram of the component structure of the forearm collar of the present invention.

[0023] Figure 9 It is a schematic diagram of the component structure of the arm thrust cylinder of the present invention.

[0024] Figure 10 Schematic diagram of the component structure of the palm device of the present invention.

[0025] In the picture: 1- footrest device; 2- seat device; 3- backrest device; 4- arm device; 5- palm device; 101 - Foot pedal; 102 - Eccentric shaft; 103 - Foot support; 104 - Turntable connection; 105 - Large turntable; 106 - Foot zipline; 107 - Foot base; 108 - zipline connection; 109 - First push rod connection; 110 - Foot push rod; 111 - Foot cylinder; 112 - Foot magnet; 113 - First cylinder connection; 114 - Foot spring; 201-seat pillar; 202-seat seat plate; 203-seat bottom plate; 301-bent column connection; 302-backrest bent column; 303-backrest support column; 304-first backrest spring; 305-second backrest spring; 306-backrest support plate; 307-backrest plate; 308-first elastic rod; 309-upper backrest; 310-second elastic rod; 311-lower backrest; 312-third elastic rod; 401 - forearm outer rod; 402 - forearm collar; 403 - upper arm strap; 404 - upper arm retraction rod; 405 - upper arm extension rod; 406 - shoulder turntable; 407 - second push rod connection; 408 - arm thrust cylinder; 409 - second cylinder body connection; 410 - forearm retraction rod; 411 - forearm extension rod; 40201-Forearm outer ring; 40202-Forearm inner ring; 40203-Forearm lock; 40204-Forearm spring; 40801-arm cylinder; 40802-arm magnet; 40803-arm spring; 40804-arm push rod; 501-Pull wire box; 502-Finger pull wire; 503-Finger sleeve; 504-Palm board. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0027] Among them, the drawings are only used for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0028] like Figure 1 As shown, the footrest device 1 is fixedly installed on the seat device 2, the seat device 2 is fixedly installed on the backrest device 3, the backrest device 3 is hingedly installed on the arm device 4, and the arm device 4 is hingedly installed on the palm device 5; the footrest device 1 can simulate daily footsteps through the foot rope 106 and the eccentric shaft 102, and a thrust cylinder is provided underneath it, which can apply a variable load to the footsteps. The seat device 2 is used to provide sitting support, and the backrest device 3 can simulate forward and backward movements with an angle of up to 25 degrees, and can bend sideways with the waist. The arm device 4 allows the arm to achieve seven degrees of freedom of movement and be detected, can adapt to different arm lengths and can apply a variable load to the arm bending movement, and the palm device 5 can detect the bending movement of the fingers and apply a load. By simulating and detecting body movements through the above-mentioned devices, the signal is transmitted to the virtual reality instrument, thereby achieving the effect of virtual reality or remote operation of the robot.

[0029] like Figure 2 、 Figure 3As shown, the foot pedal 101 is hinged to the eccentric shaft 102, the eccentric shaft 102 is hinged to the foot support 103, the foot support 103 is hinged to the turntable connection 104, the turntable connection 104 is hinged to the large turntable 105, the foot zipline 106 is slidably installed on the large turntable 105, the foot zipline 106 is hinged to the zipline connection 108, the zipline connection 108 is fixed to the foot pedal 101, and the foot pedal 101 is connected to the first push rod 10 9 is fixedly installed, the first push rod connection 109 is hingedly installed with the pedal push rod 110, the pedal push rod 110 is fixedly installed with the pedal spring 114, the pedal spring 114 is slidably installed with the pedal cylinder body 111, the pedal magnet 112 is fixedly installed with the pedal cylinder body 111, the pedal cylinder body 111 is hingedly installed with the first cylinder body connection 113, the first cylinder body connection 113 is fixedly installed with the pedal base plate 107, and the pedal base plate 107 is fixedly installed with the pedal support 103.

[0030] like Figure 4 As shown, the seat pillar 201 is fixedly installed with the seat seat plate 202 , and the seat pillar 201 is fixedly installed with the seat bottom plate 203 .

[0031] like Figure 5 As shown, the bent column link is hingedly installed with the backrest bent column 302, the backrest bent column 302 is fixedly installed with the first backrest spring 304, the backrest pillar 303 is fixedly installed with the first backrest spring 304, the backrest pillar 303 is fixedly installed with the second backrest spring 305, the second backrest spring 305 is fixedly installed with the backrest support plate 306, and the backrest support plate 306 is slidably installed with the backrest bent column 302.

[0032] like Figure 6 As shown, the backrest plate 307 is fixedly installed on the backrest curved column 302, the backrest plate 307 is fixedly installed on the first elastic rod 308, the first elastic rod 308 is fixedly installed on the upper backrest 309, the upper backrest 309 is fixedly installed on the second elastic rod 310, the second elastic rod 310 is fixedly installed on the lower backrest 311, the lower backrest 311 is fixedly installed on the third elastic rod 312, and the third elastic rod 312 is fixedly installed on the backrest plate 307.

[0033] like Figure 7 As shown, the forearm outer rod 401 is fixedly installed on the forearm collar 402, the forearm outer rod 401 is hingedly installed on the boom retraction rod 404, the boom retraction rod 404 is fixedly installed on the boom strap 403, the boom retraction rod 404 is slidably installed on the boom extension rod 405, the boom extension rod 405 is hingedly installed on the shoulder turntable 406, the boom retraction rod 404 is fixedly installed on the second push rod connection 407, the second push rod is fixedly hingedly installed on the arm thrust cylinder 408, the arm thrust cylinder 408 is hingedly installed on the second cylinder body connection 409, the second cylinder body connection 409 is hingedly installed on the forearm outer rod 401, the forearm retraction rod 410 is hingedly installed on the forearm collar 402, and the forearm retraction rod 410 is slidably installed on the forearm extension rod 411.

[0034] like Figure 8 As shown, the forearm outer ring 40201 is hingedly installed with the forearm inner ring 40202, the forearm spring 40204 is fixedly installed with the forearm inner ring 40202, and the forearm spring 40204 is fixedly installed with the forearm lock 40203.

[0035] like Figure 9 As shown, the arm cylinder 40801 and the arm magnet 40802 are fixedly installed, the arm cylinder 40801 and the arm spring 40803 are slidingly installed, and the arm spring 40803 and the arm push rod 40804 are fixedly installed.

[0036] like Figure 10 As shown, the wire draw box 501 is fixedly mounted on the palm plate 504 , the finger wire draw box 501 is slidably mounted on the finger wire draw box 501 , and the finger wire draw box 502 is fixedly mounted on the finger sleeve 503 .

[0037] Figure 1 This is the working state of the first embodiment of the present invention.

[0038] The footrest device 1 simulates the user's stepping motion as footstep motion, and at the same time, the footstep motion applies load. The seat device 2 provides position and support for the user. The backrest device 3 is close to the user's waist and follows the user to complete the forward and backward leaning of the back and the lateral bending of the waist. The arm device 4 wraps the user's arm, and the user's arm can complete the complete seven-degree-of-freedom movement in it. The palm device 5 covers the user's fingers, completes the bending of the fingers and applies load.

[0039] Working principle of the present invention: Figure 1 The present invention provides a method of use and corresponding scenarios. The user sits on the seat device 2, places both feet on the foot pedals 101 of the footrest device 1, presses the waist and back against the backrest device, places both arms in the arm devices 4 on both sides, fixes the upper arms with the upper arm straps 403, places the forearms in the forearm rings 402, and places the fingers in the finger rings in the palm device 5.

[0040] Taking Example 1 as an example, the footrest device 1 of the present invention simulates foot movement and applies a variable load, the backrest device 3 simulates waist and back movement, completing forward leaning, backward leaning and side bending, the arm device 4 simulates the seven-degree-of-freedom movement of the arm, and the palm device 5 simulates the bending movement of the fingers.

[0041] Specifically, such as Figure 2 、 Figure 3As shown, the user places both feet in the foot pedals 101 and performs stepping motion. The other foot pedal 101 is driven by the eccentric shaft 102 and the foot pulley 106, thereby completing continuous stepping motion. The foot cylinder 111 and the foot spring 114 under the foot pedal 101 can apply a load to the foot pedal 101. By changing the electrical signal of the foot magnet 112, the provided load can be changed.

[0042] like Figures 4-6 As shown, the seat device 2 provides a working position for the user and also provides support for the backrest device 3. The backrest bending column 302 of the backrest device 3 is connected to the backrest board 307. Through the connection between the first backrest spring 304 and the second backrest spring 305, the backrest board 307 can complete forward and backward tilting at an angle not exceeding 25 degrees. Through the action of the first elastic rod 308, the second elastic rod 310 and the third elastic rod 312, the upper backrest 309 and the lower backrest 311 can bend sideways following the waist.

[0043] like Figure 7 As shown, the user's arm is wrapped by the arm device 4, the upper arm strap 403 fixes the upper arm, the upper arm extension rod 405 and the upper arm retraction rod 404 adapt to different upper arm lengths, the forearm ring 402 fixes the forearm, and the forearm extension rod 411 and the forearm retraction rod 410 adapt to different forearm lengths.

[0044] like Figure 8 As shown, the forearm inner ring 40202 in the forearm collar 402 rotates along with the forearm, and the forearm spring 40204 supports the forearm lock 40203 to stick to the forearm.

[0045] like Figure 9 As shown, the arm thrust cylinder 408 provides a load for the bending between the upper arm and the lower arm. By changing the electrical signal of the arm magnet 40802, the load on the arm can be changed.

[0046] like Figure 10 As shown, the finger is placed in the finger ring to pull the draw wire box 501, and the draw wire box 501 provides load to the finger movement through the finger pull wire 502.

[0047] The present invention is not limited to the above-mentioned specific implementation methods. Various changes made by technicians in the relevant technical field based on the above-mentioned conception without creative work are all within the scope of protection of the present invention.

Claims

1. A virtual reality robot control device, comprising a footrest device (1), a seat device (2), a backrest device (3), an arm device (4), and a palm device (5); characterized in that: The pedal device (1) is fixedly mounted on the seat device (2), the seat device (2) is fixedly mounted on the backrest device (3), the backrest device (3) is hingedly mounted on the arm device (4), and the arm device (4) is hingedly mounted on the palm device (5); the pedal device (1) can simulate daily footsteps through the pedal rope (106) and the eccentric shaft (102), and a thrust cylinder is arranged below the pedal device to apply a variable load to the footsteps; the seat device (2) is used to provide sitting support; the backrest device (3) can simulate forward and backward leaning movements with a maximum angle of 25 degrees and can follow the side bending of the waist; the arm device (4) allows the arm to achieve seven degrees of freedom of movement and be detected, can adapt to different arm lengths and can apply a variable load to the arm bending movement; the palm device (5) can detect the bending movement of the fingers therein and can apply a load; by simulating and detecting body movements through the above-mentioned devices, the signal is transmitted to the virtual reality instrument, and the effect of virtual reality or remote operation of the robot can be achieved.

2. A virtual reality robot control device according to claim 1, characterized in that: The pedal device (1) comprises a pedal (101), an eccentric shaft (102), a pedal support (103), a turntable connection (104), a large turntable (105), a pedal zipline (106), a pedal base (107), a zipline connection (108), a first push rod connection (109), a pedal push rod (110), a pedal cylinder (111), a pedal magnet (112), a first cylinder connection (113), and a pedal spring (114); the pedal (101) is hingedly mounted on the eccentric shaft (102), the eccentric shaft (102) is hingedly mounted on the pedal support (103), the pedal support (103) is hingedly mounted on the turntable connection (104), the turntable connection (104) is hingedly mounted on the large turntable (105), the pedal zipline (106) is hingedly mounted on the large turntable. (105) is slidably mounted, the foot rope (106) is hingedly mounted to the rope connection (108), the rope connection (108) is fixedly mounted to the foot pedal (101), the foot pedal (101) is fixedly mounted to the first push rod connection (109), the first push rod connection (109) is hingedly mounted to the foot push rod (110), the foot push rod (110) is fixedly mounted to the foot spring (114), the foot spring (114) is slidably mounted to the foot cylinder (111), the foot magnet (112) is fixedly mounted to the foot cylinder (111), the foot cylinder (111) is hingedly mounted to the first cylinder connection (113), the first cylinder connection (113) is fixedly mounted to the foot base (107), and the foot base (107) is fixedly mounted to the foot support (103).

3. A virtual reality robot control device according to claim 2, characterized in that: The arm device (4) comprises a forearm outer rod (401), a forearm collar (402), an upper arm strap (403), an upper arm retracting rod (404), an upper arm extending rod (405), a shoulder turntable (406), a second push rod connection (407), an arm thrust cylinder (408), a second cylinder body connection (409), a forearm retracting rod (410), and an forearm extending rod (411); the forearm outer rod (401) and the forearm collar (402) are fixedly mounted, the forearm outer rod (401) and the upper arm retracting rod (404) are hingedly mounted, and the upper arm retracting rod (404) and the upper arm strap (403) are fixedly mounted. The boom retracting rod (404) is slidably mounted on the boom extension rod (405), the boom extension rod (405) is hingedly mounted on the shoulder turntable (406), the boom retracting rod (404) is fixedly mounted on the second push rod connection (407), the second push rod is fixedly mounted on the arm thrust cylinder (408), the arm thrust cylinder (408) is hingedly mounted on the second cylinder body connection (409), the second cylinder body connection (409) is hingedly mounted on the forearm outer rod (401), the forearm retracting rod (410) is hingedly mounted on the forearm collar (402), and the forearm retracting rod (410) is slidably mounted on the forearm extension rod (411).

4. A virtual reality robot control device according to claim 3, characterized in that: The backrest device (3) comprises a bent column connection (301), a backrest bent column (302), a backrest support column (303), a first backrest spring (304), a second backrest spring (305), and a backrest support plate (306); the bent column connection is hingedly mounted on the backrest bent column (302), the backrest bent column (302) is fixedly mounted on the first backrest spring (304), the backrest support column (303) is fixedly mounted on the first backrest spring (304), the backrest support column (303) is fixedly mounted on the second backrest spring (305), the second backrest spring (305) is fixedly mounted on the backrest support plate (306), and the backrest support plate (306) is slidably mounted on the backrest bent column (302).

5. A virtual reality robot control device according to claim 4, characterized in that: The backrest device (3) comprises a backrest plate (307), a first elastic rod (308), an upper backrest (309), a second elastic rod (310), a lower backrest (311), and a third elastic rod (312); the backrest plate (307) is fixedly mounted on the backrest curved column (302), the backrest plate (307) is fixedly mounted on the first elastic rod (308), the first elastic rod (308) is fixedly mounted on the upper backrest (309), the upper backrest (309) is fixedly mounted on the second elastic rod (310), the second elastic rod (310) is fixedly mounted on the lower backrest (311), the lower backrest (311) is fixedly mounted on the third elastic rod (312), and the third elastic rod (312) is fixedly mounted on the backrest plate (307).

6. A virtual reality robot control device according to claim 5, characterized in that: The forearm collar (402) comprises a forearm outer ring (40201), a forearm inner ring (40202), a forearm lock (40203), and a forearm spring (40204); the forearm outer ring (40201) and the forearm inner ring (40202) are hingedly mounted, the forearm spring (40204) and the forearm inner ring (40202) are fixedly mounted, and the forearm spring (40204) and the forearm lock (40203) are fixedly mounted.

7. A virtual reality robot control device according to claim 6, characterized in that: The arm thrust cylinder (408) comprises an arm cylinder body (40801), an arm magnet (40802), an arm spring (40803), and an arm push rod (40804); the arm cylinder body (40801) and the arm magnet (40802) are fixedly mounted, the arm cylinder body (40801) and the arm spring (40803) are slidably mounted, and the arm spring (40803) and the arm push rod (40804) are fixedly mounted.

8. A virtual reality robot control device according to claim 7, characterized in that: The palm device (5) comprises a wire draw box (501), a finger wire draw (502), a finger sleeve (503), and a palm plate (504); the wire draw box (501) and the palm plate (504) are fixedly mounted, the finger wire draw (502) and the wire draw box (501) are slidably mounted, and the finger wire draw (502) and the finger sleeve (503) are fixedly mounted.

9. A virtual reality robot control device according to claim 8, characterized in that: The seat device (2) comprises a seat pillar (201), a seat seat plate (202), and a seat bottom plate (203); the seat pillar (201) and the seat seat plate (202) are fixedly mounted, and the seat pillar (201) and the seat bottom plate (203) are fixedly mounted.

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