Operation module and method

Abstract

The invention discloses an operation module and method, and the operation module comprises a computer; a chair; the handle assembly comprises a sliding rail, a fixing sliding block, a guide piece fixing plate and a control handle set. The two safety belts are arranged on the chair; the shoulder operating rod group is connected with the safety belt and comprises a fixing frame, a movable rod, a rotating piece, two fixing belt pieces and a supporting rod; the waist operating rod group is connected with the safety belt and comprises a control seat, a lower fixing frame, a lower rotating piece, a lower movable rod and two lower fixing belt pieces; the shoulder operating rod group and the waist operating rod group are driven by the handle assembly with a microcomputer control panel and a sensor and the safety belt, and the shoulder operating rod group and the waist operating rod group are operated through the sensor or numbers of keys of the operating handle group. The script number is selected to perform a pre-written action script, and a manual or automatic control signal is transmitted to the computer for transmitting a corresponding control message.

Description

TECHNICAL FIELD

[0001] The present invention relates to a module and method for transmitting control signals to a computer capable of transmitting control messages and selecting automatic or manual operation module and method without wearing arms. BACKGROUND

[0002] The human invented humanoid robots to replace human power, although humanoid robots have been manufactured, there are limitations on how to operate humanoid robots to achieve the purpose of what humans want to achieve. The reason is that humans do not have a more efficient method to operate humanoid robots. Currently, humans operate humanoid robots by giving instructions to humanoid robots to command to do anything, but it is done by giving instructions and executing pre-written motion scenarios in humanoid robots. The arms need to be worn and fixed to operate the humanoid robot's arms to move, but in reality, the humanoid robot often cannot execute the situation. This affects the development of humanoid robots, and humans change the development of humanoid robots into robots by simplifying and optimizing humanoid robots to make the behavior of humanoid robots more single purpose, such as the development of a sweeping robot that needs to clean the ground (i.e., limited single-purpose function). However, the development of humanoid robots has not stopped, and humans still desire robots to complete more human things, but the operating system has many shortcomings that cannot be driven by a simpler system and method to operate humanoid robots, which greatly reduces its practicality, which is what the industry and consumers desire to break through. SUMMARY

[0003] To solve the above-mentioned problems of the prior art, the main purpose of the present invention is to provide an operating module, which includes a computer, a chair, a handle assembly, a safety belt, a shoulder operating lever group, and a waist operating lever group. The handle assembly and the shoulder operating module and the waist operating lever group are provided with sensors that transmit control signals to the computer. The handle assembly and the safety belt are provided on the chair. The shoulder operating module and the waist operating lever group are provided on the chair back and connected to the safety belt, so as to overcome the difficulties in the prior art.

[0004] The secondary purpose of the present invention is to provide an operating module that uses a safety belt and a handle assembly with a microcomputer control board to drive a shoulder operating lever group and a waist operating lever group to transmit control signals to a computer to transmit corresponding control messages and manually or automatically switch selection.

[0005] Another object of the present application is to provide a method for operating a module, which is an automatic operation method, and the steps are in sequence: setting a computer with user interface (UI) software; using a plurality of keys of a key group of the UI to select a script number and transmit a signal to the computer and display on the computer and execute the stored script; using a key (A) of the key group of the UI and a sub-function key (F) of a panel group to determine the key or function key under the number displayed by the computer through the signal transmitted by the operator; the computer transmits the script instruction number and transmits the signal to the computer respectively; and the status of the grabbing tool is fed back to the computer.

[0006] Another object of the present application is to provide an operating module and method that effectively improves the ease and convenience of use.

[0007] The problems to be solved by the present application are that the conventional humanoid robot operating structure is complex, and the arms need to be worn and fixed to operate the humanoid robot with two arms, which is extremely inconvenient and time-consuming and laborious. The conventional method cannot drive the humanoid robot in a simple way, and it cannot achieve multiple functions and more types of task requirements. Currently, humans operating humanoid robots can issue instructions to the humanoid robot to command it to do anything, but this is achieved by issuing instructions and executing the pre-written motion script in the humanoid robot. However, in reality, there are often situations that cannot be executed. Therefore, humans change the development of humanoid robots into robots, simplify and optimize the behavior of humanoid robots for a single purpose, which cannot complete more human things, but the operation system has many defects, which greatly reduces its practicality.

[0008] The technical means for solving the problem is to achieve the above-mentioned purpose, the present application provides an operating module, comprising:

[0009] A computer with user interface (UI) software;

[0010] A chair comprising a seat part, four chair legs and a backrest; wherein the four corners below the seat part are respectively provided with the chair legs, a crossbar is arranged between the chair legs at the rear end of the seat part, the chair backrest is arranged at the rear end of the seat part and extends upward, and the upper segment of the chair backrest is provided with two corresponding through holes;

[0011] A handle assembly is arranged on both sides of the chair and electrically connected to the computer. The handle assembly has a microcomputer control board and comprises a sliding rail, a fixed sliding block, a guide fixed plate, and a control handle group. The sliding rail is arranged on both sides of the seat part of the chair. The fixed sliding block is vertically arranged inside the sliding rail and has an embedded sliding rail at its upper and lower ends. The front end of the fixed sliding block is provided with the guide fixed plate. The front end of the guide fixed plate is provided with a vertical horizontal guide. The control handle group is arranged on the vertical horizontal guide. The vertical horizontal guide of the fixed sliding block comprises an active semicircular guide frame and an active guide frame. The active semicircular guide frame is centrally provided with a guide slot. The active guide frame is arranged on both sides of the fixed sliding block as a rotating shaft. The control handle group comprises a pull rod, an extension arm, a joint rotating part, an active front handle group, an operation plate group, and a UI button group. The inner end of the pull rod is arranged on the active guide frame of the vertical horizontal guide and is sleeved on the guide slot of the active semicircular guide frame. The extension arm is connected to the outer end of the pull rod. The outer end of the extension arm is provided with the joint rotating part. The outer end of the joint rotating part is connected to the active front handle group and is provided with the UI button group at the front end. The upper end of the active front handle group is provided with the operation plate group. The side frame of the vertical horizontal guide is provided with a sensor. A sensor is arranged between the upper end of the active semicircular guide frame and the guide fixed plate. A sensor is arranged between the pull rod and the extension arm of the control handle group. A sensor is arranged between the extension arm and the joint rotating part. A sensor is arranged at the lower end of the active front handle group. A sensor is arranged between the active front handle group and the joint rotating part.

[0012] Two safety belts are arranged on the chair. The safety belts are sleeved on the perforations of the chair and have a telescopic bag at the other end. The telescopic bag is fixed to the crossbar of the chair. One end of the safety belt is buckled to a front buckle belt arranged at the central front end of the seat part of the chair.

[0013] A shoulder operating rod group is arranged at the rear end of the backrest of the chair corresponding to the perforations and is electrically connected to the computer. The shoulder operating rod group has a microcomputer control board and comprises a fixed frame, an active rod, a rotating part, two fixed belt parts, and a support rod. The fixed frame is a frame body and is fixed to the central part of the backrest between the perforations. The rotating part is arranged inside the fixed frame and has a sensor. The active rod is sleeved on the fixed frame and is fixed to the rotating part at the center. The fixed belt parts for fixing the safety belts are arranged on both sides of the active rod corresponding to the perforations of the backrest. The support rod is fixedly arranged outside the fixed frame to support the extension of the safety belts to the lower segment of the backrest of the chair.

[0014] A waist operating lever set is electrically connected to the computer and arranged at the rear end of the chair back, and has a microcomputer control board and comprises a control seat, a lower fixing frame, a lower rotating member, a lower movable lever and two lower fixing belt members; the upper end of the control seat is connected with the lower fixing frame and has a sensor therebetween, the control seat is fixedly arranged at the middle section of the chair back rear end, the lower fixing frame is centrally arranged with the lower rotating member and has a sensor, the lower movable lever is sleeved in the lower fixing frame and fixed to the lower rotating member, and the lower movable lever is arranged with the lower fixing belt members connected with the safety belt on both sides thereof, and the lower fixing belt members connected with the safety belt are arranged on the movable lever corresponding to the shoulder operating lever set and cross the fixing belt members of the support lever.

[0015] The handle assembly and the safety belt with the microcomputer control board drive the shoulder operating lever set and the waist operating lever set, and the sensor transmits control signals to the computer to transmit corresponding control information.

[0016] Further optimized technical solutions are that the computer transmits control information to control a multi-axis humanoid robot with a microcomputer control board and receiving the control information; the multi-axis humanoid robot is electrically connected to the computer of the operating module, and has a microcomputer control board and comprises a body, a waist, two shoulders and two arms; wherein the lower end of the body is arranged with the waist, the two sides of the body are respectively arranged with the shoulders, the shoulders are connected with the arms, and the arms comprise a rear arm, a front arm, a wrist and a claw part connected in sequence; a motor 1A receiving the control information is arranged between the body and the shoulder, a motor 1B receiving the control information is arranged between the shoulder and the rear arm, a motor 1C receiving the control information is arranged on the upper section of the rear arm, a motor 1D receiving the control information is arranged between the rear arm and the front arm, a motor 1E receiving the control information is arranged on the front arm, and a motor 1F receiving the control information is arranged between the front arm and the wrist; the waist is arranged with a motor 3A receiving the control information, a motor 3B receiving the control information is arranged between the lower end of the body and the waist, and a motor 3C receiving the control information is arranged on the lower end of the body.

[0017] Further optimized technical solutions are that the UI key group of the control handle group comprises a plurality of keys; the keys are A keys, B keys, C keys, D keys, E keys, wherein the function of the A keys is a selection key; the B keys represent the number one, the C keys represent the number two, the D keys represent the number four, and the E keys represent the number eight.

[0018] Further optimized technical solutions are that the operating board group of the control handle group comprises a plurality of UI control square keys, a plurality of hand claw control keys and a pair of function keys.

[0019] Further optimization technical solutions are that the UI control square keys of the operation panel group of the control handle group are respectively provided with an A key, a B key, a C key and a D key on the left and right and on the top and bottom; the A key is for controlling the direction to the left; the B key is for controlling the direction to the right; the C key is for controlling the direction upward; and the D key is for controlling the direction downward; wherein the UI control square keys of the operation panel group of the right hand are provided with the A key, the B key, the C key and the D key; the A key is a decision key; the B key is a veto key; the C key is a shortcut key; and the D key is a shortcut key.

[0020] Further optimization technical solutions are that the hand claw control keys of the operation panel group of the control handle group are graphical keys representing the palm of the arm of the multi-axis humanoid robot; wherein a circle represents a holding key, a triangle represents an angle +1 key for holding tighter, a square represents a releasing key, and a fork represents an angle -1 key for releasing.

[0021] Further optimization technical solutions are that when the pull rod is pulled upward, the sensor provided on the side frame of the vertical and horizontal guide member transmits an arm lifting control signal to the computer; when the pull rod is horizontally moved, the sensor provided between the upper end of the movable semicircular guide frame and the guide member fixed plate transmits an arm horizontal movement control signal to the computer; when the pull rod is pulled backward, the sensor provided between the pull rod and the telescopic arm of the control handle group transmits a forearm lifting control signal to the computer; when the joint rotating part of the control handle group is rotated, the sensor provided between the telescopic arm and the joint rotating part transmits an arm rotating control signal to the computer; when the movable front handle group of the control handle group is rotated, the sensor provided at the lower end of the movable front handle group transmits a forearm rotating control signal to the computer; when the joint rotating part connected to the movable front handle group is pushed forward, the sensor provided between the movable front handle group and the joint rotating part transmits a wrist lowering control signal to the computer; when the safety belt drives the movable rod of the shoulder operating rod group to tilt and makes the sensor 4C rotate, a shoulder lifting control signal is transmitted to the computer; when the safety belt pulls the lower movable rod of the waist operating rod group and pulls the sensor 4B, a waist forward leaning control signal is transmitted to the computer; when the lower movable rod of the waist operating rod group of the safety belt is rotated and the sensor 4A is rotated, a body rotating control signal is transmitted to the computer.

[0022] Further optimization technical solutions are that the multiple keys A, B, C, D and E of the UI key group of the control handle group and the secondary function key F of the operation panel group are respectively selected as selection and numbers corresponding to functions, which are selection keys, one, two, four, eight and secondary function keys for selecting automatic actions.

[0023] Further optimization of the technical scheme is that the number of the key of the UI key group of the handle group is used to select the own script number to perform the pre-written action script, thereby realizing the automatic action function.

[0024] Further optimization of the technical scheme is that the shoulder operating rod group and the waist operating rod group of the safety belt and operation linkage can be applied to a tactical vest.

[0025] The technical means for solving the problem is that the present application provides an automatic operation method, and the steps are as follows:

[0026] (1) Step one: setting the computer with user interface (UI) software;

[0027] (2) Step two: using the manual operation with the microcomputer control board and the plurality of keys of the UI key group;

[0028] (3) Step three: selecting the script number and transmitting the signal to the computer and displaying the stored script on the computer;

[0029] (4) Step four: using the key (A) with the microcomputer control board and the UI key group and the sub-function key (F) with the microcomputer control board and the operating plate group on the upper end of the movable front handle group, and determining the key or function key of the number displayed by the computer through the operator;

[0030] (5) Step five: the computer transmits the script instruction number to the computer, and respectively transmits the signal to control the shoulder and arm on the left side, the shoulder and arm on the right side, the body and the waist control signal of the multi-axis humanoid robot with the microcomputer control board;

[0031] (6) Step six: the claw part of the multi-axis humanoid robot takes the tool condition and feeds back to the computer.

[0032] The operation module 1000 of the present application includes the computer, the chair, the handle assembly, the safety belt, the shoulder operation lever set, the waist operation lever set. The handle assembly, the shoulder operation module, and the waist operation lever set are provided with sensors for transmitting control signals to the computer. The handle assembly and the safety belt are arranged on the chair. The shoulder operation module and the waist operation lever set are arranged on the chair back and connected to the safety belt. Thus, the safety belt and the handle assembly with a microcomputer control board drive the shoulder operation lever set and the waist operation lever set to transmit control signals to the computer for transmitting corresponding control information and for manual or automatic switching selection. The method of the operation module of the present application is an automatic operation method. The steps are as follows: arranging the computer with user interface (UI) software; using the plurality of keys of the UI key set; selecting a script number and transmitting a signal to the computer and displaying the script on the computer and executing the stored script; using the key (A) of the UI key set and the sub-function key (F) of the operation board set to determine the key or function key of the number displayed on the computer by the operator; the computer transmits the script instruction number to the computer; and the tool status is fed back to the computer. The method effectively improves the ease and convenience of use, greatly expands the utilization of the industry, and has novelty and progressiveness. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a perspective exploded view of the present application;

[0034] Figure 2 is a perspective assembled view of the present application;

[0035] Fig. 3(A)(B) is an enlarged perspective view of the shoulder operation lever and the waist operation lever set of the present application;

[0036] Fig. 4(A)(B) is an enlarged perspective view of the handle assembly of the present application;

[0037] Fig. 5(A)(B)(C)(D)(E)(F) is an embodiment diagram of the handle assembly of the present application transmitting control signals to the computer for transmitting control information for the arm lifting, horizontal movement, forearm lifting, rotating arm, rotating forearm, and wrist lowering of the multi-axis humanoid robot;

[0038] Fig. 6(A)(B)(C) is an embodiment diagram of the shoulder operation lever set and the waist operation lever set of the present application transmitting control signals to the computer for transmitting control information for one side shoulder lifting and waist forward leaning, body rotation of the multi-axis humanoid robot;

[0039] Figure 7 The step logic diagram of the method of the operation module of the present application.

[0040] wherein,

[0041] 1000 operation module

[0042] 2000 multi-axis humanoid robot

[0043] 3000 computer

[0044] 1 chair

[0045] 11 seat part

[0046] 12 chair leg

[0047] 121 crossbar

[0048] 13 backrest

[0049] 131 perforation

[0050] 2 handle assembly

[0051] 21 slide rail

[0052] 22 fixed slide block

[0053] 221 embedded slide rail

[0054] 23 guide piece fixing plate

[0055] 231 vertical and horizontal guide piece

[0056] 2310 movable semicircular guide frame

[0057] 2311 guide groove

[0058] 2312 movable guide frame

[0059] 2313 side frame

[0060] 24 control handle group

[0061] 241 pull rod

[0062] 242 telescopic arm

[0063] 243 joint rotation part

[0064] 244 movable front handle group

[0065] 245 operation plate group

[0066] 2451 UI control square key

[0067] 2452 paw control key

[0068] 2453 auxiliary function key

[0069] 246 UI key group

[0070] 2461 … Key

[0071] 3 … Safety belt

[0072] 30 … Telescopic bag

[0073] 31 … Front buckle

[0074] 4 … Shoulder operating rod set

[0075] 41 … Fixed frame

[0076] 42 … Movable rod

[0077] 43 … Rotating piece

[0078] 44 … Fixed belt piece

[0079] 45 … Support rod

[0080] 5 … Waist operating rod set

[0081] 51 … Operating seat

[0082] 52 … Lower fixed frame

[0083] 53 … Lower rotating piece

[0084] 54 … Lower movable rod

[0085] 55 … Lower fixed belt piece

[0086] 6 … Body

[0087] 60 … Waist

[0088] 61 … Shoulder

[0089] 62 … Arm

[0090] 620 … Rear arm

[0091] 621 … Forearm

[0092] 622 … Wrist

[0093] 623 … Claw

[0094] 1A, 1B, 1C, 1D, 1E, 1F … Motor

[0095] 2A, 2B, 2C, 2D, 2E, 2F … Sensor

[0096] 3A, 3B, 3C … Motor

[0097] 4A, 4B, 4C … Sensor

[0098] S11 … Set the computer with user interface (UI) software

[0099] S21… Manually operate the multiple buttons on the microcomputer control panel located in the UI button group. S31… Select a script number and transmit a signal to the computer, displaying the script on the computer and executing the stored script.

[0100] S41…Utilizing the button (A) of the UI button group with a microcomputer control board and the secondary function key (F) of the operation panel group with a microcomputer control board located at the upper end of the movable front handle group, the operator transmits signals to confirm the number displayed on the computer and press the confirmation key or function key.

[0101] S51…The computer issues script instruction numbers and transmits signals to the computer to control the left shoulder and arm, right shoulder and arm, body, and waist of the multi-axis humanoid robot with the microcomputer control board.

[0102] S61…The status of the tool being picked up by the claw of the multi-axis humanoid robot is reported back to the computer. Detailed Implementation

[0103] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0104] Please see Figure 1 , Figure 2 Figures 3(A)(B), 4(A)(B), 5(A)(B)(C)(D)(E)(F), and 6(A)(B)(C) Figure 7 The figures shown are: an exploded perspective view of the present invention; a combined perspective view of the present invention; an enlarged perspective view of the shoulder and waist lever assembly of the present invention; an enlarged perspective view of the handle assembly of the present invention; an embodiment of the present invention transmitting control signals to a computer to transmit control messages for a multi-axis humanoid robot, including arm raising, lateral movement, forearm raising, arm rotation, forearm rotation, and wrist lowering to receive control messages; an embodiment of the present invention transmitting control signals from the sensors of the shoulder and waist lever assembly to a computer to transmit control messages for a multi-axis humanoid robot, including one shoulder raising, waist leaning forward, and body rotation to receive control messages; and a step logic diagram of the method of the operation module of the present invention. In a preferred embodiment, the operation module of the present invention includes a computer 3000, a chair 1, a handle assembly 2, two seat belts 3, a shoulder lever assembly 4, and a waist lever assembly 5.

[0105] The aforementioned computer 3000 has user interface (UI) software (e.g. Figure 1 , Figure 2 , as shown in FIGS. 3(A)(B), 4(A)(B).

[0106] The aforementioned chair 1 comprises a seat 11, four chair legs 12, and a backrest 13, wherein the four corners of the seat 11 are respectively provided with the chair legs 12, a crossbar 121 is arranged between the chair legs 12 at the rear end of the seat 11, and the rear end of the seat 11 is upwardly extended to be provided with the backrest 13, and the upper section of the backrest 13 is provided with two corresponding through holes 131 (e.g. Figure 1 , Figure 2 , as shown in FIGS. 3(A)(B), 4(A)(B).

[0107] The handle assembly 2 is arranged on both sides of the chair 1 and electrically connected to the computer 3000. The handle assembly 2 has a microcomputer control board and comprises a sliding rail 21, a fixed sliding block 22, a guide fixed plate 23, and a control handle group 24. The sliding rail 21 is arranged on both sides of the seat part 11 of the chair 1. The fixed sliding block 22 is vertically arranged inside the sliding rail 21 and has an embedded sliding rail 221 at the upper and lower ends thereof. The front end of the fixed sliding block 22 is provided with the guide fixed plate 23. The front end of the guide fixed plate 23 is provided with a vertical horizontal guide 231. The control handle group 24 is arranged on the vertical horizontal guide 231. The vertical horizontal guide 231 of the fixed sliding block 22 comprises an active semicircular guide frame 2310 and an active guide frame 2312. The active semicircular guide frame 2310 is centrally provided with a guide groove 2311. The active guide frame 2312 is provided with a side frame 2313 as a rotating shaft on both sides of the fixed sliding block 22. The control handle group 24 comprises a pull rod 241, an extension arm 242, a joint rotating part 243, an active front handle group 244, an operation plate group 245, and a UI key group 246. The inner end of the pull rod 241 is arranged on the active guide frame 2312 of the vertical horizontal guide 231 and is sleeved on the guide groove 2311 of the active semicircular guide frame 2310. The extension arm 242 is connected to the outer end of the pull rod 241. The outer end of the extension arm 242 is provided with the joint rotating part 243. The outer end of the joint rotating part 243 is connected to the active front handle group 244 and is provided with the UI key group 246 at the front end. The upper end of the active front handle group 244 is provided with the operation plate group 245. The UI key group 246 of the control handle group 24 comprises a plurality of keys 2461. In the present embodiment, the keys 2461 are A keys, B keys, C keys, D keys, and E keys. The function of the A keys is a selection key. The B keys represent the number one or / (1). The C keys represent the number two or / (2). The D keys represent the number four or / (4). The E keys represent the number eight or / (8). The operation plate group 245 of the control handle group 24 comprises a plurality of UI control block keys 2451, a plurality of hand claw control keys 2452, and a secondary function key 2453. The UI control block keys 2451 of the operation plate group 245 on the left hand of the control handle group 24 are respectively arranged as A keys, B keys on the left and right, and C keys, D keys on the top and bottom. The (A) key is a control direction to the left. The (B) key is a control direction to the right. The (C) key is a direction upward. The (D) key is a direction downward. The UI control block keys 2451 of the operation plate group 245 on the right hand are (A) keys, (B) keys, (C) keys, and (D) keys. The (A) key is a decision key. The (B) key is a veto key. The (C) key is a shortcut key. The (D) key is a shortcut key. The hand claw control keys 2452 of the operation plate group 245 of the control handle group 24 are (graphical keys) representing the palms of the arms of a multi-axis humanoid robot. A (circular key) represents a holding key. A (triangular key) represents an angle +1 key, i.e., a tighter grip.(square) represents the release key; (cross) represents the angle-1 key, i.e. relaxation; the (F) key of the operation panel set 245 is a sub-function key (e.g. Figure 1 , Figure 2 , as shown in Figs. 3(A)(B), 4(A)(B).

[0108] The aforementioned two safety belts 3 are arranged on the chair 1, the safety belts 3 are sleeved on the through holes 131 of the chair 1 and the other ends are wound on a telescopic bag 30, the telescopic bag 30 is fixed on the cross bar 12 of the chair 1, one end of the safety belt 3 is buckled on a front buckle belt 31 arranged at the front end of the seat part 11 of the chair 1 (as shown in Figs. 3(A)(B), 4(A)(B). Figure 1 , Figure 2 , as shown in Figs. 3(A)(B), 4(A)(B).

[0109] The aforementioned shoulder operation lever set 4 is electrically connected to the computer 3000 and arranged at the rear end of the chair back 13 of the chair 1 corresponding to the through holes 131, the shoulder operation lever set 4 has a microcomputer control board and comprises a fixed frame 41, a movable lever 42, a rotating part 43, two fixed belt parts 44 and a supporting rod 45; wherein the fixed frame 41 is a frame body and fixed on the central part of the chair back 13 between the through holes 131, the rotating part 43 is arranged on the inner side of the fixed frame 41 and has a sensor 4C, the movable lever 42 is sleeved on the fixed frame 41 and fixed on the central part of the rotating part 43, the fixed belt parts 44 for fixing the safety belts 3 are arranged on both sides of the movable lever 42 corresponding to the through holes 131 of the chair back 13, and the supporting rod 45 is fixedly arranged on the outer side of the fixed frame 41; so as to support the safety belts 3 to extend to the lower segment of the chair back 13 of the chair 1 (as shown in Figs. 3(A)(B), 4(A)(B). Figure 1 , Figure 2 , as shown in Figs. 3(A)(B), 4(A)(B).

[0110] The aforementioned waist operation lever set 5 is electrically connected to the computer 3000 and arranged at the rear end of the chair back 13 of the chair 1, the waist operation lever set 5 has a microcomputer control board and comprises an operation seat 51, a lower fixed frame 52, a lower rotating part 53, a lower movable lever 54 and two lower fixed belt parts 55; the upper end of the operation seat 51 is connected with the lower fixed frame 52 and has a sensor 4B therebetween, the operation seat 51 is fixedly arranged at the middle segment of the rear end of the chair back 13, the lower rotating part 53 is arranged on the inner side of the central part of the lower fixed frame 52 and has a sensor 4A, the lower movable lever 54 is sleeved on the central part of the lower fixed frame 52 and fixed on the lower rotating part 53, and the lower fixed belt parts 55 connected with the safety belts 3 are arranged on both sides of the lower movable lever 54, the lower fixed belt parts 55 connected with the safety belts 3 are arranged on the movable lever 42 corresponding to the shoulder operation lever set 4 and cross the fixed belt parts 44 of the supporting rod 45 (as shown in Figs. 3(A)(B), 4(A)(B). Figure 1 , Figure 2, Figs. 3(A)(B), 4(A)(B).

[0111] Please refer to Figs. 5(A)(B)(C)(D)(E)(F) shown, the computer of the present application transmits control information to control the multi-axis humanoid robot 2000 with microcomputer control board and receives the control information through storing the control signal; the multi-axis humanoid robot 2000 is electrically connected to the computer 3000 of the operation module 1000, the multi-axis humanoid robot 2000 has microcomputer control board and includes a body 6, a waist 60, two shoulders 61, two arms 62; wherein the lower end of the body 6 is provided with the waist 60, the two sides of the body 6 are respectively provided with the shoulder 61, the shoulder 61 is connected with the arm 62, the arm 62 includes a rear arm 620, a forearm 621, a wrist 622 and a claw part 623 connected in sequence; a motor 1A receiving the control information is arranged between the body 6 and the shoulder 61, a motor 1B receiving the control information is arranged between the shoulder 61 and the rear arm 620, a motor 1C receiving the control information is arranged on the upper segment of the rear arm 620 of the arm 62, a motor 1D receiving the control information is arranged between the rear arm 620 and the forearm 621, a motor 1E receiving the control information is arranged on the forearm 621, and a motor 1F receiving the control information is arranged between the forearm 621 and the wrist 622; the waist 60 is provided with a motor 3A receiving the control information, the lower end of the body 6 and the waist 60 are provided with a motor 3B receiving the control information, and the lower end of the body 6 is provided with a motor 3C receiving the control information; the sensor 2A transmits the arm 62 lifting control signal of the multi-axis humanoid robot 2000 to the computer 3000 when the pull rod 241 is pulled up (as shown in Fig. 5(A)); the sensor 2B transmits the arm 62 horizontal movement control signal of the multi-axis humanoid robot 2000 to the computer 3000 when the pull rod 241 is horizontally moved (as shown in Fig. 5(B)); the sensor 2D transmits the forearm 621 lifting control signal of the multi-axis humanoid robot 2000 to the computer 3000 when the pull rod 241 is pulled backward (as shown in Fig. 5(C)); the sensor 2C transmits the arm 62 rotating control signal of the multi-axis humanoid robot 2000 to the computer 3000 when the joint rotating part 243 of the operation handle group 24 is rotated (as shown in Fig. 5(D)); the sensor 2E transmits the forearm 621 rotating control signal of the multi-axis humanoid robot 2000 to the computer 3000 when the movable front handle group 244 of the operation handle group 24 is rotated (as shown in Fig. 5(E)); and the sensor 2F transmits the wrist 622 control signal of the multi-axis humanoid robot 2000 to the computer 3000 when the joint rotating part 243 connected to the movable front handle group 244 is pushed forward (as shown in Fig. 5(F)).

[0112] Please refer to the accompanying drawings 6(A)(B)(C) shown, the present invention delivery control signal to the multi-axis humanoid robot 2000 shoulder 61 lift and waist 60 forward tilt, body 6 rotation, the use of the waist operating rod group 5 of the lower rotating member 53 is provided with a sensor 4A, the lower fixed frame 52 and the operating seat 51 is provided with a sensor 4B, the rotating member 43 of the shoulder operating rod group 4 is provided with a sensor 4C, using the safety belt 3 drive the shoulder operating rod group 4 of the movable rod 42 tilt and make the sensor 4C rotation transmission to the shoulder 61 lift control signal to the computer (as shown in figure 6(A)); the present invention operator bending waist at the same time drive the safety belt 3 pull the waist operating rod group 5 pull the lower movable rod 54 and pull the sensor 4B transmission to the waist 60 forward tilt control signal to the computer (as shown in figure 6(B)); the present invention uses the operation to pull the safety belt 3 and pull the lower movable rod 54 of the waist operating rod group 5 rotation, and rotate the sensor 4A transmission to the body 6 rotation control signal to the computer (as shown in figure 6(C)).

[0113] The present invention uses the handle assembly 2 and the safety belt 3 with the shoulder operating rod group 4 and the waist operating rod group 5, and transmits control signals to the computer 3000 through the sensors 2A, 2B, 2C, 2D, 2E, 2F, 4A, 4B, 4C to transmit corresponding control information, and then transmit control information to control the multi-axis humanoid robot 2000, but this is not limited to the present invention, which can also directly control the multi-axis humanoid robot 2000; the safety belt 3 and the shoulder operating rod group 4 and the waist operating rod group 5 connected to the operation can be applied to tactical vests, but this does not limit the present invention.

[0114] The automatic action function of the present invention is to select the number of scripts of the UI button group 246 of the operating handle group 24 to perform the pre-written action script, and the number is displayed on the computer screen of the computer through the software to know the number; the default value of the UI button group 246 of the operating handle group 24 is 0 at the beginning, and the representative numbers of the UI button group 246 are "one (1)", "two (2)", "four (4)", "eight (8)" of the button 2461 "B", the button 2461 "C", the button 2461 "D", and the button 2461 "E", and the number will be continuously added, for example: pressing the button 246 of the button 2461 (B) once and the button 246 of the button 2461 (E) once, since the button 2461 (B) is number one (1) and the button 2461 (E) is number eight (8), the addition is nine (9); after selecting the number, press the button 2461 (A) as the selection key, then perform the automatic action script.

[0115] Please refer to Figure 7 To achieve the above object, the present application provides a method for operating a module, which is an automatic operating method, and the steps are as follows:

[0116] (I) Step one S11: setting the computer with user interface (UI) software;

[0117] (II) Step two S21: using the operating hand to operate the multiple keys 2461 of the UI key group 246 with the microcomputer control board;

[0118] (III) Step three S31: selecting the script number and sending the signal to the computer 3000 and displaying it on the computer 3000 and executing the stored script;

[0119] (IV) Step four S41: using the key (A) 2461 of the UI key group 246 with the microcomputer control board and the sub-function key (F) 2453 of the operating board group 245 with the microcomputer control board on the upper end of the movable handle group 244 to determine the number displayed by the computer 3000 and determine the key or function key;

[0120] (V) Step five S51: the computer 3000 sends the script instruction number and sends the signal to the multiple-axis humanoid robot 2000 with the microcomputer control board on the left side of the shoulder 61 and the arm 62, the right side of the shoulder 61 and the arm 62, and the body 6 and the waist 60 control signal to the computer 3000;

[0121] (VI) Step six S61: the claw 623 of the multiple-axis humanoid robot 3000 takes the tool condition and feeds back to the computer 3000.

[0122] The handle assembly 2 of the present application is operated: the sensors 2A, 2B, 2C, 2D, 2E, 2F and 4A, 4B, 4C provided on the handle assembly 2 send signals to the computer 3000 with user interface (UI) software, and then the computer 3000 sends control information to the multiple-axis humanoid robot 2000 with the microcomputer control board, and through the motors 1A, 1B, 1C, 1D, 1E, 1F and 3A, 3B, 3C provided thereon, the body 6, the waist 60, the shoulder 61, and the arm 62 of the multiple-axis humanoid robot 2000 are operated to make movements; In addition to the computer 3000 and the multiple-axis humanoid robot 2000, the operating module 1000 is installed on the chair 1, and the safety belt 3 is installed and operated.

[0123] The handle assembly 2 operation mode: the body 6, the waist 60 and the shoulder 61 and the arm 32 of the multi-axis humanoid robot 2000 are provided with the motor 1A, 1B, 1C, 1D, 1E, 1F; and 3A, 3B, 3C, through the sensor 2A, 2B, 2C, 2D, 2E, 2F and 4A, 4B, 4C provided in the handle assembly 2 and the shoulder lever group 4 and the waist lever group 5.

[0124] The invention selects the key function of automatic action function:

[0125]

[0126] The multi-axis humanoid robot 3000 of the invention is provided with the motor of the shoulder 61 and the arm 62 and the sensor provided in the handle assembly 2:

[0127]

[0128] The multi-axis humanoid robot 3000 of the invention is provided with the motor of the body 6 and the waist 60 and the sensor provided in the shoulder lever group 4 and the waist lever group 5:

[0129]

[0130] The invention uses a microcomputer control board to connect multiple motors that can be servo motors and multiple sensors for combination, and the handle assembly 2 part also uses multiple microcomputer control boards and links the computer 3000.

[0131] The invention switches between automatic and manual, allowing the user to hold the operating handle group 24 without releasing it, synchronously selecting and issuing instructions to the control unit of the computer 3000, and operating the function options of the user interface (UI) by moving the operating handle group 24 left and right; the keys (B to E) are calculated in binary to get the result; the use of numbers is because it is a method that is easy for general operators to understand; the invention performs a single action at a time: the programmed action is to rotate the motor to the predetermined position written, and the action is completed and switched back to manual operation state, which can also be written as repeated action, and the final result is to return to manual operation state; automatic action is through the script written in the microcomputer control board, so the script written can be written according to the operator's habit, simply speaking, more complex scripts can be written.

[0132] Advantages of the invention:

[0133] (1) Without wearing and fixing the arm 62, the arms 62 on both sides of the multi-axis humanoid robot 2000 are operated.

[0134] (ii) The present invention has a way to operate the body 6 parts and the waist 60 of the multi-axis humanoid robot 2000.

[0135] (iii) The present invention can choose to switch to automatic operation or manual operation.

[0136] (iv) The operator's palm can not release the movable front handle group 244, and at the same time, select and issue instructions to the control unit of the computer 3000.

[0137] (v) The present invention makes the multi-axis humanoid robot 2000 easy to operate, more real-time, and can carry more functions to complete more types of task requirements.

[0138] The user of the present invention can sit on the chair 1 to control the multi-axis humanoid robot 2000 with a microcomputer control board through the operation module 1000 with a microcomputer control board and the computer 3000 with user interface software; the multi-axis humanoid robot 2000 has a microcomputer control board and can be controlled through the computer 3000 with user interface software through remote control.

[0139] The operation module 1000 includes the computer 3000, the chair 1, the handle assembly 2, the safety belt 3, the shoulder operation lever group 4, and the waist operation lever group 5. The handle assembly 2, the shoulder operation module 4, and the waist operation lever group 5 are provided with sensors 2A, 2B, 2C, 2D, 2E, 2F, 4A, 4B, 4C that transmit control signals to the computer 3000. The handle assembly 2 and the safety belt 3 are arranged on the chair 1. The shoulder operation module 4 and the waist operation lever group 5 are arranged on the chair back 13 and connected to the safety belt 3. The handle assembly 2 has a microcomputer control board and includes the sliding rail 21, the fixed sliding block 22, the guide fixed plate 23, and the control handle group 24. The shoulder operation lever group 4 has a microcomputer control board and includes the fixed frame 41, the movable lever 42, the rotating member 43, the fixed belt member 44, and the support lever 45. The waist operation lever group 5 has a microcomputer control board and includes the control seat 51, the lower fixed frame 52, the rotating member 53, the lower movable lever 54, and the lower fixed belt member 55. Thus, the safety belt 3 and the handle assembly 2 with a microcomputer control board drive the shoulder operation lever group 4 and the waist operation lever group 5 to transmit control signals to the computer 3000 to transmit corresponding control information and manually or automatically switch selection. The operation module method is an automatic operation method. The steps are as follows: setting the computer 3000 with user interface (UI) software; using the multiple keys 2461 of the UI key group 246; selecting a script number and transmitting a signal to the computer 3000 and displaying it on the computer 3000 and executing the stored script; using the key 2461(A) of the UI key group 246 and the sub-function key (F) 2453 of the operation board group 245, the operator transmits a signal to determine the number displayed by the computer 3000 to determine the key or function key; the computer 3000 transmits a script instruction number to the computer 3000; the tool status is fed back to the computer 3000; effectively improving the ease and convenience of use, greatly expanding the utilization of the industry, and having novelty and progressiveness.

[0140] In summary, the present invention has achieved the desired improvement in efficiency and is not easily thought of by those skilled in the art. Furthermore, the invention has not been disclosed before and has progressiveness and practicality, which meets the requirements for a patent application.

Claims

1. An operating module, characterized in that The application comprises: a computer with user interface (UI) software; a chair comprising a seat, four chair legs, and a backrest; wherein the seat is provided with the chair legs at the four corners, a crossbar is provided between the chair legs at the rear end of the seat, the backrest is provided at the rear end of the seat extending upward, and the upper section of the backrest is provided with two corresponding perforations; a handle assembly provided on both sides of the chair and electrically connected to the computer, the handle assembly has a microcomputer control board and comprises a sliding rail, a fixed sliding block, a guide fixed plate, and a control handle group; wherein the sliding rail is provided on both sides of the seat, the fixed sliding block is vertically provided inside the sliding rail and has an embedded sliding rail at the upper and lower ends, the front end of the fixed sliding block is provided with the guide fixed plate, the front end of the guide fixed plate is provided with a vertical horizontal guide, and the control handle group is provided on the vertical horizontal guide; the vertical horizontal guide of the fixed sliding block comprises an active semicircular guide frame and an active guide frame, the active semicircular guide frame is provided with a guide slot in the center, and the active guide frame is provided with a side frame fixed on both sides of the fixed sliding block as a rotating shaft; the control handle group comprises a pull rod, an extension arm, a joint rotating part, an active front handle group, an operation plate group, and a UI button group; wherein the inner end of the pull rod is provided on the active guide frame of the vertical horizontal guide and is sleeved in the guide slot of the active semicircular guide frame; the extension arm is connected to the outer end of the pull rod, the outer end of the extension arm has the joint rotating part, the outer end of the joint rotating part is connected to the active front handle group and has the UI button group at the front end, and the upper end of the active front handle group is provided with the operation plate group; the side frame of the vertical horizontal guide is provided with a sensor, the upper end of the active semicircular guide frame and the guide fixed plate are provided with a sensor, the pull rod and the extension arm of the control handle group are provided with a sensor, the extension arm and the joint rotating part are provided with a sensor, the lower end of the active front handle group is provided with a sensor, and the active front handle group and the joint rotating part are provided with a sensor; two safety belts provided on the chair, the safety belts are sleeved in the perforations of the chair and have a telescopic bag at the other end, the telescopic bag is fixed on the crossbar of the chair, and one end of the safety belt is buckled to a front buckle provided at the center of the front end of the seat of the chair; a shoulder operation rod group electrically connected to the computer and provided at the rear end of the backrest of the chair corresponding to the perforations, the shoulder operation rod group has a microcomputer control board and comprises a fixed frame, an active rod, a rotating part, two fixed belt parts, and a support rod; wherein the fixed frame is a frame body and is fixed between the perforations in the center of the backrest, the rotating part is provided inside the fixed frame and has a sensor, the active rod is sleeved in the fixed frame and is fixed in the center of the rotating part, the fixed belt parts are provided on both sides of the active rod corresponding to the perforations of the backrest to fix the safety belts, and the support rod is fixed on the outside of the fixed frame; to support the safety belts extending to the lower section of the backrest of the chair. A waist operating lever set is electrically connected to the computer and arranged at the rear end of the chair back. The waist operating lever set has a microcomputer control board and includes a control seat, a lower fixing frame, a lower rotating member, a lower movable lever and two lower fixing belt members. The upper end of the control seat is connected with the lower fixing frame and has a sensor therebetween. The control seat is fixedly arranged at the middle section of the chair back. The lower fixing frame is centrally arranged with the lower rotating member and has a sensor. The lower movable lever is sleeved in the lower fixing frame and fixed to the lower rotating member. The lower movable lever is arranged with the lower fixing belt members connected to the safety belt on both sides thereof. The lower fixing belt members connected to the safety belt are arranged on the movable lever and cross the fixing belt members of the support lever. The handle set with the microcomputer control board drives the shoulder operating lever set and the waist operating lever set. The sensor transmits control signals to the computer to send corresponding control information.

2. The operating module of claim 1, wherein The computer transmits control information to control a multi-axis humanoid robot with a microcomputer control board and receives the control information. The multi-axis humanoid robot is electrically connected to the computer of the operating module. The multi-axis humanoid robot has a microcomputer control board and includes a body, a waist, two shoulders and two arms. The lower end of the body is arranged with the waist. The body is arranged with the shoulders on both sides thereof. The shoulders are connected with the arms. The arms include a rear arm, a front arm, a wrist and a claw portion connected in sequence. A motor 1A receiving the control information is arranged between the body and the shoulder. A motor 1B receiving the control information is arranged between the shoulder and the rear arm. A motor 1C receiving the control information is arranged on the upper section of the rear arm. A motor 1D receiving the control information is arranged between the rear arm and the front arm. A motor 1E receiving the control information is arranged on the front arm. A motor 1F receiving the control information is arranged between the front arm and the wrist. The waist is arranged with a motor 3A receiving the control information. The lower end of the body and the waist are arranged with a motor 3B receiving the control information. The lower end of the body is arranged with a motor 3C receiving the control information.

3. The operating module of claim 1, wherein The UI key set of the control handle set includes a plurality of keys. The keys are A key, B key, C key, D key and E key. The function of the A key is selection key. The B key represents number one. The C key represents number two. The D key represents number four. The E key represents number eight.

4. The operating module of claim 1, wherein The operation board set of the control handle set includes a plurality of UI control block keys, a plurality of hand claw control keys and a pair of function keys F.

5. The operating module of claim 4, wherein The UI control block keys of the operation board set on the left hand of the control handle set are arranged as A key, B key on the left and right and C key, D key on the top and bottom. The A key is for controlling the direction to the left. The B key is for controlling the direction to the right. The C key is for controlling the direction upward. The D key is for controlling the direction downward. The A key of the UI control block keys on the right hand of the operation board set is decision key. The B key is veto key. The C key is shortcut key. The D key is shortcut key.

6. The operating module of claim 4, wherein The hand control key of the operation board group of the control handle group is a graphical key representing the palm of the arm of a multi-axis humanoid robot; wherein a circle represents a grip key, a triangle represents an angle +1 key to grip tighter, a square represents a release key, and a fork represents an angle -1 key to release; the F key of the operation board group is a secondary function key.

7. The operating module of claim 2, wherein When the pull rod is pulled up, the sensor provided on the side frame of the vertical and horizontal guide transmits an arm lifting control signal to the computer; when the pull rod is moved horizontally, the sensor provided between the upper end of the movable semicircular guide frame and the guide plate transmits an arm horizontal movement control signal to the computer; when the pull rod is pulled backward, the sensor provided between the pull rod and the telescopic arm of the control handle group transmits a forearm lifting control signal to the computer; when the joint rotating part of the control handle group rotates, the sensor provided between the telescopic arm and the joint rotating part transmits an arm rotation control signal to the computer; when the movable front handle group of the control handle group rotates, the sensor provided at the lower end of the movable front handle group transmits a forearm rotation control signal to the computer; when the joint rotating part connected to the movable front handle group is pushed forward, the sensor provided between the movable front handle group and the joint rotating part transmits a wrist lowering control signal to the computer; when the safety belt drives the movable rod of the shoulder operating rod group to tilt and makes the sensor 4C rotate, it transmits a shoulder lifting control signal to the computer; when the safety belt pulls the lower movable rod of the waist operating rod group and pulls the sensor 4B, it transmits a waist forward leaning control signal to the computer; when the safety belt pulls the lower movable rod of the waist operating rod group and rotates the sensor 4A, it transmits a body rotation control signal to the computer.

8. The operating module of claim 3, wherein The keys A, B, C, D, E of the UI key group of the control handle group and the secondary function key F of the operation board group are respectively selected as selection and numbers corresponding to functions, which are selection keys, one, two, four, eight, and secondary function keys for selecting automatic actions.

9. The operating module of claim 8, wherein The numbers of the keys of the UI key group of the control handle group are used to select the script number of the pre-written action script to perform the automatic action function.

10. The operating module of claim 1, wherein The safety belt and the shoulder operating rod group and the waist operating rod group connected to the operation are applicable to tactical vests.

11. A method for operating a module, comprising a computer, a chair, a handle assembly, two safety belts, a shoulder operating rod group, and a waist operating rod group, for automatic operation, the steps being in order: (1) Step one: set up the computer with user interface (UI) software; (2) Step two: use the operation manual with the microcomputer control board and the multiple keys of the UI key group; (3) Step three: select the script number and transmit the signal to the computer and display it on the computer and execute the stored script. (IV) Step four: using the key (A) with the microcomputer control board and the UI button group and the sub-function key (F) with the microcomputer control board and the operation panel group on the upper end of the movable front handle group, the operator transmits the signal to determine the number of the computer display to determine the key or function key; (V) Step five: the computer issues the script instruction number and transmits the signal to the left shoulder and arm, right shoulder and arm, and body and waist control signal of the multi-axis humanoid robot with the microcomputer control board to the computer; (VI) Step six: the claw part of the multi-axis humanoid robot takes the tool condition and feeds back to the computer.

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