A four-degree-of-freedom joystick and robotic arm control method

Abstract

This invention discloses a four-degree-of-freedom joystick and a robotic arm control method, relating to the field of robotic arm control technology. The joystick includes a rocker arm, an extension mechanism, and a monitoring component. The rocker arm oscillates relative to a fixed surface along a first direction and a second direction. The extension mechanism moves relative to the rocker arm along a third direction, which is parallel to the length direction of the rocker arm. A torsion member rotates relative to the extension mechanism along a fourth direction. The monitoring component monitors first motion information of the rocker arm in the first direction and second motion information in the second direction. The monitoring component can also monitor third motion information of the extension mechanism in the third direction and fourth motion information of the torsion member in the fourth direction. The central control system controls the robotic arm body to perform four-degree-of-freedom movements based on the first, second, third, and fourth motion information. The four-degree-of-freedom joystick and robotic arm control method provided by this invention can reduce the difficulty of controlling complex robotic arm movements.

Description

Technical Field

[0001] This invention relates to the field of robotic arm control technology, and in particular to a four-degree-of-freedom joystick and a robotic arm control method. Background Technology

[0002] Currently, four-degree-of-freedom excavating robotic arms are typically controlled by two two-degree-of-freedom joysticks, with each joystick controlling two degrees of freedom of the robotic arm. These two joysticks usually require two hands to operate, and the commands must be obtained through inverse kinematic mapping of the robotic arm by the brain. Furthermore, proper coordination of both hands is necessary to complete coherent, human-arm-like robotic arm movements, resulting in high operational difficulty and poor intuitiveness. Summary of the Invention

[0003] The purpose of this invention is to provide a four-degree-of-freedom joystick and robotic arm control method to solve the problems existing in the prior art and reduce the difficulty of controlling complex robotic arm movements.

[0004] To achieve the above objectives, the present invention provides the following solution: This invention provides a four-degree-of-freedom joystick, including a rocker arm, an extension mechanism, and a monitoring component. The lower end of the rocker arm is movable relative to a fixed surface, and the rocker arm is oscillating relative to the fixed surface along a first direction and a second direction. The extension mechanism includes an extension member and a torsion member. The extension member is slidably connected to the rocker arm and is slidable relative to the rocker arm along a third direction, which is parallel to the length direction of the rocker arm. The torsion member is rotatably connected to the extension member and is rotatable relative to the extension member along a fourth direction. The monitoring component can monitor first motion information of the rocker arm in the first direction and second motion information in the second direction. The monitoring component can also monitor third motion information of the extension member in the third direction and fourth motion information of the torsion member in the fourth direction. The monitoring component is communicatively connected to a central control system, and the central control system is capable of receiving the first motion information, the second motion information, the third motion information, and the fourth motion information.

[0005] Preferably, the extension member is slidably connected to the rocker arm, and the extension member is capable of sliding along the length direction of the rocker arm.

[0006] Preferably, the extension member is configured as a slider, and the torsion member is configured as a torsion cap; the torsion member covers the upper half of the extension member and is connected to the extension member via a torsion bar, the torsion bar is rotatably connected to the extension member and fixedly connected to the torsion member; the axis of the torsion bar is collinear with the center of the extension member, and the torsion member can rotate relative to the extension member about the axis of the torsion bar.

[0007] Preferably, the monitoring component includes a rocker arm monitoring element, a sliding monitoring element, and a rotation monitoring element, all of which are communicatively connected to the central control system. The rocker arm monitoring element is disposed on the rocker arm and is used to detect the rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's rocker arm's sliding ...

[0008] Preferably, it further includes a sliding reset mechanism, which is tractively connected to the extension member and the rocker arm; when the extension member slides relative to the rocker arm along the third direction under the action of an external force, the sliding reset mechanism can undergo elastic deformation; and after the external force is removed, the extension member can be reset along the third direction under the action of the restoring force of the sliding reset mechanism.

[0009] Preferably, it further includes a torsion reset mechanism, which is tractively connected to the extension member and the torsion member; when the torsion member rotates relative to the extension member along the fourth direction under the action of an external force, the torsion reset mechanism can undergo elastic deformation; and after the external force is removed, the torsion member can be reset along the fourth direction under the action of the restoring force of the torsion reset mechanism.

[0010] A robotic arm control method is based on a four-degree-of-freedom joystick as described above; a central control system controls the rotation drive of the robotic arm body according to first motion information to drive the turntable to rotate horizontally; the central control system controls the movement of the upper arm drive and / or lower arm drive of the robotic arm body according to second and third motion information to drive the corresponding upper arm and / or lower arm to rotate vertically; the central control system controls the movement of the actuator drive of the robotic arm body according to fourth motion information to drive the actuator to rotate vertically.

[0011] The present invention achieves the following technical effects compared to the prior art: The four-degree-of-freedom joystick and robotic arm control method provided by this invention, based on a joystick capable of swinging in a first and second direction and possessing two degrees of freedom, incorporates an extension mechanism with two degrees of freedom, giving the joystick a total of four operational degrees of freedom. Specifically, the extension member of the extension mechanism can slide relative to the joystick in a third direction parallel to the joystick's length, representing the third degree of freedom. A torsional member is rotatably connected to the extension member in a fourth direction and can rotate independently relative to the extension member, representing the fourth degree of freedom. Furthermore, the joystick's two-way swinging and the extension member's sliding... The rotation of the torsion component can be completed with one hand; the first, second, third and fourth motion information of the above four degrees of freedom are monitored by the monitoring component, and mapped to the four degrees of freedom of the main body of the robotic arm through the central control system; in this way, the joystick has four operating degrees of freedom corresponding to the four degrees of freedom of the main body of the robotic arm, upgrading and simplifying the traditional two-degree-of-freedom operation of the main body of the robotic arm with two hands and two joysticks to a four-degree-of-freedom operation with one hand and one joystick, which can improve the intuitiveness of the operation of the main body of the robotic arm and reduce the difficulty of controlling the main body of the robotic arm. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A front view schematic diagram of a four-degree-of-freedom joystick provided in Embodiment 1; Figure 2 A top view of the four-degree-of-freedom joystick provided in Embodiment 1; Figure 3 This is a communication diagram of the robotic arm operating system provided in Embodiment 2; Figure 4 A schematic diagram of the movement of the main body of the robotic arm in the robotic arm control method provided in Embodiment 3; Figure 5 This is a schematic diagram of the movement of the main body of the robotic arm in the robotic arm control method provided in Embodiment 4.

[0014] In the diagram: 10-rocker; 11-base; 20-extension mechanism; 21-extension component; 22-torsion component; 23-torsion bar; 30-monitoring component; 31-swing monitoring component; 32-sliding monitoring component; 33-rotation monitoring component; 40-first swing reset mechanism; 50-second swing reset mechanism; 60-sliding reset mechanism; 70-torsion reset mechanism; 80-robotic arm body; 81-turntable; 82-upper arm; 83-lower arm; 84-actuator; 841-reference point; 85-rotation drive component; 86-upper arm drive component; 87-lower arm drive component; 88-actuator drive component; 89-linkage assembly; 90-central control system. Detailed Implementation

[0015] 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.

[0016] The purpose of this invention is to provide a four-degree-of-freedom joystick and robotic arm control method to solve the problems existing in the prior art and reduce the difficulty of controlling complex robotic arm movements.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Example 1 This embodiment provides a four-degree-of-freedom joystick. Please refer to [link / reference]. Figure 1 and Figure 2 The system includes a rocker arm 10, an extension mechanism 20, and a monitoring component 30. The lower end of the rocker arm 10 is movable relative to a fixed surface, and the rocker arm 10 is oscillating relative to the fixed surface in a first direction and a second direction. The extension mechanism 20 includes an extension member 21 and a torsion member 22. The extension member 21 is slidably connected to the rocker arm 10 and is slidable relative to the rocker arm 10 in a third direction, which is parallel to the length direction of the rocker arm 10. The torsion member 22 is rotatably connected to the extension member 21 and is rotatable relative to the extension member 21 in a fourth direction. The monitoring component 30 is capable of monitoring the first motion information of the rocker arm 10 in the first direction and the second motion information in the second direction. The monitoring component 30 is also capable of monitoring the third motion information of the extension member 21 in the third direction and the fourth motion information of the torsion member 22 in the fourth direction. The monitoring component 30 is used for communication connection to a central control system 90, and the central control system 90 is capable of receiving the first motion information, the second motion information, the third motion information, and the fourth motion information.

[0019] In this embodiment, the four-degree-of-freedom joystick is based on a rocker arm 10 with two degrees of freedom (DOF1 and DOF2) capable of swinging along a first and second direction. An extension mechanism 20 with two degrees of freedom is added, giving the joystick a total of four operational degrees of freedom. The extension member 21 of the extension mechanism 20 can slide relative to the rocker arm 10 along a third direction parallel to the length of the rocker arm 10; this direction represents the third degree of freedom (DOF3). A torsion member 22 is rotatably connected to the extension member 21 along a fourth direction, and can rotate independently relative to the extension member 21; this direction represents the fourth degree of freedom (DOF4). Furthermore, the rocker arm 10 has two... The directional swing, the sliding of the extension 21, and the rotation of the torsion member 22 can be completed by one hand, which conforms to the human wrist's movement habits. The first, second, third, and fourth motion information of the above four degrees of freedom are monitored by the monitoring component, and mapped to the four degrees of freedom of the robotic arm body 80 through the central control system 90. In this way, the joystick has four operating degrees of freedom corresponding to the four degrees of freedom of the robotic arm body 80, upgrading and simplifying the traditional two-handed two-joystick two-degree-of-freedom operation of the robotic arm body 80 to a one-handed single-joystick four-degree-of-freedom operation, which can improve the intuitiveness of the operation of the robotic arm body 80 and reduce the difficulty of controlling the robotic arm body 80.

[0020] The lower end of the rocker arm 10 can be hinged to the base 11 via a ball joint. The base 11 is fixedly installed on a fixed surface, such as the floor of the operating room, so that the rocker arm 10 can swing in multiple directions relative to the fixed surface.

[0021] In the optional solutions provided in this embodiment, it is more preferred that the extension member 21 is slidably connected to the rocker arm 10, and the extension member 21 can slide along the length direction of the rocker arm 10.

[0022] Specifically, the extension member 21 can be slidably connected to the rocker arm 10 via a conventional sliding joint mechanism, so that the extension member 21 can be slidably connected to the rocker arm 10 along the length direction of the rocker arm 10. The sliding joint mechanism can be configured as a sleeve rod, one end of which is fixedly connected to the extension member 21, and the sleeve rod can be coaxially sleeved on the outside of the rocker arm 10, and slidably connected to the rocker arm 10 through conventional slide rails and slide grooves. It should be noted that the sliding engagement method between the extension member 21 and the rocker arm 10 is not limited to the above method, as long as it can satisfy the sliding engagement.

[0023] In the optional solutions provided in this embodiment, more preferably, the extension member 21 is set as a slider and the torsion member 22 is set as a torsion cap; the torsion member 22 covers the upper half of the extension member 21 and is connected to the extension member 21 through the torsion bar 23. The torsion bar 23 is rotatably connected to the extension member 21 and fixedly connected to the torsion member 22; the axis of the torsion bar 23 is collinear with the center of the extension member 21, and the torsion member 22 can rotate relative to the extension member 21 with the axis of the torsion bar 23 as the axis of rotation.

[0024] The extension member 21 and the torsion member 22 are configured as a sliding ball and a torsion cover, which facilitates hand operation and rotation of the torsion cover. Specifically, the sliding ball can be hollow, and a rotating seat is set at the center of the ball, so that the lower end of the torsion bar 23 extends into the sliding ball and can be rotatably connected to the rotating seat through a bearing. The upper end of the torsion bar 23 extends out of the sliding ball and is fixedly connected to the torsion cover, thereby realizing the rotation of the torsion cover relative to the sliding ball around the axis of the torsion bar 23. In addition, the hollow design of the sliding ball reduces weight and facilitates operation, while also facilitating the setting of the internal structure rotation monitoring member 33 and the torsion reset mechanism 70.

[0025] In the optional solutions provided in this embodiment, more preferably, the monitoring component 30 includes a swing monitoring component 31, a sliding monitoring component 32, and a rotation monitoring component 33, all of which are communicatively connected to the central control system 90. The swing monitoring component 31 is disposed on the rocker arm 10 and is used to detect the swing angle information of the rocker arm 10 in a first direction and a second direction, the swing angle information in the first direction and the second direction being first motion information and second motion information, respectively. The sliding monitoring component 32 is disposed between the extension member 21 and the rocker arm 10 and is used to monitor the displacement information of the extension member 21 in a third direction, the displacement information being third motion information. The rotation monitoring component 33 is disposed between the extension member 21 and the torsion member 22 and is used to monitor the rotation angle information of the torsion member 22 in a fourth direction, the rotation angle information being fourth motion information.

[0026] Among them, the swing monitoring component 31 is set as a conventional dual-axis tilt angle monitoring component, such as a dual-axis tilt angle sensor or a dual-axis tilt angle transmitter, which can be set on the rocker arm 10 to monitor the swing angle information in the first and second directions and convert it into electronic signals to be sent to the central control system 90; the sliding monitoring component 32 is set as a conventional displacement sensor or displacement transmitter, which is set between the extension part 21 and the rocker arm 10, monitors the sliding distance information of the extension part 21 relative to the rocker arm 10 and converts it into electronic signals to be sent to the central control system 90; the rotation monitoring component 33 is set as a conventional single-axis tilt angle sensor or single-axis tilt angle transmitter, which is set on the torsion bar 23 and placed inside the slider, and obtains the rotation angle information of the torsion part 22 by monitoring the rotation angle information of the torsion bar 23 and converts it into electronic signals to be sent to the central control system 90; the central control system 90 can control the movement of the robotic arm body 80 according to the above monitoring information.

[0027] In the optional solutions provided in this embodiment, more preferably, the four-degree-of-freedom joystick provided in this embodiment further includes a first swing reset mechanism 40, which is disposed on both sides of the rocker arm 10 along a first direction; the first swing reset mechanism 40 is connected to the rocker arm 10 and the fixed surface, and when the rocker arm 10 swings along the first direction under the action of an external force, the first swing reset mechanism 40 can be elastically deformed; and after the external force is removed, the rocker arm 10 can be reset along the first direction under the action of the restoring force of the first swing reset mechanism 40.

[0028] The first swing reset mechanism 40 includes two spring dampers symmetrically arranged on both sides of the rocker arm 10 in the first direction. The upper end of each spring damper is connected to the rocker arm 10 and the lower end is connected to the fixed surface. The first swing reset mechanism 40 can ensure that the rocker arm 10 automatically returns to its original position when there is no operation in the DOF1 direction, and can provide a certain swing damping to prevent the rocker arm 10 from generating excessive unnecessary swing.

[0029] In the optional solutions provided in this embodiment, more preferably, the four-degree-of-freedom joystick provided in this embodiment further includes a second swing reset mechanism 50, which is disposed on both sides of the rocker arm 10 along the second direction; the second swing reset mechanism 50 is connected to the rocker arm 10 and the fixed surface, and when the rocker arm 10 swings along the second direction under the action of external force, the second swing reset mechanism 50 can be elastically deformed; and after the external force is removed, the rocker arm 10 can be reset along the second direction under the action of the restoring force of the second swing reset mechanism 50.

[0030] The second swing reset mechanism 50 includes two spring dampers symmetrically arranged on both sides of the rocker arm 10 in the second direction. The upper end of each spring damper is connected to the rocker arm 10 and the lower end is connected to the fixed surface. The second swing reset mechanism 50 can ensure that the rocker arm 10 automatically returns to its original position when there is no operation in the DOF2 direction, and can provide a certain swing damping to prevent the rocker arm 10 from generating excessive unnecessary swing.

[0031] Thus, the projections of the first direction and the second direction onto the horizontal plane are perpendicular. By setting the first swing reset mechanism 40 and the second swing reset mechanism 50 in the first and second directions of the rocker arm 10 respectively, the swing of the rocker arm 10 in the first and second directions can be reset and controlled, and swing damping can be provided to prevent the rocker arm 10 from generating excessive unnecessary swing.

[0032] In the optional solutions provided in this embodiment, more preferably, the four-degree-of-freedom joystick provided in this embodiment further includes a sliding reset mechanism 60, which is tractively connected to the extension member 21 and the rocker arm 10; when the extension member 21 slides relative to the rocker arm 10 in a third direction under the action of an external force, the sliding reset mechanism 60 can undergo elastic deformation; and after the external force is removed, the extension member 21 can be reset in a third direction under the action of the restoring force of the sliding reset mechanism 60.

[0033] The sliding reset mechanism 60 is configured as a spring damper, which can be installed on the sleeve sliding pair mechanism between the extension member 21 and the rocker arm 10. If the spring damper is installed inside the sleeve, with its two ends connected to the extension member 21 and the rocker arm 10 respectively, the sliding reset mechanism 60 can ensure that the extension member 21 automatically returns to its original position when there is no operation in the DOF3 direction, and can provide a certain damping to prevent the extension member 21 from generating excessive unnecessary sliding. In addition, in order to facilitate the monitoring of the sliding distance information of the extension member 21, the sliding monitoring component 32 can be integrated with the sliding reset mechanism 60 and installed between the two ends of the spring damper. The sliding distance of the extension member 21 relative to the rocker arm 10 is the deformation information of the spring damper. By monitoring the deformation information of the spring damper, the sliding information of the extension member 21 in the DOF3 direction can be obtained.

[0034] In the optional solutions provided in this embodiment, more preferably, the four-degree-of-freedom joystick provided in this embodiment further includes a torsion reset mechanism 70, which is tractively connected to the extension member 21 and the torsion member 22; when the torsion member 22 rotates relative to the rocker arm 10 in the fourth direction under the action of an external force, the torsion reset mechanism 70 can undergo elastic deformation; and after the external force is removed, the torsion member 22 can be reset in the fourth direction under the action of the restoring force of the torsion reset mechanism 70.

[0035] The torsion reset mechanism 70 is configured as a return spring, which is distributed inside the extension member 21 and on both sides of the torsion bar 23. The two ends of the return spring are respectively connected to the torsion bar 23 and the inner wall of the extension member 21. The return spring can reset the torsion member 22 when there is no operation in the DOF4 direction.

[0036] Example 2 This embodiment provides a robotic arm operating system, such as Figure 3 As shown, it includes a central control system 90, a robotic arm body 80, and a four-degree-of-freedom joystick as in Embodiment 1. The monitoring component 30 of the four-degree-of-freedom joystick is communicatively connected to the central control system 90. The central control system 90 is also communicatively connected to the robotic arm body 80. The central control system 90 can receive first motion information, second motion information, third motion information, and fourth motion information, so as to control the robotic arm body 80 to perform four-degree-of-freedom activities.

[0037] Among them, such as Figure 4and Figure 5 As shown, the main body 80 of the robotic arm includes a turntable 81, a large arm 82, a small arm 83, an actuator 84, a rotary drive 85, a large arm drive 86, a small arm drive 87, and an actuator drive 88. The turntable 81 is horizontally rotatable around a vertical axis and connected to a fixed surface. The turntable 81, large arm 82, small arm 83, and actuator 84 are sequentially hinged and movably connected. The rotary drive 85 is connected to the turntable 81 and can drive the turntable 81 to rotate. The large arm drive 86... The slewing drive 85 is connected to the boom 82 and the turntable 81, and can drive the boom 82 to rotate vertically; the forearm drive 87 is connected to the boom 82 and the forearm 83, and can drive the forearm 83 to rotate vertically; the actuator drive 88 is connected to the forearm 83 and the actuator 84, and can drive the actuator 84 to rotate vertically; the central control system 90 is communicatively connected to the slewing drive 85, the boom drive 86, the forearm drive 87 and the actuator drive 88, and performs motion control.

[0038] Specifically, the central control system 90 is configured as a programmable central control component of the excavator, such as an electro-hydraulic control system; the actuator 84 is configured as a bucket; the slewing drive 85 is configured as a slewing motor; and the boom drive 86, arm drive 87, and actuator drive 88 are all configured as electric or hydraulic telescopic cylinders. The turntable 81 is rotatably connected to the robotic arm platform via conventional means such as slewing bearings. The two ends of the boom drive 86 are respectively hinged to the turntable 81 and the boom 82; the two ends of the arm drive 87 are respectively hinged to the boom 82 and the arm 83; the fixed end of the actuator drive 88 is hinged to the arm 83, and its driving end is connected to the actuator 84 via a linkage assembly 89. The linkage assembly 89 is a two-bar linkage, with its two ends respectively hinged to the actuator 84 and the arm 83.

[0039] Example 3 This embodiment provides a robotic arm control method based on the robotic arm operating system in Embodiment 2, such as... Figure 4 As shown, the central control system 90 can control the rotation drive 85 of the robotic arm body 80 to move according to the first motion information, so as to drive the turntable 81 to rotate horizontally; the central control system 90 can control the movement of the large arm drive 86 and the small arm drive 87 of the robotic arm body 80 according to the third motion information and the second motion information, so as to drive the corresponding large arm 82 and small arm 83 to rotate vertically; the central control system 90 can control the movement of the execution drive 88 of the robotic arm body 80 according to the fourth motion information, so as to drive the execution element 84 to rotate vertically.

[0040] by Figure 1 and Figure 2Based on the coordinate system shown, under the central control of the central control system 90, the four-degree-of-freedom joystick provided in Embodiment 1 is used to intuitively control the driving angular velocities of the rotary drive component 85, the large arm drive component 86, the small arm drive component 87, and the execution drive component 88 of the robotic arm body 80. The specific mapping relationship is as follows: The motion-stroke of the four-degree-of-freedom joystick in the DOF1 direction is mapped to the rotational angular velocity of the turntable 81 in the DOF1.1 direction: when the joystick 10 moves to the right along the DOF1 direction, the swing monitoring device 31 sends an electrical control signal to control the rotary drive 85 to drive the turntable 81 to rotate to the right along the DOF1.1 direction; when the joystick 10 moves to the left along the DOF1 direction, the swing monitoring device 31 sends an electrical control signal to control the rotary drive 85 to drive the turntable 81 to rotate to the left along the DOF1.1 direction.

[0041] The motion-travel of the four-degree-of-freedom joystick in the DOF2 direction is mapped to the rotational angular velocity of the forearm 83 in the DOF2.1 direction: when the joystick 10 moves forward along the DOF2 direction, the swing monitoring device 31 sends an electrical control signal to control the forearm drive 87 to retract, thereby driving the forearm 83 to rotate forward and extend along the DOF2.1 direction; when the joystick 10 moves backward along the DOF2 direction, the swing monitoring device 31 sends an electrical control signal to control the forearm drive 87 to extend, thereby driving the forearm 83 to rotate backward and retract along the DOF2.1 direction.

[0042] The motion-stroke of the four-degree-of-freedom joystick in the DOF3 direction is mapped to the rotational angular velocity of the boom 82 in the DOF3.1 direction: when the manipulator extension 21 moves upward along the DOF3 direction, the sliding monitoring component 32 sends an electrical control signal to control the boom drive component 86 to extend, thereby driving the boom 82 to rotate upward along the DOF3.1 direction - lifting; when the manipulator extension 21 moves downward along the DOF3 direction, the sliding monitoring component 32 sends an electrical control signal to control the boom drive component 86 to retract, thereby driving the boom 82 to rotate downward along the DOF3.1 direction - sinking.

[0043] The motion-stroke of the four-degree-of-freedom joystick in the DOF4 direction is mapped to the rotational angular velocity of the actuator 84 in the DOF4.1 direction: when the control torsion member 22 rotates to the left along the DOF4 direction, the rotation monitoring member 33 sends an electrical control signal to control the actuator drive member 88 to extend, thereby driving the actuator 84 to rotate downward along the DOF4.1 direction - tipping the bucket; when the control torsion member 22 moves to the right along the DOF4 direction, the rotation monitoring member 33 sends an electrical control signal to control the actuator drive member 88 to retract, thereby driving the actuator 84 to rotate upward along the DOF4.1 direction - tipping the bucket.

[0044] Thus, by mapping the four degrees of freedom of the joystick to the four degrees of freedom of the robotic arm body 80, the left and right, forward and backward, up and down, and wrist twisting movements of the human hand correspond one-to-one with the left and right rotation, forward extension and backward retraction, lifting and lowering, and tipping movements of the robotic arm body 80, realizing intuitive one-handed control of the robotic arm.

[0045] Example 4 This embodiment provides a robotic arm control method, which differs from the robotic arm control method provided in Embodiment 3 in that: the central control system 90 can control the movements of the forearm drive component 87 and the upper arm drive component 86 according to the second motion information, and control the movements of the forearm drive component 87 and the upper arm drive component 86 according to the third motion information.

[0046] by Figure 1 and Figure 2 Using the coordinate system shown, under the central control of the central control system 90, the four-degree-of-freedom joystick provided in Embodiment 1 is used to intuitively control the driving angular velocity of the rotary drive component 85 and the execution drive component 88 of the robotic arm body 80, as well as the linear velocity of the reference point 841 in the horizontal and vertical directions, where the reference point 841 is the hinge point between the forearm 83 and the execution component 84; as shown Figure 5 As shown, the specific mapping relationship is as follows: The motion-stroke of the four-degree-of-freedom joystick in the DOF1 direction is mapped to the rotational angular velocity of the turntable 81 in the DOF1.2 direction: when the joystick 10 moves to the right along the DOF1 direction, the swing monitoring device 31 sends an electrical control signal to control the rotary drive device 85 to drive the turntable 81 to rotate to the right along the DOF1.2 direction; when the joystick 10 moves to the left along the DOF1 direction, the swing monitoring device 31 sends an electrical control signal to control the rotary drive device 85 to drive the turntable 81 to rotate to the left along the DOF1.2 direction.

[0047] The motion-stroke of the four-degree-of-freedom joystick in the DOF4 direction is mapped to the rotational angular velocity of the actuator 84 in the DOF4.2 direction: when the control torsion member 22 rotates to the left along the DOF4 direction, the rotation monitoring member 33 sends an electrical control signal to control the actuator drive member 88 to extend, thereby driving the actuator 84 to rotate downward along the DOF4.2 direction - tipping the bucket; when the control torsion member 22 moves to the right along the DOF4 direction, the rotation monitoring member 33 sends an electrical control signal to control the actuator drive member 88 to retract, thereby driving the actuator 84 to rotate upward along the DOF4.2 direction - tipping the bucket.

[0048] The motion-stroke of the four-degree-of-freedom joystick in the DOF2 direction is mapped to the rotational angular velocity of reference point 841 in the DOF2.2 direction. When the joystick 10 moves forward along the DOF2 direction, the swing monitoring device 31 sends an electrical control signal. Based on this control signal, the central control system 90 decouples it into two control signals using conventional inverse kinematics of a robotic arm. These control signals control the movements of the forearm drive 87 and the upper arm drive 86, respectively. By coordinating the movements of the forearm drive 87 and the upper arm drive 86, the reference point 841 is translated forward in the DOF2.2 direction. When the joystick 10 moves backward along the DOF2 direction, the swing monitoring device 31 sends an electrical control signal. Based on this control signal, the central control system 90 decouples it into two control signals using conventional inverse kinematics of a robotic arm. These control signals control the movements of the forearm drive 87 and the upper arm drive 86, respectively. By coordinating the movements of the forearm drive 87 and the upper arm drive 86, the reference point 841 is translated backward in the DOF2.2 direction.

[0049] The motion-stroke of the four-degree-of-freedom joystick in the DOF3 direction is mapped to the rotational angular velocity of reference point 841 in the DOF3.2 direction. When the manipulator extension 21 moves upward along the DOF3 direction, the sliding monitoring element 32 sends an electrical control signal. Based on this control signal, the central control system 90 decouples it into two control signals using conventional inverse kinematics of a robotic arm. These control signals control the movements of the forearm drive 87 and the upper arm drive 86, respectively. By coordinating the movements of the forearm drive 87 and the upper arm drive 86, the reference point 841 is translated upward in the DOF3.2 direction. When the manipulator extension 21 moves downward along the DOF3 direction, the sliding monitoring element 32 sends an electrical control signal. Based on this control signal, the central control system 90 decouples it into two control signals using conventional inverse kinematics of a robotic arm. These control signals control the movements of the forearm drive 87 and the upper arm drive 86, respectively. By coordinating the movements of the forearm drive 87 and the upper arm drive 86, the reference point 841 is translated downward in the DOF3.2 direction.

[0050] Thus, by mapping the four degrees of freedom of the joystick to the angular velocity of the corresponding drive component of the robotic arm body 80 and the linear velocity of the reference point 841, the left-right, forward-backward, up-down, and wrist-twisting movements of the human hand correspond one-to-one with the left-right rotation, forward-backward translation, up-down translation, and tipping movements of the robotic arm body 80, realizing intuitive one-handed control of the four-degree-of-freedom robotic arm.

[0051] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A four-degree-of-freedom joystick, characterized in that: include: The rocker arm (10) has a lower end that can move relative to a fixed surface, and the rocker arm (10) can swing relative to the fixed surface in a first direction and a second direction; An extension mechanism (20) includes an extension member (21) and a torsion member (22); the extension member (21) is slidably connected to the rocker arm (10) and is capable of sliding relative to the rocker arm (10) in a third direction, the third direction being parallel to the length direction of the rocker arm (10); the torsion member (22) is rotatably connected to the extension member (21) and is capable of rotating relative to the extension member (21) in a fourth direction; and The monitoring component (30) is capable of monitoring the first motion information of the rocker arm (10) in the first direction and the second motion information in the second direction. The monitoring component (30) is also capable of monitoring the third motion information of the extension member (21) in the third direction and the fourth motion information of the torsion member (22) in the fourth direction. The monitoring component (30) is used for communication connection to the central control system (90). The central control system (90) is capable of receiving the first motion information, the second motion information, the third motion information and the fourth motion information.

2. The four-degree-of-freedom joystick according to claim 1, characterized in that: The extension member (21) is slidably connected to the rocker arm (10), and the extension member (21) can slide along the length direction of the rocker arm (10).

3. The four-degree-of-freedom joystick according to claim 1, characterized in that: The extension member (21) is configured as a slider, and the torsion member (22) is configured as a torsion cap; the torsion member (22) covers the upper half of the extension member (21) and is connected to the extension member (21) through a torsion bar (23). The torsion bar (23) is rotatably connected to the extension member (21) and fixedly connected to the torsion member (22); the axis of the torsion bar (23) is collinear with the center of the extension member (21), and the torsion member (22) can rotate relative to the extension member (21) with the axis of the torsion bar (23) as the axis of rotation.

4. The four-degree-of-freedom joystick according to claim 1, characterized in that: The monitoring component (30) includes a rocker monitoring component (31), a sliding monitoring component (32), and a rotation monitoring component (33), all of which are communicatively connected to the central control system (90). The rocker monitoring component (31) is disposed on the rocker arm (10) and is used to detect the rocker arm (10) rocker angle information in the first direction and the second direction, respectively. The rocker angle information in the first direction and the second direction are the first motion information and the second motion information, respectively. The sliding monitoring component (32) is disposed between the extension member (21) and the rocker arm (10) and is used to monitor the displacement information of the extension member (21) in the third direction, which is the third motion information. The rotation monitoring component (33) is disposed between the extension member (21) and the torsion member (22) and is used to monitor the rotation angle information of the torsion member (22) in the fourth direction, which is the fourth motion information.

5. The four-degree-of-freedom joystick according to claim 1, characterized in that: It also includes a sliding reset mechanism (60), which is connected to the extension member (21) and the rocker arm (10). When the extension member (21) slides relative to the rocker arm (10) along the third direction under the action of an external force, the sliding reset mechanism (60) can undergo elastic deformation. After the external force is removed, the extension member (21) can be reset along the third direction under the action of the restoring force of the sliding reset mechanism (60).

6. The four-degree-of-freedom joystick according to claim 1, characterized in that: It also includes a torsion reset mechanism (70), which is connected to the extension member (21) and the torsion member (22). When the torsion member (22) rotates relative to the extension member (21) along the fourth direction under the action of an external force, the torsion reset mechanism (70) can be elastically deformed. After the external force is removed, the torsion member (22) can be reset along the fourth direction under the action of the restoring force of the torsion reset mechanism (70).

7. A method for controlling a robotic arm, characterized in that: Based on the four-degree-of-freedom joystick according to any one of claims 1-6; the central control system (90) controls the rotation drive (85) of the robotic arm body (80) according to the first motion information to drive the turntable (81) to rotate horizontally; the central control system (90) controls the action of the upper arm drive (86) and / or lower arm drive (87) of the robotic arm body (80) according to the second motion information and the third motion information to drive the corresponding upper arm (82) and / or lower arm (83) to rotate vertically; the central control system (90) controls the action of the execution drive (88) of the robotic arm body (80) according to the fourth motion information to drive the execution element (84) to rotate vertically.

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