A force-guided operation handle for human-robot collaboration and a workpiece mounting system using the same

Abstract

The application belongs to the technical field of man-machine cooperation operation device, and discloses a force guiding operation handle for man-machine cooperation and a workpiece mounting system using the same. The operation handle comprises a rotating base assembly, an adjustable connecting rod assembly, a terminal execution assembly, a joint bidirectional self-locking assembly for mechanically locking each articulated joint in a normal state, and a linkage unlocking assembly connected with each joint bidirectional self-locking assembly. The workpiece mounting system comprises a workpiece mounting robot and the operation handle as described above. The application solves the problems of insufficient locking reliability, lack of soft posture adjustment and rigid locking dual-mode switching mechanism of the existing operation handle, and realizes flexible switching between the soft posture adjustment state and the rigid locking state of the operation handle, while giving consideration to labor-saving and convenient posture adjustment and stable and accurate force control guidance.

Description

Technical Field

[0001] This invention relates to a human-machine collaborative operation device, specifically a human-machine collaborative force-guided operating handle and a workpiece mounting system using the same. Background Technology

[0002] Against the backdrop of continuous advancements in modern urbanization and industrialization, building and industrial products are increasingly trending towards larger and more irregularly shaped structures. Large-sized components such as glass curtain walls, large wall panels, and precast concrete parts are becoming mainstream structural elements, with their individual dimensions and weights continuously increasing. Traditional manual handling and simple hoisting equipment are no longer sufficient to meet the stringent requirements of heavy-load, high-precision installation, making the application of large-component installation robots an inevitable trend.

[0003] However, the construction site environment is complex and ever-changing, and purely automated equipment cannot fully cope with various emergencies and the requirements for precise jointing. Human-robot collaboration, with its greater flexibility, adaptability, and installation quality, has become the mainstream method for installing large-sized workpieces. In human-robot collaborative installation operations, the operating handle is the key interface connecting the operator and the robot.

[0004] In existing technologies, the operating handles used in such scenarios generally suffer from the following technical problems: Firstly, insufficient locking reliability affects the stability of posture maintenance and force-controlled guidance. Some existing manipulators use one-way ratchet or friction locking methods to fix the joints. After posture adjustment, if the vacuum suction cup adsorbing the workpiece at the end accidentally slips, the manipulator joints may undergo unpredictable shape changes due to the lack of effective two-way locking, rendering the completed posture adjustment useless. More critically, if the manipulator joints have reverse travel of one-way locking or micro-slippage of friction locking, during the force-controlled guidance stage, when the operator directly applies force / torque signals to the six-dimensional force sensor through the cooperative control of the manipulator end, the manipulator may undergo unexpected deformation or wobbling. This causes the direction of the applied force / torque to be inconsistent with the point of application, making it difficult for the operator to achieve precise guidance and control of the robot due to the lack of a stable force application reference.

[0005] Secondly, it lacks a dual-mode switching mechanism for compliant adjustment and rigid locking. To maintain sufficient structural rigidity during force-guided operations and provide a stable force application reference for the operator, ensuring the accuracy and repeatability of force-guided operations, traditional operating handles are often designed as fixed structures or allow only limited adjustment. This makes it difficult for operators to flexibly adjust the handle's posture and length according to the task at hand to adapt to spatial constraints under different working conditions.

[0006] Therefore, developing a human-machine collaborative force-guided operating handle that can solve the above problems, has the ability to switch between compliant posture adjustment and rigid locking modes, and provides reliable locking and precise force control guidance has become an urgent technical problem to be solved in this field. Summary of the Invention

[0007] To address the issues of insufficient locking reliability and lack of a dual-mode switching mechanism between compliant adjustment and rigid locking in existing operating handles, this invention aims to provide a human-machine collaborative force-guided operating handle and a workpiece mounting system using it, so as to achieve flexible switching between compliant adjustment and rigid locking states of the operating handle, taking into account both the effortless and convenient posture adjustment and the stable and precise force control guidance.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a force-guided operating handle for human-machine collaboration, comprising: Rotary base assembly for fixed connection with workpiece mounting robot; An adjustable linkage assembly includes at least two links that are hinged sequentially, and each link has an adjustable length. The first end of the adjustable linkage assembly is hinged to the rotating base assembly. An end effector assembly is hinged to the second end of the adjustable linkage assembly; A bidirectional self-locking joint assembly is provided at each of the hinge joints between the rotating base assembly and the adjustable link assembly, and at each of the hinge joints between each segment of the adjustable link assembly, for mechanically locking the rotational degrees of freedom of each hinge joint in both directions under normal conditions, so that the adjustable link assembly constitutes a rigid body. The linkage unlocking component is linked to the joint bidirectional self-locking component at each of the hinge joints, and is used to respond to the operator's unlocking action to simultaneously unlock all the hinge joints, so that the adjustable linkage component switches to a compliant state in which the posture can be freely adjusted. In this process, the operator adjusts the adjustable linkage assembly to a specific posture suitable for the task in the compliant state; after releasing the linkage unlocking component and the adjustable linkage assembly returns to the rigid body, the operator manipulates the end effector to output a force / torque guidance signal to the workpiece mounting robot to complete the precise positioning of the workpiece.

[0009] As a limitation of the present invention, the bidirectional self-locking assembly of the joint includes a first ratchet and a second ratchet coaxially and oppositely disposed at the same hinge joint, and two sets of pawls with independent torsion springs respectively configured corresponding to the two ratchets; under normal conditions, the preload of the torsion spring pushes the pawl to engage with the tooth groove of the corresponding ratchet to achieve bidirectional mechanical deadlock.

[0010] As a further limitation of the present invention, the linkage unlocking component includes a linkage brake line, which is laid along the inner side of the connecting rod of the adjustable linkage component, and each branch end of the linkage brake line is connected to the pawl lever of the bidirectional self-locking component of the joint at each of the hinge joints. The end effector is equipped with an unlocking trigger that can be pulled by the operator to generate the unlocking action. The end of the linkage brake cable is connected to the unlocking trigger. When the unlocking trigger is engaged, all pawls are pulled away from the ratchet synchronously, realizing one-click unlocking of all the articulated joints. When the unlocking trigger is released, each pawl is reset under the action of an independent torsion spring and relocks its respective articulated joint.

[0011] As a further limitation of the present invention, each of the said hinge joints is provided with a guide pulley and a wire-threading limit plate for guiding and limiting the linkage brake line.

[0012] As another limitation of the present invention, the adjustable linkage assembly includes a first linkage and a second linkage hinged together; both the first linkage and the second linkage include two rod sections with the same length direction, one rod section is fixedly provided with a sliding adjustment slider, and the other rod section is provided with a through longitudinal groove, the sliding adjustment slider is engaged in the corresponding longitudinal groove, and the extended end of the sliding adjustment slider is equipped with a lock nut; when the lock nut is loosened, the linkage length can be infinitely extended and retracted, and when the lock nut is tightened, the linkage length is rigidly locked.

[0013] As a further limitation of the present invention, it also includes a gravity compensation component, which includes a first-stage gravity compensation spring and a second-stage gravity compensation spring. The first-stage gravity compensation spring is connected between the rotating base assembly and the first connecting rod, with its two ends respectively connected to two spring connecting rods. The spring connecting rod connected to the rotating base assembly is fixed, while the spring connecting rod connected to the first connecting rod is slidably disposed in the through slot opened in the first connecting rod. The second-stage gravity compensation spring is connected between the first connecting rod and the second connecting rod, with its two ends respectively connected to two spring connecting rods. At least one of the spring connecting rods is slidably disposed in the through slot opened by the corresponding connecting rod, and the other spring connecting rod is fixedly disposed on the corresponding connecting rod or is also slidably disposed in the through slot opened by the corresponding connecting rod. By changing the position of the sliding spring connecting rod in the through slot, the tension of the corresponding gravity compensation spring can be adjusted.

[0014] As a third limitation of the present invention, the end effector assembly includes a mounting plate, a vacuum suction cup assembly, a collaborative control handle, a six-dimensional force sensor, and a connecting frame; The vacuum suction cup assembly is mounted on the mounting plate and is used to adsorb the corner parts of large workpieces. The six-dimensional force sensor is disposed between the collaborative control handle and the mounting plate to detect the force / torque applied by the operator to the collaborative control handle and convert it into the force / torque guidance signal; One end of the connecting frame is rotatably connected to the mounting plate, and the other end is hinged to the second end of the adjustable linkage assembly, so that the cooperative control handle is spatially misaligned with the rod body of the adjustable linkage assembly.

[0015] As a further limitation of the present invention, the rotating base assembly includes a base plate, a plug-in support, and a clamping plate disposed above the base plate; The plug-in support is fixed to the bottom of the base plate by bolts. During assembly, loosening the bolts allows the robot end truss to be inserted into the plug-in groove formed between the plug-in support and the base plate. Tightening the bolts clamps the truss between the plug-in support and the base plate, forming a fixed connection. The clamping plate is used to hinge with the first end link of the adjustable link assembly, and the clamping plate is rotatably connected to the base plate. The rotatable connection is provided with the joint bidirectional self-locking assembly.

[0016] The present invention also discloses a workpiece mounting system, including a workpiece mounting robot and an operating handle connected to the end truss of the workpiece mounting robot, wherein the operating handle is a force-guided operating handle for human-machine collaboration as described above.

[0017] By adopting the above-described technical solution, the beneficial effects achieved by this invention compared to the prior art are as follows: (1) This invention achieves flexible switching between compliant posture adjustment and rigid locking modes. Specifically, this invention enables the operating handle to flexibly switch between compliant posture adjustment and rigid locking states through the coordinated cooperation of the joint bidirectional self-locking component and the linkage unlocking component. During the posture adjustment phase, all hinge joints can be unlocked simultaneously, allowing the operator to adjust the relative angles between the links effortlessly and smoothly, easily adapting to spatial constraints under different working conditions. During the force control guidance phase, all hinge joints can instantly restore bidirectional mechanical deadlock, making the adjustable link assembly a rigid body, providing the operator with a stable force application benchmark, and ensuring the accuracy and repeatability of force control guidance operation. In addition, the length of each link segment can be independently adjusted through the telescopic structure, further improving the flexibility of the handle's shape adaptation.

[0018] (2) Reliable locking, preventing posture deviation and ensuring a stable force application reference. This invention uses a bidirectional self-locking assembly of a joint between a first and second ratchet set coaxially and in opposite directions, with an independent torsion spring driving the pawl. Under normal conditions, it is in a bidirectional mechanical deadlock state. Even if a sudden situation such as accidental slippage of the vacuum suction cup occurs during the force control guidance stage, each hinge joint of the adjustable linkage assembly can still remain absolutely locked, and the posture will not deviate in any way. At the same time, the bidirectional mechanical locking fundamentally eliminates the reverse travel of unidirectional locking and the micro-slippage of friction locking. When the operator applies force, the handle will not undergo unexpected deformation or shaking, providing a stable and reliable force application reference for force control guidance.

[0019] (3) Linked unlocking, one-handed operation, convenient and efficient. This invention links the pawl levers at all articulated joints through the linkage brake cable. The operator only needs to tighten or loosen the unlocking trigger on the end effector to achieve one-click synchronous unlocking and instantaneous overall locking of all articulated joints, which simplifies the operation process and significantly improves the efficiency of posture adjustment.

[0020] (4) It has a gravity compensation function, making posture adjustment easy and effortless. By setting a first-stage gravity compensation spring and a second-stage gravity compensation spring, this invention provides damping and balancing that changes proportionally to the gravitational torque in a compliant posture adjustment state, effectively suppressing the uncontrolled movement of the linkage in the unlocked state. The operator only needs to apply a small pushing force to achieve fine adjustment of the angle of each hinge joint, which greatly reduces the intensity of operation.

[0021] (5) The spatial layout is reasonable and the grip is convenient. The present invention uses a connecting frame to offset the end effector component to the second end side of the adjustable linkage component, so that the cooperative control handle and the rod of the adjustable linkage component are spatially misaligned, which makes it easier for the operator to grip and apply force, thus improving human-machine efficiency and operating comfort. Attached Figure Description

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure from another perspective of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the rotating base assembly in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the rotating base assembly from another perspective in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the adjustable linkage assembly in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the end-effector component in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the end-effector component from another perspective in Embodiment 1 of the present invention; In the diagram: 1. Rotating base assembly; 2. Adjustable linkage assembly; 3. End effector assembly; 4. First joint bidirectional self-locking assembly; 5. Second joint bidirectional self-locking assembly; 6. Third joint bidirectional self-locking assembly; 7. Unlocking trigger; 8. Guide pulley; 9. Threading limit stop; 10. First-stage gravity compensation spring; 11. Second-stage gravity compensation spring; 12. Spring connecting rod; 13. Through slot; 101. Base plate; 102. Insertion support; 103. Clamping plate; 104. Insertion groove; 201. First connecting rod; 202. Second connecting rod; 203. Rod body; 204. Sliding adjusting slider; 205. Longitudinal groove; 301. Mounting plate; 302. Vacuum suction cup assembly; 303. Collaborative control handle; 304. Six-dimensional force sensor; 305. Connecting bracket; 401. First ratchet; 402. Second ratchet; 403. Pad. Detailed Implementation

[0024] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and understanding purposes only and are not intended to limit the scope of the invention.

[0025] Example 1: A force-guided operating handle for human-machine collaboration like Figures 1 to 2 As shown, this embodiment includes a rotating base assembly 1, an adjustable linkage assembly 2, an end effector assembly 3, a joint bidirectional self-locking assembly, a linkage unlocking assembly, and a gravity compensation assembly.

[0026] I. Rotating base assembly 1 The rotating base assembly 1 is used to achieve a fixed connection between the workpiece mounting robot and the robot in this embodiment. For example... Figure 3 and Figure 4 As shown, the rotating base assembly 1 includes a base plate 101, a plug-in support 102, and a clamping plate 103.

[0027] The base plate 101 is a flat plate structure with several first through holes for bolts. The plug-in support 102 is a U-shaped structure with ear plates extending horizontally outward on both sides. Each ear plate has several second through holes for bolts. During assembly, aligning the second through holes with the first through holes and inserting bolts secures the plug-in support 102 below the base plate 101. A plug-in groove 104 is formed between the plug-in support 102 and the base plate 101, which accommodates the end-effector square tube truss of the workpiece installation robot. During assembly, loosening the bolts allows the robot end-effector truss to be inserted into the plug-in groove 104 for pre-positioning. Tightening the bolts then clamps the robot end-effector truss together with the base plate 101, forming a through-type clamping and fixing structure. This connection method significantly improves the torsional resistance and reliability of the root connection in this embodiment, effectively eliminating the risk of loosening during long-term operation.

[0028] The clamping plate 103 has a U-shaped structure and is located above the base plate 101. The bottom of the clamping plate 103 is rotatably connected to the base plate 101. A joint bidirectional self-locking assembly is provided at this rotatable connection, which is referred to as the first joint bidirectional self-locking assembly 4 in this embodiment. The two side walls of the clamping plate 103 are used to accommodate the first end of the adjustable connecting rod assembly 2 and are hinged to the first end of the adjustable connecting rod assembly 2.

[0029] II. Adjustable Linkage Assembly 2 The adjustable linkage assembly 2 is used to adjust the working radius of the handle and the spatial posture.

[0030] The adjustable linkage assembly 2 includes at least two sequentially hinged links, each link having an adjustable length. For example... Figure 5 As shown, in this embodiment, the adjustable linkage assembly 2 includes a first linkage 201 and a second linkage 202. The first end of the first linkage 201 is hinged to the two side walls of the clamping plate 103 of the rotating base assembly 1 via bearings. The second end of the second linkage 202 is hinged to the end effector assembly 3. The second end of the first linkage 201 and the first end of the second linkage 202 are hinged to each other via bearings. In the aforementioned hinge joints, a second joint bidirectional self-locking assembly 5 is provided at the hinge joint between the rotating base assembly 1 and the first linkage 201, and a third joint bidirectional self-locking assembly 6 is provided at the hinge joint between the first linkage 201 and the second linkage 202. No bidirectional self-locking assembly is provided at the hinge joint between the second end of the second linkage 202 and the end effector assembly 3.

[0031] Both the first connecting rod 201 and the second connecting rod 202 are length-adjustable structures. Specifically, both the first connecting rod 201 and the second connecting rod 202 include two parallel double-plate rods 203, with the lengths of the two rods 203 aligned. Between the overlapping sections of the two rods 203, a sliding adjustment slider 204 is provided on each side of one of the rods 203, and this sliding adjustment slider 204 has a cylindrical shaft with external threads; the other rod 203 has a through-type longitudinal groove 205. The cylindrical shafts of each sliding adjustment slider 204 are engaged in the corresponding longitudinal grooves 205, and the extended ends of the cylindrical shafts are fitted with anti-loosening nuts. When the lock nut is loosened, the sliding adjustment slider 204 can slide freely along the longitudinal groove 205, thereby achieving stepless telescopic adjustment of the overlap length of the two rod sections 203, i.e., adjusting the connecting rod length. When the lock nut is tightened, the sliding adjustment slider 204 is tightly pressed against the rod section 203, achieving rigid locking of the connecting rod length. It should be noted that the telescopic adjustment of the connecting rod length is achieved by operating the lock nut, regardless of the locking or unlocking state of the hinge joint. The length can be adjusted independently whether the joint is locked or unlocked.

[0032] III. Joint Two-Way Self-Locking Component The joint bidirectional self-locking assembly is used to mechanically lock the rotational degrees of freedom of the corresponding articulated joint in both directions under normal conditions, so that the adjustable link assembly 2 constitutes a rigid body.

[0033] In this embodiment, three hinge joints—namely, between the clamping plate 103 and the base plate 101, between the rotating base assembly 1 and the first connecting rod 201, and between the first connecting rod 201 and the second connecting rod 202—are each equipped with a bidirectional self-locking assembly, and all three have identical structures. Taking the first bidirectional self-locking assembly 4 located between the clamping plate 103 and the base plate 101 as an example, as... Figure 3 As shown, it includes a first ratchet 401 and a second ratchet 402 coaxially and oppositely disposed at the hinge axis, and two sets of pawls 403 respectively configured corresponding to the two ratchet wheels. Each set of pawls 403 is equipped with an independent torsion spring (not shown in the figure). Under normal conditions, the preload of the torsion spring pushes the two sets of pawls 403 to engage with the tooth grooves of the first ratchet 401 and the second ratchet 402 from opposite directions. Through the alternating ratchet configuration, a purely mechanical bidirectional self-locking mechanism is achieved for the rotational degree of freedom of the hinge joint. The second joint bidirectional self-locking assembly 5 and the third joint bidirectional self-locking assembly 6 both adopt the same structure.

[0034] It is this two-way self-locking structure that ensures that even in the event of an unexpected situation such as the vacuum suction cup slipping out during the force control guidance phase, all joints of the handle remain absolutely locked and the posture does not shift. At the same time, it eliminates the reverse travel of one-way locking and the micro-slippage of friction locking from the root, ensuring that the handle will not deform or shake unexpectedly when the operator applies force.

[0035] IV. Linked Unlock Component The linkage unlocking component is used to achieve one-click synchronous unlocking of all joints, enabling the operator to smoothly adjust the working posture of this embodiment with one hand.

[0036] In this embodiment, the linkage unlocking assembly includes a linkage brake cable, an unlocking trigger 7, a guide pulley 8, and a cable-threading limit stop 9. The linkage brake cable is laid exposed along the inner side of the connecting rod of the adjustable linkage assembly 2, and each branch end is firmly connected to the pawl 403 lever of the three joint bidirectional self-locking assemblies (the linkage brake cable is not shown in the attached drawings). Figure 3 and Figure 5 As shown, multiple sets of guide pulleys 8 and wire-passing limit plates 9 with central wire-passing holes are provided at each hinge joint. The linkage brake cable passes through the small holes of each guide pulley 8 and wire-passing limit plate 9 in sequence to complete the reversal and constraint of the line and prevent interference and detachment.

[0037] like Figure 7 As shown, the unlocking trigger 7 is independently mounted on the mounting plate 301 of the end effector 3. The end of the linkage brake cable is connected to the unlocking trigger 7. When the operator pulls the unlocking trigger 7 inward, the linkage brake cable is tightened, simultaneously causing all pawls 403 to overcome the spring force of their respective torsion springs and disengage from the corresponding ratchet teeth, achieving one-button synchronous unlocking of all articulated joints. At this time, the handle enters a smooth state where the relative angles between each link can be freely adjusted. When the operator releases the unlocking trigger 7, the linkage brake cable loosens, and each pawl 403 resets under the restoring force of its independent torsion spring, re-engaging into the corresponding ratchet teeth, instantly restoring all articulated joints to bidirectional mechanical lock.

[0038] V. Gravity Compensation Components Gravity compensation components are used to provide damping and balance in compliant posture adjustment, allowing the operator to adjust the relative angles between the links with minimal effort and control.

[0039] In this embodiment, the gravity compensation component is a two-stage adaptive structure, including a first-stage gravity compensation spring 10 and a second-stage gravity compensation spring 11. To increase structural stability, each stage of the gravity compensation spring is arranged symmetrically on both sides.

[0040] like Figure 1 and Figure 2 As shown, the first-stage gravity compensation spring 10 spans between the rotating base assembly 1 and the first connecting rod 201, with its two ends respectively connected to two spring connecting rods 12. Among them, the spring connecting rod 12 connected to the side plate of the rotating base assembly 1 is fixedly set; the spring connecting rod 12 connected to the first connecting rod 201 is slidably set in the through groove 13 opened in the first connecting rod 201.

[0041] The second-stage gravity compensation spring 11 spans between the first connecting rod 201 and the second connecting rod 202, with its two ends respectively connected to two spring connecting rods 12. At least one spring connecting rod 12 is slidably disposed within the through slot 13 of the corresponding connecting rod, while the other spring connecting rod 12 is fixedly disposed on the corresponding connecting rod or similarly slidably disposed within the through slot 13 of the corresponding connecting rod.

[0042] By changing the position of each sliding spring connecting rod 12 in the corresponding through slot 13, the tension of the corresponding gravity compensation spring can be adjusted. When the operator pulls the unlock trigger 7 and the hinge joint is in the unlocked state, the gravity compensation spring provides a balancing torque that changes proportionally to the gravitational torque, effectively suppressing the uncontrolled fall or violent swing of the connecting rod in the unlocked state, allowing the operator to smoothly and controllably adjust the relative angle between each connecting rod with only a small pushing force.

[0043] VI. End Execution Component 3 The end effector 3 is hinged to the second end of the adjustable linkage assembly 2 and is the core interface for force interaction between the operator and the control handle.

[0044] like Figure 6 and Figure 7 As shown, in this embodiment, the end effector 3 includes a mounting plate 301, a vacuum suction cup assembly 302, a collaborative control handle 303, a six-dimensional force sensor 304, and a connecting frame 305.

[0045] A vacuum suction cup assembly 302 is mounted on the mounting plate 301 and is used to adsorb the corners and edges of large workpieces. A collaborative control handle 303 is a grip for the operator to apply force / torque. A six-dimensional force sensor 304 is located between the collaborative control handle 303 and the mounting plate 301. It detects the force / torque applied to the collaborative control handle 303 by the operator in real time, converts it into a force / torque guidance signal, and outputs it to the control system of the workpiece mounting robot to guide the robot to complete precise movement and alignment of the workpiece.

[0046] The connecting frame 305 adopts an L-shaped or similar high-strength structure, with one end rotatably connected to the mounting plate 301 and the other end hinged to the second end of the adjustable linkage assembly 2 (i.e., the second end of the second linkage 202). Through the offset design of the connecting frame 305, the cooperative control handle 303 and the rod 203 of the adjustable linkage assembly 2 are spatially staggered, making it convenient for the operator to hold and operate from the side.

[0047] The unlock trigger 7 is independently mounted on the mounting plate 301, separate from the cooperative control handle 303. The operator can pull the unlock trigger 7 with their finger while holding the cooperative control handle 303 to produce the aforementioned unlocking action.

[0048] Example 2: A workpiece mounting system This embodiment includes a workpiece installation robot and an operating handle connected to the end truss of the workpiece installation robot. The operating handle is the force-guided operating handle for human-machine collaboration described in Embodiment 1.

[0049] The specific working process of this embodiment is as follows: The first step is to pre-adjust the handle's posture. Before adsorbing the workpiece, the operator pulls the unlock trigger 7. The unlock trigger 7 synchronously pulls all the pawl 403 levers via the linkage brake cable, causing the pawl 403 of each hinge joint to disengage from the ratchet simultaneously. All hinge joints are unlocked with one click, and the handle enters a compliant state. Under the damping and balancing effect provided by the gravity compensation component, the operator only needs to apply a small pushing force to smoothly adjust the relative angle between the first link 201 and the second link 202, as well as the relative angle between the first link 201 and the rotating base assembly 1, adjusting the handle posture to a specific form suitable for the current task. After adjustment, the unlock trigger 7 is released, and each pawl 403 resets and engages with the ratchet teeth under the action of the torsion spring. All hinge joints instantly return to bidirectional mechanical lock, and the adjustable link assembly 2 forms a high-rigidity truss. In addition, if it is necessary to adjust the working radius of the handle, the anti-loosening nut can be loosened independently, the extension length of the link can be slid and adjusted, and the anti-loosening nut can be tightened after adjustment.

[0050] The second step is workpiece adsorption and verification. The operator uses the vacuum suction cup assembly 302 to adsorb the edges and corners of large workpieces. After confirming that the adsorption is firm, the operator verifies the bidirectional rigid locking state of the entire joint of the handle to ensure that the posture will not shift during subsequent operations.

[0051] The third step is force-guided precise alignment. The operator stands to the side, holding the collaborative control handle 303 with one hand. The force / torque applied by the operator is collected in real time by the six-dimensional force sensor 304 and converted into a guidance signal, which is output to the workpiece installation robot control system. This guides the robot to move smoothly with the workpiece, achieving precise alignment between the workpiece and the installation gap. During this process, because the handle is in a two-way mechanical self-locking state, the operator experiences a stable operating interface. The applied minute thrust is immediately and without buffering reflected in the follow-up movement of the workpiece installation robot, forming an intuitive force-guided experience.

[0052] The fourth step is final fixation. After the workpiece is precisely positioned, the robotic arm of the workpiece installation robot remains locked, and the spatial position of the workpiece is completely fixed. Construction personnel can then safely and stably complete the final fixing operations, such as applying adhesive and tightening screws, successfully completing the human-machine collaborative installation task.

[0053] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A force-guided operating handle for human-machine collaboration, characterized in that, include: Rotary base assembly for fixed connection with workpiece mounting robot; An adjustable linkage assembly includes at least two links that are hinged sequentially, and each link has an adjustable length. The first end of the adjustable linkage assembly is hinged to the rotating base assembly. An end effector assembly is hinged to the second end of the adjustable linkage assembly; A bidirectional self-locking joint assembly is provided at each of the hinge joints between the rotating base assembly and the adjustable link assembly, and at each of the hinge joints between each segment of the adjustable link assembly, for mechanically locking the rotational degrees of freedom of each hinge joint in both directions under normal conditions, so that the adjustable link assembly constitutes a rigid body. The linkage unlocking component is linked to the joint bidirectional self-locking component at each of the hinge joints, and is used to respond to the operator's unlocking action to simultaneously unlock all the hinge joints, so that the adjustable linkage component switches to a compliant state in which the posture can be freely adjusted. In this process, the operator adjusts the adjustable linkage assembly to a specific posture suitable for the task in the compliant state; after releasing the linkage unlocking component and the adjustable linkage assembly returns to the rigid body, the operator manipulates the end effector to output a force / torque guidance signal to the workpiece mounting robot to complete the precise positioning of the workpiece. The bidirectional self-locking assembly of the joint includes a first ratchet and a second ratchet coaxially and oppositely disposed at the same hinge joint, and two sets of pawls with independent torsion springs respectively configured corresponding to the two ratchets; under normal conditions, the preload of the torsion spring pushes the pawl to engage with the tooth groove of the corresponding ratchet to achieve bidirectional mechanical deadlock. The linkage unlocking component includes a linkage brake line, which is laid along the inner side of the connecting rod of the adjustable linkage component, and each branch end is connected to the pawl lever of the joint bidirectional self-locking component at each of the hinge joints. The end effector is equipped with an unlocking trigger that can be pulled by the operator to generate the unlocking action. The end of the linkage brake cable is connected to the unlocking trigger. When the unlocking trigger is engaged, all pawls are pulled away from the ratchet synchronously, realizing one-click unlocking of all the articulated joints. When the unlocking trigger is released, each pawl is reset under the action of an independent torsion spring and relocks its respective articulated joint.

2. The force-guided operating handle for human-machine collaboration according to claim 1, characterized in that, Each of the hinge joints is provided with a guide pulley and a wire-threading limit plate to guide and limit the linkage brake line.

3. The force-guided operating handle for human-machine collaboration according to claim 1 or 2, characterized in that, The adjustable linkage assembly includes a first linkage and a second linkage hinged together. Both the first linkage and the second linkage include two rod sections with the same length direction. A sliding adjustment slider is fixed on one rod section, and a through longitudinal groove is formed on the other rod section. The sliding adjustment slider is engaged in the corresponding longitudinal groove, and the extended end of the sliding adjustment slider is fitted with a lock nut. Loosening the lock nut allows for stepless extension and retraction adjustment of the linkage length, while tightening the lock nut achieves rigid locking of the linkage length.

4. The force-guided operating handle for human-machine collaboration according to claim 3, characterized in that, It also includes a gravity compensation component, which includes a first-stage gravity compensation spring and a second-stage gravity compensation spring; The first-stage gravity compensation spring is connected between the rotating base assembly and the first connecting rod, with its two ends respectively connected to two spring connecting rods. The spring connecting rod connected to the rotating base assembly is fixed, while the spring connecting rod connected to the first connecting rod is slidably disposed in the through slot opened in the first connecting rod. The second-stage gravity compensation spring is connected between the first connecting rod and the second connecting rod, with its two ends respectively connected to two spring connecting rods. At least one of the spring connecting rods is slidably disposed in the through slot opened by the corresponding connecting rod, and the other spring connecting rod is fixedly disposed on the corresponding connecting rod or is also slidably disposed in the through slot opened by the corresponding connecting rod. By changing the position of the sliding spring connecting rod in the through slot, the tension of the corresponding gravity compensation spring can be adjusted.

5. The force-guided operating handle for human-machine collaboration according to any one of claims 1, 2, and 4, characterized in that, The end effector assembly includes a mounting plate, a vacuum suction cup assembly, a collaborative control handle, a six-dimensional force sensor, and a connecting frame; The vacuum suction cup assembly is mounted on the mounting plate and is used to adsorb the corner parts of large workpieces. The six-dimensional force sensor is disposed between the collaborative control handle and the mounting plate to detect the force / torque applied by the operator to the collaborative control handle and convert it into the force / torque guidance signal; One end of the connecting frame is rotatably connected to the mounting plate, and the other end is hinged to the second end of the adjustable linkage assembly, so that the cooperative control handle is spatially misaligned with the rod body of the adjustable linkage assembly.

6. The force-guided operating handle for human-machine collaboration according to claim 5, characterized in that, The rotating base assembly includes a base plate, a plug-in support, and a clamping plate disposed above the base plate; The plug-in support is fixed to the bottom of the base plate by bolts. During assembly, loosening the bolts allows the robot end truss to be inserted into the plug-in groove formed between the plug-in support and the base plate. Tightening the bolts clamps the truss between the plug-in support and the base plate, forming a fixed connection. The clamping plate is used to hinge with the first end connecting rod of the adjustable connecting rod assembly, and the clamping plate is rotatably connected to the base plate. The rotatable connection is provided with the bidirectional self-locking assembly of the joint.

7. A workpiece mounting system, characterized in that, It includes a workpiece installation robot and an operating handle connected to the end gantry of the workpiece installation robot, wherein the operating handle is a force-guided operating handle for human-machine collaboration as described in any one of claims 1-6.

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