Robot teleoperation device based on six-dimensional force sensor

Abstract

The utility model relates to the field of robot control devices, in particular to a robot teleoperation device based on a six-dimensional force sensor. A robot teleoperation device based on a six-dimensional force sensor comprises the six-dimensional force sensor, a switch type magnetic base, a rotating base used for enabling the six-dimensional force sensor to rotate relative to the switch type magnetic base, a main handle and a mounting support used for transmitting acting force of the main handle to the six-dimensional force sensor. The rotating seat comprises an upper rotating seat, a lower rotating seat and a locking screw; the upper rotating seat is rotatably mounted to the lower rotating seat. The beneficial effects of the utility model are that the adjustment of the coordinate system is realized in a mechanical manner, and the coordinate system of the six-dimensional force sensor in the plane direction rotates along the vertical axis by rotating the upper rotating seat, so that the coordinate system direction of the six-dimensional force sensor approaches the coordinate system direction of the robot during movement, and finally the coordinate systems of the six-dimensional force sensor and the robot are consistent. The operation habit of the user is met.

Description

Technical Field

[0001] The utility model relates to the field of robot control devices, in particular to a robot teleoperation device based on a six-dimensional force sensor. Background Art

[0002] The manual operation of conventional robots is generally to control the six-joint robot to move along the coordinate system through a teaching pendant or to use a conventional teleoperation device with a contact switch to control its movement. When teaching the robot point position, force control dragging is also used to make the robot move.

[0003] It has the following disadvantages: (1) Some equipment has a small space and force-controlled drag teaching cannot be implemented because there is not enough space; (2) When the teach pendant is used to control the robot's translational movement along the coordinate system, it is necessary to frequently press the teach pendant button to adjust the robot's movement speed and direction, which is cumbersome and inefficient; (3) Force-controlled drag teaching requires entering the inside of the equipment, which is dangerous; (4) Conventional remote control devices are contact switches, which are prone to accidental touch operations in the presence of sweat or other conductive liquids, posing certain safety hazards; (5) Conventional remote control devices are generally installed by clamping or fixing them to a specified position with screws, which is cumbersome and inflexible; (6) Because conventional remote control devices are fixed at a specified position, the coordinate system of the remote control device is sometimes inconsistent with the coordinate system of the robot. Therefore, when the remote control device is operated, the movement direction of the robot is inconsistent with the direction of the force applied to the remote control device. Utility Model Content

[0004] The purpose of the utility model is to provide a robot teleoperation device based on a six-dimensional force sensor to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A robot teleoperation device based on a six-dimensional force sensor, comprising: a six-dimensional force sensor, a switch-type magnetic base, a rotating base for rotating the six-dimensional force sensor relative to the switch-type magnetic base, a main handle, and a mounting bracket for transmitting the force of the main handle to the six-dimensional force sensor;

[0007] The rotating seat comprises: an upper rotating seat, a lower rotating seat and a locking screw; the upper rotating seat is rotatably mounted to the lower rotating seat; the locking screw is threadedly screwed to one of the upper rotating seat and the lower rotating seat, and the locking screw abuts against the other of the upper rotating seat and the lower rotating seat to lock the position of the upper rotating seat relative to the lower rotating seat;

[0008] The lower rotating seat is fixed to the switch-type magnetic seat; the six-dimensional force sensor is fixed to the upper rotating seat; the mounting bracket is fixed to the six-dimensional force sensor; the main handle is mounted to the mounting bracket; the rotation axis of the upper rotating seat relative to the lower rotating seat, the central axis of the six-dimensional force sensor and the central axis of the main handle are collinear.

[0009] As a further embodiment of the utility model, the lower rotating seat is formed with a central boss; the upper rotating seat is formed with a positioning groove; the central boss is rotatably arranged in the positioning groove; the locking screw passes through the groove wall of the positioning groove and abuts against the central boss.

[0010] As a further embodiment of the present utility model, the main handle is provided with a waterproof mechanical button switch; the waterproof mechanical button switch is located on the top of the main handle.

[0011] As a further embodiment of the present invention, a robot teleoperation device based on a six-dimensional force sensor also includes: an auxiliary handle; the auxiliary handle is installed on a mounting bracket; and the central axis of the auxiliary handle is parallel to the central axis of the main handle.

[0012] As a further embodiment of the present invention, there are two auxiliary handles; the two auxiliary handles are symmetrically arranged on both sides of the main handle.

[0013] As a further embodiment of the present invention, the mounting bracket is a plate-shaped structure.

[0014] As a further implementation of the present invention, the mounting bracket is mounted to the six-dimensional force sensor by bolt connection.

[0015] As a further embodiment of the present invention, the mounting bracket is formed with a threaded hole; the main handle is mounted to the mounting bracket through the threaded hole.

[0016] The utility model is beneficial in that: since the remote control device can be installed outside the equipment without space constraints, the manual operation and point teaching process of the robot are safer; the six-axis force sensor is used to control the movement of the six-joint robot by applying force to the remote control device, so that the robot can be quickly and intuitively moved to the desired teaching point, and the entire teaching operation process is more efficient; the waterproof mechanical button is not easy to be misoperated and has higher safety; it is installed with a switch-type magnetic suction seat, with flexible fixed position and convenient and quick disassembly; the remote control device can adjust the coordinate system direction of the six-axis force sensor to be consistent with the coordinate system direction of the robot, making the operation process more intuitive and simple. The coordinate system is adjusted mechanically, and the coordinate system of the plane direction of the six-axis force sensor is rotated along the vertical axis by rotating the upper rotating seat, so that the coordinate system direction of the six-axis force sensor can be close to the coordinate system direction of the robot when it moves, and finally the coordinate systems of the two are consistent, which conforms to the user's operating habits.

[0017] Other features and advantages of the present invention will be disclosed in detail in the following specific implementations and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a robot teleoperation device based on a six-dimensional force sensor as a first embodiment of the utility model;

[0019] Figure 2 yes Figure 1 A cross-sectional view of a robot teleoperation device based on a six-dimensional force sensor;

[0020] Figure 3 is a schematic diagram of a robot teleoperation device based on a six-dimensional force sensor as a second embodiment of the utility model;

[0021] Figure 4 It is a schematic diagram of a robot teleoperation device based on a six-dimensional force sensor as the third embodiment of the utility model.

[0022] List of reference numerals: Robot remote control device based on six-dimensional force sensor (100, 100a) six-dimensional force sensor 10; switch-type magnetic base 20; rotating base 30; upper rotating base 31; lower rotating base 32; locking screw 33; main handle 41; waterproof mechanical button switch 411; auxiliary handle (42a, 42b); mounting bracket (50, 50a, 50b). DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] like Figure 1 and Figure 2 As shown, as the first embodiment of the utility model, a robot remote control device 100 based on a six-axis force sensor includes: a six-axis force sensor 10, a switch-type magnetic base 20, a rotating base 30 for rotating the six-axis force sensor 10 relative to the switch-type magnetic base 20, a main handle 41 and a mounting bracket 50 for transmitting the force of the main handle 41 to the six-axis force sensor 10.

[0025] The rotating seat 30 includes: an upper rotating seat 31, a lower rotating seat 32 and a locking screw 33. The upper rotating seat 31 is rotatably mounted to the lower rotating seat 32. The locking screw 33 is threadedly screwed to one of the upper rotating seat 31 and the lower rotating seat 32, and the locking screw 33 abuts against the other of the upper rotating seat 31 and the lower rotating seat 32 to lock the position of the upper rotating seat 31 relative to the lower rotating seat 32. When the upper rotating seat 31 is rotated to a suitable position, the locking screw 33 is tightened to achieve locking. When adjustment is required, the locking screw 33 can be loosened so that the upper rotating seat 31 can rotate relative to the lower rotating seat 32.

[0026] As a specific embodiment, the locking screw 33 is screwed onto the upper rotating seat 31; the locking screw 33 abuts against the lower rotating seat 32 to lock the position of the upper rotating seat 31 relative to the lower rotating seat 32. As an optional embodiment, the locking screw 33 is screwed onto the lower rotating seat 32; the locking screw 33 abuts against the upper rotating seat 31 to lock the position of the upper rotating seat 31 relative to the lower rotating seat 32.

[0027] The lower rotating seat 32 is fixed to the switch type magnetic seat 20. The six-dimensional force sensor 10 is fixed to the upper rotating seat 31. The mounting bracket 50 is fixed to the six-dimensional force sensor 10. The main handle 41 is mounted to the mounting bracket 50. The rotation axis of the upper rotating seat 31 relative to the lower rotating seat 32, the central axis of the six-dimensional force sensor 10 and the central axis of the main handle 41 are collinear.

[0028] As a further embodiment of the rotating seat 30, the lower rotating seat 32 is formed with a center boss. The upper rotating seat 31 is formed with a positioning groove. The center boss is rotatably arranged in the positioning groove. The locking screw 33 passes through the groove wall of the positioning groove and abuts against the center boss. The lower rotating seat 32 and the upper rotating seat 31 can be set as a detachable structure or an inseparable structure. As a detachable structure, the upper rotating seat 31 can be separated from the lower rotating seat 32, for example, the upper rotating seat 31 can move upward to separate from the lower rotating seat 32 and be removed from the lower rotating seat 32. As an inseparable structure. A stop rib can be set on the outer side of the center boss to cooperate with the protruding structure on the positioning groove to achieve axial limiting, thereby preventing the upper rotating seat and the lower rotating seat from separating.

[0029] As a preferred embodiment, the main handle 41 is provided with a waterproof mechanical button switch 411. The waterproof mechanical button switch 411 is located at the top of the main handle 41.

[0030] As a specific implementation, the mounting bracket 50 is a plate-like structure. The mounting bracket 50 is mounted to the six-dimensional force sensor 10 by bolt connection. The mounting bracket 50 is formed with a threaded hole. The main handle 41 is mounted to the mounting bracket 50 through the threaded hole.

[0031] When the knob on the switch type magnetic base 20 is turned to the open position, the bottom or side of the switch type magnetic base 20 can be firmly adsorbed to the magnetizable metal surface, and the entire remote control device is fixed. When the knob is turned to the closed position, there is no adsorption force between the switch type magnetic base 20 and the metal surface, so it can be removed. There is no need to specify the location for installation, and it is highly flexible. After the rear plane is installed, the spatial coordinate system can be rotated by the rotating base 30.

[0032] The difference between the robot teleoperation device 100a based on a six-dimensional force sensor as the second embodiment of the present invention and the robot teleoperation device 100 based on a six-dimensional force sensor as the first embodiment is only in the following two points: 1. The structure of the mounting bracket is different; 2. The robot teleoperation device 100a based on a six-dimensional force sensor is additionally provided with an auxiliary handle 42a. Figure 3 As shown, the auxiliary handle 42a is mounted to the mounting bracket 50a. The central axis of the auxiliary handle 42 is parallel to the central axis of the main handle 41. The user can hold the auxiliary handle 42a with both hands, and can use the auxiliary handle 42a to assist the main handle in controlling the force direction of the six-dimensional force sensor.

[0033] The difference between the robot teleoperation device 100b based on the six-dimensional force sensor as the third embodiment of the present invention and the robot teleoperation device 100 based on the six-dimensional force sensor as the first embodiment is only in the following two points: 1. The structure of the mounting bracket is different; 2. The position and number of the auxiliary handles provided in the robot teleoperation device based on the six-dimensional force sensor are different. Figure 4 As shown, there are two auxiliary handles 42b. The auxiliary handles 42b are mounted to the mounting bracket 50b. The two auxiliary handles 42b are symmetrically arranged on both sides of the main handle. The auxiliary handles 42b can be used to assist in controlling the force direction of the six-dimensional force sensor based on the different moving directions and user operating habits.

[0034] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot teleoperation device based on a six-dimensional force sensor, characterized in that: include: A six-dimensional force sensor (10), a switch-type magnetic base (20), a rotating base (30) for rotating the six-dimensional force sensor (10) relative to the switch-type magnetic base (20), a main handle (41), and a mounting bracket (50) for transmitting the force of the main handle (41) to the six-dimensional force sensor (10); The rotating seat (30) comprises: an upper rotating seat (31), a lower rotating seat (32) and a locking screw (33); the upper rotating seat (31) is rotatably mounted to the lower rotating seat (32); the locking screw (33) is threadedly screwed to one of the upper rotating seat (31) and the lower rotating seat (32), and the locking screw (33) abuts against the other of the upper rotating seat (31) and the lower rotating seat (32) to lock the position of the upper rotating seat (31) relative to the lower rotating seat (32); The lower rotating seat (32) is fixed to the switch-type magnetic seat (20); the six-dimensional force sensor (10) is fixed to the upper rotating seat (31); the mounting bracket (50) is fixed to the six-dimensional force sensor (10); the main handle (41) is mounted to the mounting bracket (50); the rotation axis of the upper rotating seat (31) relative to the lower rotating seat (32), the central axis of the six-dimensional force sensor (10) and the central axis of the main handle (41) are collinear.

2. A robot teleoperation device based on a six-dimensional force sensor according to claim 1, characterized in that: The lower rotating seat (32) is formed with a central boss; the upper rotating seat (31) is formed with a positioning groove; the central boss is rotatably arranged in the positioning groove; the locking screw (33) passes through the groove wall of the positioning groove and abuts against the central boss.

3. A robot teleoperation device based on a six-dimensional force sensor according to claim 1, characterized in that: The main handle (41) is provided with a waterproof mechanical button switch (411); the waterproof mechanical button switch (411) is located at the top of the main handle (41).

4. A robot teleoperation device based on a six-dimensional force sensor according to claim 1, characterized in that: The robot teleoperation device based on the six-dimensional force sensor further includes: an auxiliary handle; The auxiliary handle is mounted to the mounting bracket; the central axis of the auxiliary handle is parallel to the central axis of the main handle.

5. A robot teleoperation device based on a six-dimensional force sensor according to claim 4, characterized in that: There are two auxiliary handles; the two auxiliary handles are symmetrically arranged on both sides of the main handle.

6. A robot teleoperation device based on a six-dimensional force sensor according to claim 1, characterized in that: The mounting bracket (50) is a plate-shaped structure.

7. A robot teleoperation device based on a six-dimensional force sensor according to claim 6, characterized in that: The mounting bracket (50) is mounted to the six-dimensional force sensor (10) by means of bolt connection.

8. The robot teleoperation device based on a six-dimensional force sensor according to claim 6, characterized in that: The mounting bracket (50) is formed with a threaded hole; the main handle (41) is mounted to the mounting bracket (50) through the threaded hole.

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