Mechanical arm system and master mechanical arm for teleoperation of slave mechanical arm

Abstract

The utility model mainly relates to a mechanical arm system and a master mechanical arm used for remotely operating a slave mechanical arm, the master mechanical arm comprises a plurality of arm bodies connected in sequence and a driving piece connected with two adjacent arm bodies, each arm body comprises a main body part and two first connecting parts connected with one end of the main body part, and the main body part is arranged to be of a hollow structure; the other end of each arm body is provided with a containing groove, the driving part is arranged in the containing groove of one arm body, and in the direction of the axis of the output end of the driving part, one of the two first connecting parts of the other arm body is connected with the output end of the driving part, and the other first connecting part is connected with the driving part through the auxiliary part; and the relative rotation of the two adjacent arm bodies is more stable.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and particularly to a robotic arm system and a master robotic arm for remotely operating a slave robotic arm. Background Art

[0002] With the continuous development of robotic arm and AI technologies, it has become possible for users to train or remotely control robotic arms. Correspondingly, users can remotely operate a slave robotic arm (commonly known as the "slave hand") to perform target tasks through a master robotic arm (commonly known as the "master hand") without contacting the target object. Among them, since the master robotic arm is operated by the user, in addition to having a certain degree of flexibility, the master robotic arm also needs to have characteristics such as high reliability and light weight. Summary of the Invention

[0003] An embodiment of this application provides a master robotic arm for remotely operating a slave robotic arm. The master robotic arm includes a plurality of sequentially connected arm bodies and a driving member connecting two adjacent arm bodies. Each arm body includes a main body portion and two first connecting portions connected to one end of the main body portion. The main body portion is configured as a hollow structure. An accommodation groove is provided at the other end of the arm body. The driving member is disposed in the accommodation groove of one arm body. In the direction of the axis of the output end of the driving member, one of the two first connecting portions of the other arm body is connected to the output end of the driving member, and the other is connected to the driving member through an auxiliary member.

[0004] An embodiment of this application also provides a robotic arm system, which includes a slave robotic arm and the master robotic arm described in the above embodiment. The master robotic arm is used for the user to remotely operate the slave robotic arm.

[0005] The beneficial effects of this application are as follows: In the master robotic arm provided by this application, each arm body includes a main body portion and two first connecting portions connected to one end of the main body portion. The main body portion is configured as a hollow structure, which is beneficial to reducing the mass of the master robotic arm. An accommodation groove is provided at the other end of the arm body. The driving member is disposed in the accommodation groove of one arm body. In the direction of the axis of the output end of the driving member, one of the two first connecting portions of the other arm body is connected to the output end of the driving member, and the other is connected to the driving member through an auxiliary member, making the relative rotation of two adjacent arm bodies more stable. Brief Description of the Drawings

[0006] To more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0007] Figure 1 is a schematic structural diagram of an embodiment of the robotic arm system provided by this application;

[0008] Figure 2 It is a schematic structural diagram of an embodiment of the main robotic arm provided by this application;

[0009] Figure 3 It is a schematic structural diagram of an embodiment of the handle provided by this application;

[0010] Figure 4 It is a partial structural schematic diagram of an embodiment of the handle provided by this application;

[0011] Figure 5 It is a schematic structural diagram of an embodiment of the handle provided by this application;

[0012] Figure 6 It is a partial structural schematic diagram of an embodiment of the main robotic arm provided by this application;

[0013] Figure 7 It is a schematic structural diagram of an embodiment of the arm body provided by this application;

[0014] Figure 8 It is a schematic structural diagram of an embodiment of the arm body provided by this application. Specific Embodiments

[0015] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of this application.

[0016] In combination with Figure 1 , the robotic arm system 100 may include a main robotic arm 10 and a slave robotic arm 20. The main robotic arm 10 is used for the user to remotely operate the slave robotic arm 20. Among them, the numbers of the main robotic arm 10 and the slave robotic arm 20 may be two respectively, so as to simulate the user's left hand and right hand, thereby facilitating the user to operate the robotic arm system 100 with one hand or both hands. Further, the degrees of freedom of the main robotic arm 10 and the slave robotic arm 20 may be the same.

[0017] Further, the robotic arm system 100 may further include a workbench 30 and a bracket 40 connected to the workbench 30. The main robotic arm 10 and the slave robotic arm 20 may be respectively fixed on the workbench 30, and a camera 50 may be installed on the bracket 40 such that the camera 50 is located above the workbench 30.

[0018] In combination with Figure 2, the main robotic arm 10 may include a handle 11 and a plurality of arm bodies 12 that are sequentially rotatably connected. The first or the last one of the plurality of arm bodies 12 is connected to the handle 11, and the handle 11 is for the user to hold. Among them, taking the last one of the plurality of arm bodies 12 being connected to the handle 11 as an example, the first one of the plurality of arm bodies 12 may be directly fixed on the workbench 30. Of course, the main robotic arm 10 may further include a base 13, the first one of the plurality of arm bodies 12 may be connected to the base 13, and the base 13 is fixed on the workbench 30. Further, in this application, an example is given with the number of arm bodies 12 being four, that is, the arm bodies 12 may include a first arm body 12A, a second arm body 12B, a third arm body 12C, and a fourth arm body 12D. Correspondingly, the base 13 may be rotatably connected to the first arm body 12A, and the handle 11 may be rotatably connected to the fourth arm body 12D. Among them, the length of the first arm body 12A may be the longest.

[0019] Combined with Figure 3 , a sensor 14 may be provided on the handle 11. The sensor 14 has a first level signal when the user holds the handle 11, and the sensor 14 has a second level signal different from the first level signal when the user does not hold the handle 11. Among them, when the level signal of the sensor 14 changes from the first level signal to the second level signal, the main robotic arm 10 switches to the locked state; when the level signal of the sensor 14 changes from the second level signal to the first level signal, the main robotic arm 10 switches to an unlocked state different from the locked state. With such a setting, when the user uses the main robotic arm 10, the main robotic arm 10 will switch to the unlocked state, that is, the setting of the sensor 14 will not affect the normal use of the main robotic arm 10; and when the user does not use the main robotic arm 10, since the main robotic arm 10 will switch to the locked state, the user does not have to worry about whether the main robotic arm 10 will hit the tabletop such as the workbench 30, nor do they have to consider how to place the main robotic arm 10 stably on the tabletop such as the workbench 30, that is, the user can release the handle 11 without thinking when not using the main robotic arm 10, which is simple, convenient, and reliable.

[0020] As an example, the handle 11 may include a first main body portion 111 and a second main body portion 112 connected to the first main body portion 111, and the sensor 14 may be provided on the second main body portion 112. Among them, when the user holds the handle 11, the second main body portion 112 is held by the user's hand, and the sensor 14 is covered by the user's hand, and the first main body portion 111 is located above the user's tiger's mouth. Further, the second main body portion 112 may be provided as a hollow structure, which is convenient for setting the sensor 14 and is also beneficial to reducing the weight of the handle 11.

[0021] In some embodiments, the position of the sensor 14 on the second main body portion 112 is such that when the user holds the handle 11, the sensor 14 is covered by the user's finger, and of course, it can also be covered by the user's palm.

[0022] In some embodiments, the sensor 14 can be any one or a combination of a diffuse reflection sensor, a ToF sensor, a capacitive touch sensor, and of course, it can also be other types of sensors.

[0023] Further, the handle 11 can include a third main body portion 113 connected to the first main body portion 112. The first main body portion 111 is provided with a receiving groove, and the third main body portion 113 is provided with a mounting hole 1131 communicating with the receiving groove. The mounting hole 1131 allows the handle 11 to be assembled to the arm body 12 (such as the fourth arm body 12D). For example, a screw passes through the mounting hole 1131 to lock the third main body portion 113 to the fourth arm body 12D. Among them, the handle 11 can further include a driving member 114 and a wrench 115. The driving member 114 is partially located in the receiving groove and covers the mounting hole 1131, which is beneficial to reducing the volume of the handle 11. The wrench 115 is connected to the output end of the driving member 114 so that when the user uses the handle 11, the driving member 114 can assist the user in pulling the wrench 115. The driving member 114 can be a servo motor or other types of motors.

[0024] As an example, in combination with Figure 4 , the part where the wrench 115 is connected to the driving member 114 is hollowed out to form two opposite connecting portions 1151. In the direction of the axis of the output end of the driving member 114, one of the two connecting portions 1151 is connected to the output end of the driving member 114, and the other is connected to the driving member 114 through an auxiliary member 116. The auxiliary member 116 allows the wrench 115 to rotate relative to the driving member 114. Among them, the auxiliary member 116 can be a bearing or a cylindrical structure connected to the driving member 114, making the rotation of the wrench 115 smoother. Further, an elastic member such as a torsion spring is provided between at least one connecting portion 1151 and the driving member 116. For example, the elastic member is arranged in the groove of the connecting portion 1151. In this way, during the rotation of the wrench 115, the elastic member is in a non-natural state to provide damping feedback for the user.

[0025] In some embodiments, the above-mentioned receiving groove can penetrate through the first main body portion 111. The handle 11 can further include an end cap 117. The end cap 117 can be buckled at one end of the receiving groove away from the driving member 114. At least one button 118 is provided on the end cap 117, and the button 118 can expand the functions of the handle 11. Among them, the sensor 14, the driving member 114, and the button 118 can be electrically connected to the same circuit board to simplify the circuit wiring inside the handle 11. Of course, the button 118 can also be directly welded to the circuit board.

[0026] In some embodiments, in combination with Figure 5 , the included angle β1 between the third main body portion 113 and the first main body portion 111 can be 90°, and the included angle β2 between the first main body portion 111 and the second main body portion 112 can be between 90° and 120°, so as to facilitate the structure of the handle 11 to meet ergonomics and connect with other structures (such as the fourth arm body 12D).

[0027] In combination with Figure 2 , the main robotic arm 10 can include a plurality of sequentially connected arm bodies 12 and driving members 15 connecting two adjacent arm bodies 12, and the driving members 15 allow the plurality of arm bodies 12 to be sequentially rotatably connected. Among them, the driving member 15 can be a servo motor or other types of motors. Further, in this application, an example is given with the number of arm bodies 12 being four, that is, the arm bodies 12 can include a first arm body 12A, a second arm body 12B, a third arm body 12C, and a fourth arm body 12D. Correspondingly, the driving members 15 can include a first driving member 15A, a second driving member 15B, and a third driving member 15C. The first driving member 15A is arranged between the first arm body 12A and the second arm body 12B, the second driving member 15B is arranged between the second arm body 12B and the third arm body 12C, and the third driving member 15C is arranged between the third arm body 12C and the fourth arm body 12D. Further, the driving member 15 can include a fourth driving member 15D and a fifth driving member 15E. The fourth driving member 15D is arranged between the first arm body 12A and the base 13, and the fifth driving member 15E is arranged between the fourth arm body 12D and the handle 11. Among them, the first arm body 12A can be rotatably connected to the base 13 through two driving members (such as the fourth driving member 15D), so that the arm body 12 rotates more smoothly relative to the base 13.

[0028] In combination with Figures 6 to 8 , the arm body 12 can include a main body portion 121 and two first connecting portions 122 connected to one end of the main body portion 121. Among them, the main body portion 121 can be arranged in a hollow structure, which is beneficial to reducing the mass of the main robotic arm 10, and the length of the first connecting portion 122 can mainly depend on the rotation angle of the arm body 12. Further, a receiving groove 123 is provided at the other end of the arm body 12, and the driving member 15 is arranged in the receiving groove 123 of one arm body 12. In the direction of the axis of the output end of the driving member 15, one of the two first connecting portions 122 of the other arm body 12 is connected to the output end of the driving member 15, and the other is connected to the driving member 15 through an auxiliary member 124, so that the relative rotation of two adjacent arm bodies 12 is more stable. Among them, the auxiliary member 124 can be a bearing or a cylindrical structure connected to the driving member 15.

[0029] For example: The first driving member 15A is disposed in the receiving groove 123 of the first arm body 12A. In the direction of the axis of the output end of the first driving member 15A, one of the two first connecting portions 122 of the second arm body 12B is connected to the output end of the first driving member 15A, and the other is connected to the first driving member 15A through the auxiliary member 124; the second driving member 15B is disposed in the receiving groove 123 of the second arm body 12B. In the direction of the axis of the output end of the second driving member 15B, one of the two first connecting portions 122 of the third arm body 12C is connected to the output end of the second driving member 15B, and the other is connected to the second driving member 15B through the auxiliary member 124; the third driving member 15C is disposed in the receiving groove 123 of the third arm body 12C. In the direction of the axis of the output end of the third driving member 15C, one of the two first connecting portions 122 of the fourth arm body 12D is connected to the output end of the third driving member 15C, and the other is connected to the third driving member 15C through the auxiliary member 124.

[0030] For another example: The fourth driving member 15D is fixed on the base 13. One of the two first connecting portions 122 of the first arm body 12A is connected to the output end of one fourth driving member 15D, and the other is connected to the output end of the other fourth driving member 15D; the fifth driving member 15E is disposed in the receiving groove 123 of the fourth arm body 12D.

[0031] Furthermore, the arm body 12 may include two second connecting portions 125 connected to the other end of the main body portion 121. The two second connecting portions 125 are oppositely disposed and enclose a receiving groove 123 with the main body portion 121. Among them, the driving member 15 may have four side surfaces. For example, the driving member 15 is generally in a cuboid structure. Two of the four side surfaces are oppositely disposed, and the opposite two side surfaces are respectively connected to the opposite two second connecting portions 125, which is beneficial to increasing the connection reliability between the driving member 15 and the arm body 12.

[0032] In some embodiments, in combination with Figure 7 , the two first connecting portions 122 may respectively be in a cantilever structure with respect to the main body portion 121. At this time, the extending direction of the first connecting portion 122 may be the same as the extending direction of the main body portion 121, and the main body portion 121 may be located between the two first connecting portions 122.

[0033] In some embodiments, in combination with Figure 8, the arm body 12 may further include a third connecting portion 126. Two ends of the third connecting portion 126 are respectively connected to two first connecting portions 122 one by one. One of the two first connecting portions 122 may be a part of the main body portion 121, and the other may be in a cantilever structure relative to the third connecting portion 126. At this time, the extending direction of the first connecting portion 122 may be orthogonal to the extending direction of the main body portion 121, and the extending direction of the third connecting portion 126 may be the same as the extending direction of the main body portion 121.

[0034] Further, a boss 127 may be provided on the inner side of the first connecting portion 122. The output end of the auxiliary member 124 or the driving member 15 may be connected to the boss 127 by a screw, so that there is a gap between the driving member 15 and the first connecting portion 122 in the direction of the axis of the output end of the driving member 15.

[0035] The main robotic arm and the robotic arm system provided by the embodiments of the present application have been introduced in detail above. Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the present application. At the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A master manipulator for a remotely operated slave manipulator, characterized in that, The main robotic arm includes a plurality of arm bodies connected in sequence and driving members connecting adjacent two of the arm bodies. Each arm body includes a main body portion and two first connecting portions connected to one end of the main body portion. The main body portion is arranged as a hollow structure. An accommodation groove is provided at the other end of the arm body. The driving member is arranged in the accommodation groove of one of the arm bodies. In the direction of the axis of the output end of the driving member, one of the two first connecting portions of the other arm body is connected to the output end of the driving member, and the other is connected to the driving member through an auxiliary member.

2. The main robotic arm according to claim 1, wherein The arm body includes two second connecting portions connected to the other end of the main body portion. The two second connecting portions are arranged oppositely and enclose the accommodation groove together with the main body portion. The driving member has four side surfaces, and two of the four side surfaces are arranged oppositely. The two oppositely arranged side surfaces are respectively connected to the two oppositely arranged second connecting portions.

3. The main robotic arm according to claim 2, characterized in that, The two first connecting portions are respectively in a cantilever structure relative to the main body portion.

4. The main robotic arm according to claim 2, wherein, The arm body further includes a third connecting portion. The two ends of the third connecting portion are respectively connected to the two first connecting portions one by one. One of the two first connecting portions is part of the main body portion, and the other is in a cantilever structure relative to the third connecting portion.

5. The main robotic arm according to claim 1, wherein, A boss is provided on the inner side of the first connecting portion. The auxiliary member or the output end of the driving member is connected to the boss, so that there is a gap between the driving member and the first connecting portion in the direction of the axis of the output end of the driving member.

6. The main robotic arm according to claim 1, characterized in that, The main robotic arm further includes a base and a handle. The number of the arm bodies is four. The first arm body has the longest length. The first arm body is rotatably connected to the base, and the fourth arm body is rotatably connected to the handle.

7. The main robotic arm according to claim 6, characterized in that, The first arm body is rotatably connected to the base through two driving members.

8. The main robotic arm according to claim 6, characterized in that, A sensor is provided on the handle. The sensor has a first level signal when the user holds the handle, and the sensor has a second level signal different from the first level signal when the user does not hold the handle. Wherein, when the level signal of the sensor changes from the first level signal to the second level signal, the main robotic arm switches to a locked state, and when the level signal of the sensor changes from the second level signal to the first level signal, the main robotic arm switches to an unlocked state different from the locked state.

9. The main robotic arm according to claim 1, characterized in that, The auxiliary member is a bearing.

10. A robotic arm system, characterized in that, The robotic arm system includes a slave robotic arm and the main robotic arm according to any one of claims 1 to 9. The main robotic arm is used for the user to remotely operate the slave robotic arm.

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