Wearable mechanical arm control equipment

Abstract

The utility model provides wearable mechanical arm control equipment, and relates to the technical field of robots. And the wearable mechanical arm control equipment is used for controlling the multi-degree-of-freedom mechanical arm to act by an operator. The multi-degree-of-freedom mechanical arm is provided with a plurality of moving arms which are connected in sequence. The wearable mechanical arm control equipment comprises a wearable assembly and a control arm. The control arm is mounted on the wearable assembly. The control arm is provided with a plurality of joint arms corresponding to a plurality of moving arms of the multi-degree-of-freedom mechanical arm. The wearable assembly is configured to be worn on the body of an operator, and when the wearable assembly is worn on the body of the operator, the control arm is located on the front side of the operator. An operator can control the control arm to act so that the multiple moving arms of the multi-degree-of-freedom mechanical arm can act along with actions of the corresponding joint arms. The wearable mechanical arm control equipment is small in size, light in weight and convenient to control.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a wearable robotic arm control device. Background Art

[0002] Multi-degree-of-freedom robotic arms have been widely used in various fields, such as manufacturing, public safety, and emergency rescue, due to their high flexibility and precision.

[0003] Humanoid robots, due to their human-like appearance, typically incorporate multiple multi-degree-of-freedom robotic arms, such as arms. Humanoid robots with these integrated multi-degree-of-freedom robotic arms can achieve more complex movements. This is especially true when paired with a wearable controller, allowing them to follow the movements of corresponding body parts of the operator.

[0004] Wearable robotic arm control devices are widely used in some fields, such as the control of humanoid robots, because they can be worn on the operator's body and allow the operator to simultaneously control multiple multi-degree-of-freedom robotic arms.

[0005] Existing wearable robotic arm control devices are generally carried on the operator's back, and the control arm is fixed to the operator's arm in the form of an exoskeleton, using the human body to control the multi-degree-of-freedom robotic arm to move in the same trajectory.

[0006] However, existing wearable robotic arm control devices, which are fixed to the outside of the arm using an exoskeleton, are bulky and heavy, making them inconvenient to wear for long periods of time. Furthermore, the control arm needs to be fixed to the corresponding part of the arm, which places high demands on the operator's physique. Utility Model Content

[0007] The purpose of the present utility model includes providing a wearable robotic arm control device, which can improve the problems of existing wearable robotic arm control devices being large in size and having high requirements on the operator's body shape.

[0008] The embodiment of the present utility model can be implemented as follows:

[0009] The utility model provides a wearable robotic arm control device, based on which an operator controls the movement of a multi-degree-of-freedom robotic arm, wherein the multi-degree-of-freedom robotic arm has a plurality of motion arms connected in sequence, and the wearable robotic arm control device includes a wearable component and a control arm;

[0010] The control arm is mounted on the wearable component, and the control arm has a plurality of joint arms arranged corresponding to the plurality of motion arms of the multi-degree-of-freedom robotic arm;

[0011] The wearable component is configured to be worn on the operator's body, and when the wearable component is worn on the operator's body, the control arm is located in front of the operator;

[0012] The operator can control the movement of the control arm to enable the multiple motion arms of the multi-degree-of-freedom robotic arm to move along with the movement of the corresponding articulated arm.

[0013] In an optional embodiment, the wearable robotic arm control device further includes a fixing component;

[0014] The fixing component is detachably mounted on the front of the wearable component, and the fixed end of the control arm is connected to the fixing component;

[0015] When the wearable component is worn on the operator's body, the fixing component is located on the operator's chest, and the control arm is located on the inside of the operator's arm and can move along with the operator's arm movement.

[0016] In an optional embodiment, the wearing assembly includes a fixing plate and a wearing portion;

[0017] The fixing plate is provided on the front of the wearing portion, and when the wearing portion is worn on the operator's body, the fixing plate is located in front of the operator's chest;

[0018] The fixing assembly is detachably mounted on the fixing plate.

[0019] In an optional embodiment, the wearing portion is a wearing strap, and the fixing plate is arranged on the front side of the wearing strap.

[0020] In an optional embodiment, the multi-degree-of-freedom robotic arms include two, and the two multi-degree-of-freedom robotic arms are two multi-degree-of-freedom robotic arms of a robot;

[0021] The control arms include two, and the installation angles of the two control arms are the same as the installation angles of the two multi-degree-of-freedom mechanical arms.

[0022] In an optional embodiment, the fixing assembly includes a support plate and a fixing member;

[0023] The support plate is detachably mounted on the fixing plate;

[0024] The fixing members include two, and the two fixing members are respectively installed on both sides of the support plate;

[0025] The fixed ends of the two control arms are mounted on the two fixing members in a one-to-one correspondence.

[0026] In an optional embodiment, the support plate includes a bottom plate, a first connecting plate and a second connecting plate;

[0027] The bottom plate is detachably mounted on the fixing plate;

[0028] The first connecting plate and the second connecting plate are arranged on the bottom plate, and the first connecting plate and the second connecting plate are arranged obliquely in an "eight" shape;

[0029] The two fixing members are respectively installed on the first connecting plate and the second connecting plate.

[0030] In an optional embodiment, the control arm further has a position sensor, and the connection between any two connected articulated arms is provided with the position sensor;

[0031] A circuit board is provided in the fixing member, and the position sensor is electrically connected to the circuit board;

[0032] The position sensor is used to detect relative position information corresponding to the articulated arm, and the relative position information of the articulated arm is used to control the movement of the motion arm corresponding to the multi-degree-of-freedom robotic arm, so that the multi-degree-of-freedom robotic arm moves along with the movement of the control arm.

[0033] In an optional embodiment, the multi-degree-of-freedom manipulator further has an end effector, and the control arm further has an end control mechanism, and the operator controls the movement of the end effector of the multi-degree-of-freedom manipulator based on the end control mechanism of the manipulator control device;

[0034] The end control mechanism is arranged at the end of the control arm.

[0035] In an optional embodiment, the end control mechanism includes a connecting member, a driving member and a rotation sensor;

[0036] The connecting member is installed at the end of the control arm, the driving member is rotationally connected to the connecting member, and the rotation sensor is arranged on the connecting member to detect whether the driving member rotates relative to the connecting member. The detection result of the rotation sensor is used to control the action of the end actuator.

[0037] The beneficial effects of the wearable robotic arm control device provided by the embodiment of the utility model include:

[0038] This application arranges the control arm on the front side of the wearable assembly. When the wearable assembly is worn on the operator's body, the control arm can be located in front of the operator. This allows the control arm to be designed to be smaller and shorter, making it lighter and more convenient to wear for long periods of time. Most importantly, by arranging the control arm in front of the operator, there is no need to fix the control arm to the operator's arm in an exoskeleton manner. This eliminates the need for the operator's body shape and makes it easier to use. When operating the control arm, the operator only needs to hold the end of the control arm and swing the control arm to make the operation and control of the corresponding articulated arm more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of the structure of the wearable robotic arm control device provided in this embodiment from a first perspective;

[0041] Figure 2 A schematic diagram of the structure of the wearable robotic arm control device provided in this embodiment from a second perspective;

[0042] Figure 3 A schematic structural diagram of a control arm of a wearable robotic arm control device provided in this embodiment;

[0043] Figure 4 A schematic diagram of the structure of the wearable robotic arm control device provided in this embodiment without the wearable component;

[0044] Figure 5 A schematic structural diagram of a support plate for the wearable robotic arm control device provided in this embodiment;

[0045] Figure 6 A schematic diagram of the structure of the end control mechanism of the wearable robotic arm control device provided in this embodiment;

[0046] Figure 7 This is a schematic structural diagram of the multi-degree-of-freedom robotic arm of the robot provided in this embodiment.

[0047] Icons: 100 - wearable robotic arm control device; 110 - wearable component; 111 - fixing plate; 113 - wearable part; 130 - control arm; 131 - articulated arm; 132 - first articulated arm; 133 - second articulated arm; 134 - third articulated arm; 135 - fourth articulated arm; 136 - fifth articulated arm; 137 - sixth articulated arm; 138 - seventh articulated arm; 150 - fixing component; 151 - support plate; 153 - fixing member; 155 - bottom plate; 157 - first connecting plate; 159 - second connecting plate; 170 - position sensor; 171 - first position sensor; 172 - second position sensor Position sensor; 173 - third position sensor; 174 - fourth position sensor; 175 - fifth position sensor; 176 - sixth position sensor; 177 - seventh position sensor; 180 - circuit board; 190 - end control mechanism; 191 - connecting piece; 192 - driving piece; 193 - rotation sensor; 200 - multi-degree-of-freedom robotic arm; 210 - motion arm; 211 - first motion arm; 212 - second motion arm; 213 - third motion arm; 214 - fourth motion arm; 215 - fifth motion arm; 216 - sixth motion arm; 217 - seventh motion arm; 218 - end actuator. DETAILED DESCRIPTION

[0048] Existing wearable robotic arm control devices are typically worn on the operator's back, with the control arm secured to the operator's arm in an exoskeleton-like configuration. The human body controls the multi-degree-of-freedom robotic arm's movements in the same trajectory. However, because existing wearable robotic arm control devices are secured to the outside of the arm in an exoskeleton-like configuration, they are bulky and heavy, making them inconvenient to wear for extended periods. Furthermore, the control arm needs to be secured to the corresponding part of the arm, placing high demands on the operator's physique.

[0049] In response to the above problems, the present invention provides a wearable robotic arm control device, which can fix the control arm in front of the operator, thereby improving the above-mentioned problems of large size, heavy weight and high requirements on the operator's body shape.

[0050] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0053] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0054] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0055] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention can be combined with each other.

[0056] The overall structure, working principle and technical effects of the wearable robotic arm control device provided by the present invention are described in detail below through embodiments and in conjunction with the accompanying drawings.

[0057] Please refer to Figures 1 to 7 The wearable robotic arm control device 100 is a remote control that an operator wears on their body to control the movements of a multi-DOF robotic arm 200. A multi-DOF robotic arm 200 generally has multiple motion arms 210 connected in series. The multi-DOF robotic arm 200 can be a three-DOF robotic arm, a four-DOF robotic arm, a five-DOF robotic arm, a six-DOF robotic arm, or a seven-DOF robotic arm. For example, a humanoid robot arm is a seven-DOF robotic arm, comprising seven sequentially connected motion arms 210 and an end effector 218 connected at the end. These seven motion arms 210 work together to achieve various complex movements similar to a human arm.

[0058] Please refer to Figures 1 to 7In this embodiment, the wearable robotic arm control device 100 includes a wearable component 110 and a control arm 130. The control arm 130 is mounted on the wearable component 110 and has a plurality of articulated arms 131 corresponding to the plurality of motion arms 210 of the multi-degree-of-freedom robotic arm 200. The wearable component 110 is configured to be worn on the body of an operator. When the wearable component 110 is worn on the body of the operator, the control arm 130 is located in front of the operator. The operator can control the movement of the control arm 130 to cause the plurality of motion arms 210 of the multi-degree-of-freedom robotic arm 200 to move in accordance with the movement of the corresponding articulated arms 131.

[0059] In this embodiment, the control arm 130 is arranged on the front side of the wearable component 110. When the wearable component 110 is worn on the operator's body, the control arm 130 can be located in front of the operator. In this way, the volume of the control arm 130 can be designed to be smaller and the length can be designed to be shorter, so that it is lighter and more convenient to wear for a long time. Most importantly, by arranging the control arm 130 in front of the operator, there is no need to fix the control arm 130 to the operator's arm in the manner of an exoskeleton. This does not require the operator's body shape, making it easier to use. When operating the control arm 130, the operator only needs to hold the end of the control arm 130 and swing the control arm 130 to make the operation and control of the corresponding joint arm 131 of the control arm 130 more convenient.

[0060] It should be noted that the control arm 130 having multiple articulated arms 131 corresponding to the multiple motion arms 210 of the multi-DOF manipulator 200 means that the control arm 130 and the multi-DOF manipulator 200 are isomorphic. For example, if the multi-DOF manipulator 200 is a three-DOF manipulator with three motion arms 210, the control arm 130 also has three articulated arms 131. The three articulated arms 131 and the three motion arms 210 have a one-to-one correspondence. The motion arm 210 of the first section corresponds to the articulated arm 131 of the first section, the motion arm 210 of the second section corresponds to the articulated arm 131 of the second section, and the motion arm 210 of the third section corresponds to the control arm 130 of the third section. When the wearable manipulator control device 100 is worn on the operator's body and the first articulated arm 131 is manipulated, the first motion arm 210 of the multi-DOF manipulator 200 will also perform the same movement. When the second articulated arm 131 is manipulated, the second motion arm 210 of the multi-DOF manipulator will also perform the corresponding movement.

[0061] It should also be noted that the wearable assembly 110 of the wearable robotic arm control device 100 provided in this embodiment merely supports and secures the fixed end of the control arm 130, securing the control arm 130 in front of the operator, facilitating operation. The articulated arms 131 of the control arm 130 do not need to be secured to corresponding portions of the operator's arm. During operation, the operator simply grasps the ends of the control arm 130 and swings it to achieve movement of the multi-DOF robotic arm 200. Existing wearable control devices are typically worn on the operator's back, with their corresponding portions secured to the outside of the operator's arm using straps, clamps, or other structures, in an exoskeleton-like manner. Control is achieved through movement of various arm parts. This requires the controller to be longer, at least longer than the operator's arm, and requires additional securing members 153, resulting in a larger size and weight. Furthermore, the controller is secured to the outside of the arm, which restricts movement due to the limited rotational angles of the upper arm relative to the shoulder and the lower arm relative to the upper arm. Compared with the control arm 130 in the present application, which is not fixed to the operator's arm, and the control arm 130 is located in front of the operator and on the inside of the arm, the operator swings the end of the control arm 130 to swing the articulated arm 131 corresponding to the control arm 130. In this way, the rotation of any two connected articulated arms 131 of the control arm 130 is not limited by the rotation angle of the arm, and the rotation angle can be larger.

[0062] Please refer to Figures 1 to 7 In this embodiment, the wearable robotic arm control device 100 further includes a fixing assembly 150. The fixing assembly 150 is detachably mounted on the front of the wearable assembly 110, and the fixed end of the control arm 130 is connected to the fixing assembly 150. When the wearable assembly 110 is worn on the operator's body, the fixing assembly 150 is located on the operator's chest, and the control arm 130 is located on the inside of the operator's arm and can move with the operator's arm movements.

[0063] In this embodiment, a fixing assembly 150 is provided, and the control arm 130 is connected to the fixing assembly 150. The fixing assembly 150 is then detachably mounted on the front of the wearable assembly 110. The wearable assembly 110 and the fixing assembly 150 cooperate to conveniently fix the control arm 130 to the operator's chest, thereby supporting and securing the control arm 130. The detachable connection between the fixing assembly 150 and the wearable assembly 110 allows the wearable assembly 110 to be easily resized to accommodate operators of different body types.

[0064] Please refer to Figures 1 to 7In this embodiment, the wearable assembly 110 includes a fixing plate 111 and a wearable portion 113. The fixing plate 111 is disposed on the front of the wearable portion 113. When the wearable portion 113 is worn on the operator's body, the fixing plate 111 is located in front of the operator's chest. The fixing assembly 150 is detachably mounted on the fixing plate 111.

[0065] In this embodiment, by setting a fixing plate on the front of the wearable portion 113, a mounting plane can be formed by using the fixing plate 111 so that the fixing assembly 150 can be better installed. Secondly, the fixing plate 111 can also be better weighed and installed.

[0066] In this embodiment, the wearing portion 113 is a wearing strap, and the fixing plate 111 is disposed on the front side of the wearing strap.

[0067] In this embodiment, the wearing portion 113 is configured as a wearing harness, which makes it easier for the operator to wear the device, and the size can be adjusted in a wider range, making the device more adaptable. The wearing harness can be placed around the operator's torso to bear the weight of the control arm 130 .

[0068] Of course, in some other embodiments of the present application, the wearable portion 113 may also be other types of structures such as a strap, as long as it can fix the control arm 130 on the chest of the operator.

[0069] Please refer to Figures 1 to 7 In this embodiment, the multi-DOF manipulators 200 include two, and the two multi-DOF manipulators 200 are two multi-DOF manipulators 200 of the robot. The control arms 130 include two, and the installation angles of the two control arms 130 are the same as the installation angles of the two multi-DOF manipulators 200.

[0070] This embodiment provides two control arms 130, thereby making it convenient for an operator to simultaneously control two multi-DOF robotic arms 200. The installation angles of the two control arms 130 and the two multi-DOF robotic arms 200 are made the same, thus improving control accuracy.

[0071] It should be noted that the installation angles of the two control arms 130 and the two multi-degree-of-freedom robotic arms 200 are the same, which means that the installation angles of the two multi-degree-of-freedom robotic arms 200 relative to the robot torso are the same as the installation angles of the two control arms 130 relative to the fixed component 150.

[0072] For example, the multi-freedom robot arm is mounted on the trunk of the robot in a manner of tilting 15 degrees, and the control arm 130 is also fixed to the fixing assembly 150 in a manner of tilting 15 degrees.

[0073] Please refer to Figures 1 to 7In this embodiment, the fixing assembly 150 includes a support plate 151 and a fixing member 153. The support plate 151 is detachably mounted to the fixing plate 111. Two fixing members 153 are mounted on either side of the support plate. The fixed ends of the two control arms 130 are mounted on the two fixing members 153 in a one-to-one correspondence.

[0074] In this embodiment, the support plate 151 and the two fixing members 153 are provided to ensure that the two control arms 130 are maintained at a preset angle, and the connection between the two control arms 130 and the support plate 151 is also facilitated.

[0075] In this embodiment, the support plate 151 includes a base plate 155, a first connecting plate 157, and a second connecting plate 159. The base plate 155 is detachably mounted to the fixed plate 111. The first and second connecting plates 157, 159 are disposed on the base plate 155 and are arranged in an "eight" shape. Two fixing members 153 are mounted on the first and second connecting plates 157, 159, respectively.

[0076] In this embodiment, the first connecting plate 157 and the second connecting plate 159 are obliquely protruded in an "eight" shape on the bottom plate 155, which can facilitate the connection of the fixing member 153 and ensure the installation angle of the control arm 130.

[0077] In this embodiment, the bottom plate 155 is provided with a through hole, and the bottom plate 155 is detachably connected to the fixing plate 111 by bolts. Of course, in other embodiments of the present application, the bottom plate 155 and the fixing plate 111 can also be detachably connected by means of a buckle or the like.

[0078] Please refer to Figures 1 to 7 In this embodiment, the control arm 130 also includes a position sensor 170, which is installed at the connection point between any two connected articulated arms 131. A circuit board 180 is installed within the fixture 153, and the position sensor 170 is electrically connected to the circuit board 180. The position sensor 170 is used to detect the relative position information of the corresponding articulated arm 131. This relative position information of the articulated arm 131 is used to control the movement of the corresponding motion arm 210 of the multi-degree-of-freedom robotic arm 200, so that the multi-degree-of-freedom robotic arm 200 moves in accordance with the movement of the control arm 130.

[0079] In this embodiment, the circuit board 180 is mounted on the fixing member 153 , so that the fixing member 153 can fix the control arm 130 and serve as a box body for the circuit board 180 , thereby simplifying the structure.

[0080] In this embodiment, the position sensor 170 is a servo, and the relative position information is the relative rotation angle. The servo can collect the relative rotation angle of the two connected articulated arms 131, thereby controlling the rotation of the motor at the corresponding joint of the multi-degree-of-freedom robotic arm 200.

[0081] Please refer to Figures 1 to 7 In this embodiment, the multi-degree-of-freedom robotic arm 200 (i.e., the arm of a humanoid robot) has seven motion arms 210 and an end effector 218. The seven motion arms 210 are, in order, a first motion arm 211, a second motion arm 212, a third motion arm 213, a fourth motion arm 214, a fifth motion arm 215, a sixth motion arm 216, and a seventh motion arm 217. The first motion arm 211 is mounted on the torso of the robot via a first motor to enable the humanoid robot's arm to swing forward and backward. The first motion arm 211 serves as the humanoid robot's shoulder. The second motion arm 212 is mounted on the first motion arm 211 via a second motor to enable the humanoid robot's upper arm (second motion arm 212) to swing left and right relative to the shoulder (first motion arm 211). The first motion arm 211 and the second motion arm 212 are integrally combined to replicate the movement of the shoulder joint. The third motion arm 213 is mounted on the second motion arm 212 via a third motor to enable the upper arm to rotate. The fourth motion arm 214 is mounted to the third motion arm 213 via a fourth motor to reproduce bending of the forearm (fourth motion arm 214) relative to the third motion arm 213 (the upper arm). The fifth motion arm 215 is mounted to the fourth motion arm 214 via a fifth motor to reproduce rotation of the forearm (fifth motion arm 215) relative to the fourth motion arm 214 (the upper arm). The sixth motion arm 216 is connected to the fifth motion arm 215 via a sixth motor, and the seventh motion arm 217 is connected to the sixth motion arm 216 via a seventh motor, thereby reproducing forward, backward, and left, right, and right bending of the wrist joint. The end effector 218 is mounted on the seventh motion arm 217.

[0082] Please refer to Figures 1 to 7In this embodiment, the articulated arm 131 includes a first articulated arm 132, a second articulated arm 133, a third articulated arm 134, a fourth articulated arm 135, a fifth articulated arm 136, a sixth articulated arm 137, and a seventh articulated arm 138. The fixing member 153 is provided with a first position sensor 171. The first articulated arm 132 is connected to the first position sensor 171, and the second articulated arm 133 is connected to the first articulated arm 132 via the second position sensor 172. The third articulated arm 134 is connected to the second articulated arm 133 via the third position sensor 173. The fourth articulated arm 135 is connected to the third articulated arm 134 via the fourth position sensor 174. The fifth articulated arm 136 is connected to the fourth articulated arm 135 via the fifth position sensor 175. The sixth articulated arm 137 is connected to the fifth articulated arm 136 via the sixth position sensor 176. The seventh articulated arm 138 is mounted on the sixth articulated arm 137 via the seventh position sensor 177.

[0083] Among them, the first joint arm 132 corresponds to the first motion arm 211, the second joint arm 133 corresponds to the second motion arm 212, the third joint arm 134 corresponds to the third motion arm 213, the fourth joint arm 135 corresponds to the fourth motion arm 214, the fifth joint arm 136 corresponds to the fifth motion arm 215, the sixth joint arm 137 corresponds to the sixth motion arm 216, and the seventh motion arm 217 corresponds to the seventh joint arm 138.

[0084] In this embodiment, the end effector 218 is a dexterous hand that can imitate the bending of a human finger. Of course, the end effector 218 can also be a gripper, a suction cup, or other structures.

[0085] Please refer to Figures 1 to 7 In this embodiment, the control arm 130 further includes an end control mechanism 190 . The operator controls the end actuator 218 of the multi-DOF manipulator 200 based on the end control mechanism 190 of the manipulator control device. The end control mechanism 190 is provided at the end of the control arm 130 .

[0086] In this embodiment, an end control mechanism 190 is provided, through which the end actuator 218 can be conveniently controlled.

[0087] Specifically, the end control mechanism 190 includes a connector 191, a driver 192, and a rotation sensor 193. The connector 191 is mounted on the end of the control arm 130, the driver 192 is rotationally connected to the connector 191, and the rotation sensor 193 is disposed on the connector 191 to detect whether the driver 192 rotates relative to the connector 191. The detection result of the rotation sensor 193 is used to control the operation of the end actuator 218.

[0088] In this embodiment, the end control mechanism 190 is configured to drive the rotation sensor 193 to rotate together with the driving member 192. In this way, the operator can press the driving member 192 with his thumb while holding the end control mechanism 190, which makes the operation more convenient.

[0089] Furthermore, the rotation sensor 193 is also a servo. The driver 192 is mounted at the input of the rotation sensor 193. The terminal control mechanism 190 also includes a torsion spring, located between the driver 192 and the connector 191. This spring allows the driver 192 to return to its original position when the operator is not pressing. This allows the operator to simply press the driver 192; upon release, the driver 192 automatically returns to its original position.

[0090] Secondly, in this embodiment, the connecting member 191 and the seventh articulated arm 138 are integrally formed, that is, the rotation sensor 193 and the driving member 192 are integrated on the seventh articulated arm 138, which can make the length of the control arm 130 shorter as a whole.

[0091] In some other embodiments of the present application, the position sensor 170 and the rotation sensor 193 may also be a potentiometer, an angle sensor, etc.

[0092] To use the wearable robotic arm control device 100, an operator puts on the wearable harness and supports the control arm 130 against their chest. The operator grips the end control mechanisms 190 at the ends of the two control arms 130 with their hands, pressing their thumbs on the drive element 192. By coordinating their elbows and arms to swing the control arms 130, the operator can control the movements of the multi-degree-of-freedom robotic arm 200.

[0093] In summary, the wearable robotic arm control device 100 provided in this embodiment of the present application sets the control arm 130 on the front side of the wearable component 110. When the wearable component 110 is worn on the operator's body, the control arm 130 can be located in front of the operator. In this way, the volume of the control arm 130 can be designed to be smaller and the length can be designed to be shorter, so that it will be lighter and more convenient to wear for a long time. Most importantly, by setting the control arm 130 in front of the operator, there is no need to fix the control arm 130 to the operator's arm in the form of an exoskeleton. This does not require the operator's body shape, making it easier to use. When operating the control arm 130, the operator only needs to hold the end of the control arm 130 and swing the control arm 130 to make the operation and control of the joint arm 131 corresponding to the control arm 130 more convenient.

[0094] The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A wearable robotic arm control device, characterized in that: The wearable robotic arm control device (100) is used to control the movement of a multi-degree-of-freedom robotic arm (200), wherein the multi-degree-of-freedom robotic arm (200) has a plurality of motion arms (210) connected in sequence, and the wearable robotic arm control device (100) comprises a wearable component (110) and a control arm (130); The control arm (130) is mounted on the wearable component (110), and the control arm (130) has a plurality of joint arms (131) arranged corresponding to the plurality of motion arms (210) of the multi-degree-of-freedom robotic arm (200); The wearable component (110) is configured to be worn on the body of an operator; When the wearable assembly (110) is worn on an operator's body, the control arm (130) is located in front of the operator, and the operator can control the movement of the control arm (130) to cause the multiple motion arms (210) of the multi-degree-of-freedom robotic arm (200) to move in accordance with the movement of the corresponding articulated arm (131).

2. The wearable robotic arm control device according to claim 1, characterized in that: The wearable robotic arm control device (100) further includes a fixing component (150); The fixing component (150) is detachably mounted on the front of the wearable component (110), and the fixing end of the control arm (130) is connected to the fixing component (150); When the wearable component (110) is worn on the operator's body, the fixing component (150) is located on the operator's chest, and the control arm (130) is located on the inside of the operator's arm and can move along with the operator's arm movement.

3. The wearable robotic arm control device according to claim 2, characterized in that: The wearing assembly (110) includes a fixing plate (111) and a wearing portion (113); The fixing plate (111) is arranged on the front side of the wearing portion (113); When the wearing portion (113) is worn on the operator's body, the fixing plate (111) is located in front of the operator's chest; The fixing assembly (150) is detachably mounted on the fixing plate (111).

4. The wearable robotic arm control device according to claim 3, characterized in that: The wearing portion (113) is a wearing strap, and the fixing plate (111) is arranged on the front side of the wearing strap.

5. The wearable robotic arm control device according to claim 3, characterized in that: The multi-degree-of-freedom mechanical arms (200) include two, and the two multi-degree-of-freedom mechanical arms (200) are two multi-degree-of-freedom mechanical arms (200) of a robot; The control arms (130) include two, and the installation angles of the two control arms (130) are the same as the installation angles of the two multi-degree-of-freedom mechanical arms (200).

6. The wearable robotic arm control device according to claim 5, characterized in that: The fixing assembly (150) includes a support plate (151) and a fixing member (153); The support plate (151) is detachably mounted on the fixing plate (111); The fixing members (153) include two, and the two fixing members (153) are respectively installed on both sides of the support plate (151); The fixed ends of the two control arms (130) are mounted on the two fixing members (153) in a one-to-one correspondence.

7. The wearable robotic arm control device according to claim 6, characterized in that: The support plate (151) includes a bottom plate (155), a first connecting plate (157) and a second connecting plate (159); The bottom plate (155) is detachably mounted on the fixing plate (111); The first connecting plate (157) and the second connecting plate (159) are arranged on the bottom plate (155), and the first connecting plate (157) and the second connecting plate (159) are arranged obliquely in an "eight" shape; The two fixing members (153) are respectively mounted on the first connecting plate (157) and the second connecting plate (159).

8. The wearable robotic arm control device according to claim 6, wherein: The control arm (130) further comprises a position sensor (170), and the connection point of any two connected articulated arms (131) is provided with the position sensor (170); A circuit board (180) is provided in the fixing member (153), and the position sensor (170) is electrically connected to the circuit board (180); The position sensor (170) is used to detect relative position information corresponding to the articulated arm (131), and the relative position information of the articulated arm (131) is used to control the movement of the motion arm (210) corresponding to the multi-degree-of-freedom robotic arm (200), so that the multi-degree-of-freedom robotic arm (200) moves along with the movement of the control arm (130).

9. The wearable robotic arm control device according to any one of claims 1 to 8, characterized in that: The multi-degree-of-freedom robotic arm (200) further comprises an end actuator (218), and the control arm (130) further comprises an end control mechanism (190), wherein the end control mechanism (190) is arranged at the end of the control arm (130); An operator controls the movement of an end actuator (218) of the multi-degree-of-freedom robotic arm (200) based on an end control mechanism (190) of the wearable robotic arm control device (100).

10. The wearable robotic arm control device according to claim 9, characterized in that: The end control mechanism (190) includes a connecting member (191), a driving member (192) and a rotation sensor (193); The connecting member (191) is installed at the end of the control arm (130), the driving member (192) is rotationally connected to the connecting member (191), and the rotation sensor (193) is provided on the connecting member (191) for detecting whether the driving member (192) rotates relative to the connecting member (191). The detection result of the rotation sensor (193) is used to control the action of the end actuator (218).

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