Robot arm control device

Abstract

The utility model provides mechanical arm control equipment, and relates to the technical field of robots. The robot arm control apparatus includes a support and a control arm. The fixed end of the control arm is connected with the supporting piece, and the supporting piece can fix the control arm to the front side of an operator. 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, a detection module is arranged at the joint of any two connected joint arms, the detection module is used for detecting relative position information of the corresponding joint arms, and the relative position information is used for controlling the corresponding moving arms of the multi-degree-of-freedom mechanical arm to act. An operator can hold the tail end of the control arm to swing the control arm so that the joint arm corresponding to the control arm can act. The mechanical arm control equipment can be fixed and operated conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechanical 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] Existing robotic arm control devices generally need to be carried on the back and fixed to the outside of the arm, moving in the form of an exoskeleton as the operator's arm moves. This method of fixation and operation is relatively cumbersome. Utility Model Content

[0005] The purpose of the present invention includes providing a robot arm control device, which can facilitate the fixation and operation of the robot arm control device.

[0006] The embodiment of the present utility model can be implemented as follows:

[0007] The utility model provides a manipulator control device for an operator to control the movement of a multi-degree-of-freedom manipulator, wherein the multi-degree-of-freedom manipulator has a plurality of motion arms connected in sequence, and the manipulator control device comprises a support member and a control arm;

[0008] The fixed end of the control arm is connected to the support member, and the support member can fix the control arm in front of the operator;

[0009] The control arm has a plurality of articulated arms corresponding to the plurality of motion arms of the multi-degree-of-freedom robotic arm, and a detection module is provided at the connection between any two connected articulated arms, and the detection module is used to detect relative position information of the corresponding articulated arms, and the relative position information is used to control the movement of the corresponding motion arms of the multi-degree-of-freedom robotic arm;

[0010] An operator can hold the end of the control arm and swing the control arm to move the articulated arm corresponding to the control arm.

[0011] In an optional embodiment, the robotic arm control device further includes a fixing member;

[0012] The fixed end of the control arm is mounted on the support member through the fixing member.

[0013] 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;

[0014] The control arms include two, and the two control arms are mounted on both sides of the support member through the corresponding fixing members.

[0015] In an optional embodiment, the installation angle of the two control arms is the same as the installation angle of the two multi-degree-of-freedom robotic arms.

[0016] In an optional embodiment, the robotic arm control device further includes a wearable component;

[0017] The support member is detachably mounted on the wearable member, and the wearable member can fix the support member on the chest of the operator.

[0018] In an optional embodiment, the wearable member includes a fixing plate and a wearable portion;

[0019] The fixing plate is provided on the front side of the wearing portion, and when the wearing portion is worn by an operator, the fixing plate is located in front of the chest of the operator;

[0020] The support member is detachably mounted on the fixing plate.

[0021] In an optional embodiment, the robotic arm control device further includes a fixing seat;

[0022] The support member is detachably mounted on the fixing seat, and the fixing seat can fix the support member on the operating table.

[0023] In an optional embodiment, a positioning protrusion is provided on the fixing seat, and a positioning groove is provided on the supporting member, and the positioning protrusion can be inserted into the positioning groove; and / or,

[0024] The fixing seat is provided with a buckle, and the support member is detachably mounted on the fixing seat through the buckle.

[0025] In an optional embodiment, the multi-degree-of-freedom robotic arm further has an end effector mechanism, and the control arm further has an end control mechanism, and the end control mechanism is used to control the movement of the end effector mechanism;

[0026] The end control mechanism is arranged at the end of the control arm;

[0027] The operator can hold the end control mechanism to control the control arm and the movement of the end control mechanism.

[0028] In an optional embodiment, the end effector includes a connecting member, a driving member and a rotation sensor;

[0029] 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. The rotation sensor is used to detect the rotation angle of the driving member relative to the connecting member, and the detection result of the rotation sensor is used to control the action of the end actuator.

[0030] The beneficial effects of the robotic arm control device provided by the embodiment of the utility model include:

[0031] The present application connects the fixed end of the control arm to a support member, which secures the control arm to the front of the operator via the support member. This eliminates the need to secure the control arm to the operator's arm, making it more convenient to secure the control arm. During use, the operator only needs to hold the end of the control arm and swing the corresponding articulated arm of the control arm to achieve control arm movement, making operation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] Figure 1 A schematic diagram of the structure of the robotic arm control device provided in this embodiment from a first perspective;

[0034] Figure 2 A schematic structural diagram of a support member of a robotic arm control device provided in this embodiment;

[0035] Figure 3 A schematic structural diagram of a control arm of the robotic arm control device provided in this embodiment;

[0036] Figure 4 A schematic diagram of the structure of a wearable device that cooperates with the robotic arm control device provided in this embodiment;

[0037] Figure 5 A schematic structural diagram of the robotic arm control device provided in this embodiment and the wearable device from another perspective;

[0038] Figure 6 A schematic diagram of the structure of the end control mechanism of the robotic arm control device provided in this embodiment;

[0039] Figure 7A schematic diagram of the assembly structure of the support member and the fixing seat of the robot arm control device provided in this embodiment;

[0040] Figure 8 A schematic diagram of the exploded structure of the support member and the fixing seat of the robotic arm control device provided in this embodiment;

[0041] Figure 9 This is a schematic diagram of the structure of the multi-degree-of-freedom robotic arm provided in this embodiment.

[0042] Icons: 100 - robot arm control device; 110 - support member; 111 - bottom plate; 112 - first connecting plate; 113 - second connecting plate; 114 - abutment boss; 115 - positioning groove; 130 - control arm; 131 - joint arm; 132 - first joint arm; 133 - second joint arm; 134 - third joint arm; 135 - fourth joint arm; 136 - fifth joint arm; 137 - sixth joint arm; 138 - seventh joint arm; 140 - detection module; 141 - first angle sensor; 142 - second angle sensor; 143 - third angle sensor; 144 - fourth angle sensor; 145 - fifth angle sensor; 146 - sixth angle sensor; 147 - seventh angle sensor; 148 - seventh angle sensor; 149 - eighth angle sensor; 150 - eighth angle sensor; 151 - eighth angle sensor; 152 - eighth angle sensor; 153 - eighth angle sensor; 154 - eighth angle sensor; 155 - eighth angle sensor; 156 - eighth angle sensor; 157 - eighth angle sensor; 158 - eighth angle sensor; 159 - eighth angle sensor; 160 - eighth angle sensor; 161 - eighth angle sensor; 162 - eighth angle sensor; 163 - eighth angle sensor; 164 - eighth angle sensor; 165 - eighth angle sensor; 166 - eighth angle sensor; 167 - eighth angle sensor; 168 - eighth angle sensor; 169 - eighth angle sensor; 170 - eighth angle sensor; 171 - eighth angle sensor; 172 - eighth angle sensor; 173 - eighth angle sensor; 174 - eighth angle sensor; 175 - eighth angle sensor; 176 - eighth angle sensor; 177 - eighth angle sensor; 178 - eighth angle sensor; 179 - eighth angle sensor; 180 - eighth angle sensor 6-sixth angle sensor; 147-seventh angle sensor; 150-fixing part; 151-circuit board; 170-wearing part; 171-wearing part; 172-fixing plate; 180-fixing seat; 181-buckle; 183-positioning protrusion; 190-end control mechanism; 191-connecting part; 192-driving part; 193-rotation sensor; 200-multi-degree-of-freedom robotic arm; 210-moving arm; 211-first moving arm; 212-second moving arm; 213-third moving arm; 214-fourth moving arm; 215-fifth moving arm; 216-sixth moving arm; 217-seventh moving arm; 218-end actuator. DETAILED DESCRIPTION

[0043] Existing robotic arm control devices generally need to be carried on the back and fixed to the outside of the arm, moving in the form of an exoskeleton as the operator's arm moves. This method of fixation and operation is relatively cumbersome.

[0044] In view of the above problems, the present invention provides a robot arm control device, which can facilitate the fixation and operation of the robot arm control device.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The overall structure, working principle and technical effects of the robot arm control device provided by the present invention are described in detail below through embodiments and in conjunction with the accompanying drawings.

[0052] Please refer to Figures 1 to 9 The robot arm control device 100 is a remote control used by an operator to control the movements of the multi-DOF robot arm 200. The robot arm control device 100 is generally used in conjunction with the multi-DOF robot arm 200. The multi-DOF robot arm 200 generally has a plurality of motion arms 210 connected in sequence. The multi-DOF robot arm 200 can be a three-DOF robot arm, a four-DOF robot arm, a five-DOF robot arm, a six-DOF robot arm, a seven-DOF robot arm, etc. For example, the arm of a humanoid robot is a seven-DOF robot arm, having seven motion arms 210 connected in sequence and an end effector 218 connected at the end. These components cooperate with each other to achieve various complex movements similar to those of a human arm.

[0053] Please refer to Figures 1 to 9In this embodiment, the robot arm control device 100 includes a support member 110 and a control arm 130. The fixed end of the control arm 130 is connected to the support member 110. The support member 110 can fix the control arm 130 in front of the operator. The control arm 130 has a plurality of joint arms 131 corresponding to the plurality of motion arms 210 of the multi-degree-of-freedom robot arm 200, and a detection module 140 is provided at the connection between any two connected joint arms 131. The detection module 140 is used to detect the relative position information of the corresponding joint arm 131. The relative position information is used to control the movement of the corresponding motion arm 210 of the multi-degree-of-freedom robot arm 200. The operator can hold the end of the control arm 130 and swing the control arm 130 to make the joint arm 131 corresponding to the control arm 130 move.

[0054] In this embodiment, the fixed end of the control arm 130 is connected to the support member 110, and the control arm 130 is fixed to the front side of the operator through the support member 110. This eliminates the need to fix the control arm 130 to the operator's arm, making it more convenient to fix the control arm 130. During use, the operator only needs to hold the end of the control arm 130 and swing the corresponding articulated arm 131 of the control arm 130 to realize the movement of the control arm 130, making operation more convenient.

[0055] Since the control arm 130 is fixed in front of the operator, and the operator holds the end of the control arm 130 to operate the control arm 130, the length of the control arm 130 is shorter than the length of the operator's arm. Compared with existing exoskeleton controllers, the length is shorter and the volume is smaller.

[0056] 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 manipulator control device 100 is worn on the operator's body and the articulated arm 131 of the first section is manipulated, the motion arm 210 of the first section of the multi-DOF manipulator 200 will also perform the same movement. When the articulated arm 131 of the second section is manipulated, the motion arm 210 of the second section of the multi-DOF manipulator will also perform the corresponding movement.

[0057] In this embodiment, the robot arm control device 100 further includes a fixing member 150 . The fixing end of the control arm 130 is mounted on the support member 110 via the fixing member 150 .

[0058] In this embodiment, the fixing member 150 is provided to conveniently fix the control arm 130 .

[0059] Specifically, the fixing member 150 is boxed and contains a circuit board 151 for the control arm 130. The detection module 140, located at the end of the control arm 130, is also housed within the fixing member 150, connecting the fixing member 150 to the control arm 130. The fixing member 150 is connected to the support member 110 via bolts.

[0060] In this embodiment, the circuit board 151 and the detection module 140 at the end of the control arm 130 are also disposed in the fixing member 150 , which can save space and protect the circuit board 151 .

[0061] In this embodiment, the detection module 140 is a steering gear, and the relative position information is the relative rotation angle. The steering gear can collect the relative rotation angle of the two connected joint arms 131, thereby controlling the rotation of the motors at the corresponding joints of the multi-degree-of-freedom manipulator 200.

[0062] Please refer to Figures 1 to 9 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 mounting arm via a fourth motor to replicate bending of the forearm (fourth motion arm 214) relative to the third mounting arm (the upper arm). The fifth motion arm 215 is mounted to the fourth motion arm 214 via a fifth motor to replicate 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 replicating forward, backward, and left and right bending of the wrist joint. The end effector 218 is mounted to the seventh motion arm 217.

[0063] Please refer to Figures 1 to 9In 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 motion arm 217. The detection module 140 includes a first angle sensor 141, a second angle sensor 142, a third angle sensor 143, a fourth angle sensor 144, a fifth angle sensor 145, a sixth angle sensor 146, and a seventh angle sensor 147. The fixing member 150 is provided with the first angle sensor 141. The first articulated arm 132 is connected to the first angle sensor 141, and the second articulated arm 133 is connected to the first articulated arm 132 via the second angle sensor 142. The third articulated arm 134 is connected to the second articulated arm 133 via the third angle sensor 143. The fourth articulated arm 135 is connected to the third articulated arm 134 via the fourth angle sensor 144. The fifth articulated arm 136 is connected to the fourth articulated arm 135 via the fifth angle sensor 145. The sixth articulated arm 137 is connected to the fifth articulated arm 136 via a sixth angle sensor 146 , and the seventh articulated arm 138 is mounted on the sixth articulated arm 137 via a seventh angle sensor 147 .

[0064] 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.

[0065] 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.

[0066] Please refer to Figures 1 to 9 In this embodiment, the control arm 130 further includes an end control mechanism 190 . The operator controls the end effector 218 of the multi-DOF manipulator 200 based on the end control mechanism 190 of the manipulator control device 100 . The end control mechanism 190 is provided at the end of the control arm 130 .

[0067] In this embodiment, the terminal control mechanism 190 is provided to conveniently control the terminal actuator 218 .

[0068] 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. The rotation sensor 193 is used 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 effector 218.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] In some other embodiments of the present application, the detection module 140 and the rotation sensor 193 may also be a potentiometer, an angle sensor, etc.

[0073] In this embodiment, there are two multi-DOF manipulators 200 , which are two multi-DOF manipulators 200 of a robot. There are two control arms 130 , which are mounted on both sides of the support member 110 via corresponding fixing members 150 .

[0074] In this embodiment, two control arms 130 are provided so that an operator can use both hands to control the movements of two multi-degree-of-freedom robotic arms 200 at the same time, making the operation more convenient.

[0075] In this embodiment, the two multi-degree-of-freedom manipulators 200 are two arms of the robot, which are mounted on both sides of the robot trunk, while the two control arms 130 are mounted on both sides of the support member 110 via fixing members 150 disposed at fixed ends.

[0076] Furthermore, the installation angles of the two control arms 130 are the same as the installation angles of the two multi-degree-of-freedom robotic arms 200 .

[0077] In this embodiment, the installation angles of the two control arms 130 are made the same as the installation angles of the two multi-degree-of-freedom robotic arms 200 , which can improve the control accuracy.

[0078] It should be noted that the installation angles of the two control arms 130 and the two multi-DOF robotic arms 200 being the same means that the installation angles of the two multi-DOF robotic arms 200 relative to the robot trunk are the same as the installation angles of the two control arms 130 relative to the fixed component.

[0079] For example, the multi-freedom robot arm is mounted on the trunk of the robot in an inclined manner. The control arm 130 is also fixed to the fixed component in an inclined manner.

[0080] Please refer to Figures 1 to 9 In this embodiment, the support member 110 includes a base plate 111, a first connecting plate 112, and a second connecting plate 113. The base plate 111 is detachably mounted to the fixing plate 172. The first and second connecting plates 112, 113 are disposed on the base plate 111 and are arranged in an "eight" shape. Two fixing members 150 are mounted on the first and second connecting plates 112, 113, respectively.

[0081] In this embodiment, the first connecting plate 112 and the second connecting plate 113 are obliquely protruded in an "eight" shape on the bottom plate 111, which can facilitate the connection of the fixing member 150 and ensure the installation angle of the control arm 130.

[0082] In this embodiment, the robot arm control device 100 further includes a wearable component 170. The support component 110 is detachably mounted on the wearable component 170, and the wearable component 170 can fix the support component 110 on the chest of the operator.

[0083] In this embodiment, a wearable component 170 is provided, and the support component 110 is detachably connected to the operating room. The operator can wear the wearable component 170 on the body and use the body to bear the weight of the robotic arm control device 100. In this way, the operator only needs to operate the control arm 130 with both hands, which is more convenient to use.

[0084] It should be noted that the wearable component 170 of the robotic arm control device 100 provided in this embodiment merely provides support and fixation for the support component 110, thereby 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 multi-DOF robotic arm 200 motion. Existing wearable control devices are typically worn on the operator's back, with 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 fixing components 150, resulting in a larger size and weight. Furthermore, since the controller is secured to the outside of the arm, the limited rotational angles of the upper arm relative to the shoulder and the lower arm relative to the upper arm restrict the movement of the existing controller. 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.

[0085] Please refer to Figures 1 to 9 In this embodiment, the wearable member 170 includes a fixing plate 172 and a wearable portion 171. The fixing plate 172 is disposed on the front side of the wearable portion 171. When the wearable portion 171 is worn by the operator, the fixing plate 172 is located in front of the operator's chest. The support member 110 is detachably mounted on the fixing plate 172.

[0086] In this embodiment, a fixing plate 172 is provided on the front of the wearing portion 171. The fixing plate 172 can form a mounting plane so that the support member 110 can be better mounted. Secondly, the fixing plate 172 can also be better weighted and mounted.

[0087] In this embodiment, the wearing portion 171 is a wearing strap, and the fixing plate 172 is disposed on the front side of the wearing strap.

[0088] In this embodiment, the wearing portion 171 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 .

[0089] Of course, in some other embodiments of the present application, the wearable portion 171 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.

[0090] Please refer to Figures 1 to 9 In this embodiment, the bottom plate 111 is provided with a through hole, and the bottom plate 111 and the fixing plate 172 are detachably connected by bolts. Of course, in other embodiments of the present application, the bottom plate 111 and the fixing plate 172 can also be detachably connected by means of a buckle or the like.

[0091] Please refer to Figures 1 to 9 In this embodiment, the robot arm control device 100 further includes a fixing base 180. The support member 110 is detachably mounted on the fixing base 180. The fixing base 180 can fix the support member 110 to the operating table.

[0092] In this embodiment, a fixing seat 180 is provided, and a mounting structure corresponding to the mounting seat is provided on the support member 110. In this way, the robot arm control device 100 can be used in two ways. One is to fix it on the chest of the operator through the wearable member 170, and the other is to fix it on the operating table through the mounting seat. The person stands next to the operating table, and the support member 110 and the control arm 130 are located in front of the operator to operate the control arm 130.

[0093] If the support member 110 and control arm 130 are secured to the operator's front side using a mounting bracket attached to the operating table, the wearable member 170 can be removed. If the support member 110 is secured directly to the operator's body using the wearable member 170, the support member 110 is separated from the mounting bracket 180. This embodiment, by providing the wearable member 170 and mounting bracket 180, allows the robotic arm control device 100 to be used in two optional ways, making it more convenient.

[0094] Please refer to Figures 1 to 9 In the embodiment, the fixing base 180 is provided with a threaded hole, and the fixing base 180 can be directly fixed to the operating table by passing a bolt through the threaded hole. This makes it more stable and easier to operate.

[0095] In this embodiment, a buckle 181 is provided on the fixing base 180 , and the support member 110 is detachably mounted on the fixing base 180 via the buckle 181 .

[0096] Specifically, there are multiple buckles 181, and the buckle bodies of the multiple buckles 181 are fixed to the two sides of the fixing base 180 by screws, and the support member 110 is provided with hooks at positions corresponding to the buckle bodies. The support member 110 and the fixing base 180 can be detachably connected by buckling the buckle bodies onto the hooks.

[0097] By providing a buckle 181 on the fixing base 180, the support member 110 and the fixing base 180 can be conveniently fixed by the buckle 181, and the support member 110 and the fixing base 180 can also be conveniently separated, which is convenient for quick disassembly and assembly when different methods are selected.

[0098] Of course, in other embodiments of the present application, the detachable connection between the support member 110 and the fixing base 180 may be achieved by other means, such as quick release, snap fastening, etc.

[0099] Please refer to Figures 1 to 9 In this embodiment, abutment bosses 114 are provided on opposing sides of the first connecting plate 112 and the second connecting plate 113. Support bosses protrude outward from both sides of the fixing base 180. When the support member 110 is mounted on the fixing base 180, the top of the fixing base 180 abuts against the abutment bosses 114, becoming clamped between the first connecting plate 112 and the second connecting plate 113. The bottom ends of the first connecting plate 112 and the second connecting plate 113 rest on the support bosses, thereby achieving an internal and external fit and preventing relative displacement.

[0100] In this embodiment, a positioning protrusion 183 is provided on the fixing seat 180 , and a positioning groove 115 is provided on the supporting member 110 . The positioning protrusion 183 can be inserted into the positioning groove 115 .

[0101] In this embodiment, the positioning protrusion 183 and the positioning groove 115 are plugged into each other to achieve positioning between the two during assembly, and to prevent relative sliding between the two.

[0102] Specifically, the positioning boss is convexly arranged on the top of the fixing seat 180, and the positioning groove 115 is arranged on the abutting boss 114. During assembly, the abutting boss 114 can be conveniently inserted into the positioning groove 115 by moving from top to bottom.

[0103] When using the robotic arm control device 100, the operator wears the harness and supports the control arm 130 against their chest. The operator grasps the end control mechanisms 190 at the ends of the two control arms 130 with their hands, pressing their thumbs on the drive members 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.

[0104] In summary, this embodiment connects the fixed end of the control arm 130 to the support member 110, securing the control arm 130 to the front of the operator via the support member 110. This eliminates the need to secure the control arm 130 to the operator's arm, making securing the control arm 130 more convenient. During use, the operator simply holds the end of the control arm 130 and swings the corresponding articulated arm 131 of the control arm 130 to achieve movement, further enhancing operation convenience.

[0105] 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 robot arm control device for an operator to control the movement of a multi-degree-of-freedom robot arm (200), wherein the multi-degree-of-freedom robot arm (200) has a plurality of motion arms (210) connected in sequence, characterized in that: The robot arm control device comprises a support member (110) and a control arm (130); The fixed end of the control arm (130) is connected to the support member (110), and the support member (110) can fix the control arm (130) in front of the operator; The control arm (130) has a plurality of articulated arms (131) provided corresponding to the plurality of motion arms (210) of the multi-degree-of-freedom robotic arm (200); a detection module (140) is provided at the connection of any two connected articulated arms (131); the detection module (140) is used to detect relative position information of the corresponding articulated arms (131); the relative position information is used to control the movement of the corresponding motion arms (210) of the multi-degree-of-freedom robotic arm (200); An operator can hold the end of the control arm (130) and swing the control arm (130) to move the articulated arm (131) corresponding to the control arm (130).

2. The robotic arm control device according to claim 1, characterized in that: The robotic arm control device further includes a fixing member (150); The fixed end of the control arm (130) is mounted on the support member (110) via the fixing member (150).

3. The robotic arm control device according to claim 2, 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 two control arms (130) are mounted on both sides of the support member (110) through the corresponding fixing members (150).

4. The robotic arm control device according to claim 3, characterized in that: 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).

5. The robotic arm control device according to claim 3, characterized in that: The robotic arm control device further includes a wearable component (170); The support member (110) is detachably mounted on the wearable member (170), and the wearable member (170) can fix the support member (110) on the chest of an operator.

6. The robotic arm control device according to claim 5, characterized in that: The wearable member (170) includes a fixing plate (172) and a wearable portion (171); The fixing plate (172) is arranged on the front side of the wearing portion (171); when the wearing portion (171) is worn by an operator, the fixing plate (172) is located in front of the operator's chest; The support member (110) is detachably mounted on the fixing plate (172).

7. The robotic arm control device according to claim 3, characterized in that: The robotic arm control device further includes a fixing seat (180); The support member (110) is detachably mounted on the fixing seat (180), and the fixing seat (180) is capable of fixing the support member (110) on the operating table.

8. The robotic arm control device according to claim 7, characterized in that: The fixing seat (180) is provided with a positioning protrusion (183), the support member (110) is provided with a positioning groove (115), and the positioning protrusion (183) can be inserted into the positioning groove (115); and / or, The fixing seat (180) is provided with a buckle (181), and the support member (110) is detachably mounted on the fixing seat (180) via the buckle (181).

9. The robot 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 used to control the movement of the end actuator (218); The end control mechanism (190) is arranged at the end of the control arm (130); An operator can hold the terminal control mechanism (190) to control the control arm (130) and the movement of the terminal control mechanism (190).

10. The robot 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). The rotation sensor (193) is used to detect the rotation angle of the driving member (192) relative to the connecting member (191), and the detection result of the rotation sensor (193) is used to control the action of the end actuator (218).

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