Wearable master-slave arm teleoperation device

Abstract

The utility model discloses wearable master-slave arm remote operation equipment, which comprises a plurality of wearable units, each wearable unit comprises a back splint unit, two sides of each back splint unit are connected with large arm units, each large arm unit is connected with a small arm unit, one end of each small arm unit far away from the corresponding large arm unit is provided with a holding remote control unit, and the other end of each small arm unit is provided with a control unit. A displacement rocker and a clamping trigger are arranged on the holding remote control unit, a multi-shaft connecting unit is arranged between the wearing units, the wearing units can rotate around a rotating shaft of the multi-shaft connecting unit, and an encoder is arranged on the rotating shaft of the multi-shaft connecting unit. According to the wearable master-slave arm teleoperation device, the overall weight of the whole device can be reduced, the encoder is used for replacing a motor to collect signals, the overall mass is reduced, wearing operation can be conducted, and flexibility is higher.

Description

Technical Field

[0001] This utility model relates to the field of remote control technology, and in particular to a wearable master-slave arm remote control device. Background Technology

[0002] For example, publication number "CN113618703A" discloses a "teleoperated manipulator and teleoperation device," which includes: at least three joints, each joint having at least one rotational degree of freedom; several motors, with one motor connected to each joint; several reduction gears, with one reduction gear between each joint and the motor connected to it; and a rotation parameter detection unit, located at each motor and / or each joint. However, in practical applications, this type of teleoperation device integrates many components and has a motor connected to each joint, resulting in a large overall weight, inconvenience in movement, and poor flexibility in use. Summary of the Invention

[0003] In view of the problems mentioned in the background art, such as the large weight and poor flexibility of the existing remote control device, this utility model provides a wearable master-slave arm remote control device, which can reduce the overall weight of the entire device, use an encoder to replace the motor for signal collection, reduce the overall weight, and enable wearable operation with greater flexibility.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] A wearable master-slave arm telecontrol device includes several wearable units. Each wearable unit includes a back clip unit, with upper arm units connected to both sides of the back clip unit. Each upper arm unit is connected to a forearm unit. A gripping remote control unit is provided at the end of each forearm unit away from the upper arm unit. The gripping remote control unit is provided with a displacement joystick and a gripping trigger. A multi-axis connection unit is provided between each wearable unit. Each wearable unit is capable of rotating around the rotation axis of the multi-axis connection unit. An encoder is provided on the rotation axis of the multi-axis connection unit. In this application, each component is configured as a wearable unit, including a back clip unit, an upper arm unit, and a forearm unit. Each wearable unit can connect to a corresponding part of the human body. The back clip unit connects to the back and shoulders, the upper arm unit connects to the upper arm, and the forearm unit connects to the forearm. A multi-axis connection unit is provided between the wearable units, including multiple rotation axes, thereby simulating the rotation and swaying between different parts of the human body to reflect the flexibility of the joints. An encoder is provided on each multi-axis connection unit, with each encoder corresponding to a rotation axis of the multi-axis connection unit. Therefore, during use, when each wearable unit... When the slave arm rotates or swings relative to the human body, it triggers the encoder to read the data of the changing angle and transmits the signal to the slave arm to perform the corresponding action. Since this application uses an encoder, its weight is optimized compared to a motor, resulting in a lighter overall mass. Furthermore, it works well with various wearable units to achieve a wearable effect, improving flexibility. This allows the rotational movements of the multi-axis connected units to better match the actual movements of the human body, improving operational precision and aiding in remote control and data acquisition. It ensures real-time performance and control accuracy during control, improves signal transmission and response sensitivity between the master and slave arms, and enhances control precision. Simultaneously, the gripping remote control unit connected to the forearm unit in this application can control the gripping and lifting movements of the slave arm. Specifically, a displacement joystick controls the movement of the lifting mechanism and drive carriage connected to the slave arm, thereby changing the overall position of the slave arm. A gripper is located at the end of the slave arm, and a gripping trigger is used for motion control, ensuring control precision and flexibility. The remote control device in this application is applicable to humanoid robots (including legged and wheeled robots) and other single- and dual-arm robots.

[0006] Preferably, the back clip unit includes a fixed shaft, on which a support plate is slidably connected, and a hanging shoulder strap is provided on the support plate. The back clip unit includes a relatively fixed fixed shaft, which is horizontally positioned. The support plate is slidably connected to the fixed shaft, and is vertically positioned. A hanging shoulder strap is connected to the side of the support plate away from the fixed shaft, allowing the entire back clip unit to be fixed to the back of the user's hand via the hanging shoulder strap. Because the support plate is slidably connected to the fixed shaft, it conforms to the user's lower back, improving wearing comfort and avoiding contact between the fixed shaft and the body, thus preventing discomfort. The sliding connection of the support plate relative to the fixed shaft controls the contact position between the hanging shoulder strap and the shoulder, adapting to different users' shoulder structures.

[0007] Preferably, the back clip unit includes a fixed shaft, on which an adjusting plate is slidably connected. A multi-axis connecting unit between the back clip unit and the upper arm unit is disposed on the adjusting plate. The adjusting plate, slidably connected to the fixed shaft and connected to the upper arm unit via the multi-axis connecting unit, allows for adjustment of the unfolded width of the upper arm unit, thus accommodating users with different shoulder widths and improving adaptability.

[0008] Preferably, three fixed shafts are provided, arranged in a triangular pattern. Having three fixed shafts in a triangular arrangement improves stability and structural strength.

[0009] Preferably, both the boom unit and the forearm unit are equipped with protective shells. Each protective shell comprises an upper shell and a lower shell. Along the axial direction of the protective shell, the length of the lower shell is smaller than that of the upper shell. A clearance mounting position is formed on the upper shell, which connects to the multi-axis connecting unit. The boom unit and forearm unit are generally cylindrical, thus including the protective shell. The multi-axis connecting unit is connected inside the protective shell. Therefore, the protective shell is configured as an upper shell and a lower shell, with the upper shell being larger than the lower shell. Consequently, a portion of the upper shell cannot be fully covered by the lower shell, leaving a clearance mounting position on the upper shell for the installation of the multi-axis connecting unit. This allows the operator's arm to provide maximum support to the upper shell while avoiding contact with the rotating parts of the multi-axis connecting unit, providing better protection for the rotating parts of the multi-axis connecting unit and improving the overall reliability of the device.

[0010] Preferably, the multi-axis connection unit includes a rotating part and a swinging part, and each wearable unit includes an output end and a driven end. The rotating part is connected to the output end, and the swinging part is connected to the driven end. The multi-axis connection unit has a rotating part and a swinging part, wherein the rotation axis of the rotating part and the rotation axis of the swinging part are perpendicularly arranged, and the output end and the driven end of the wearable unit are arranged opposite each other. For example, the end of the back clip unit near the upper arm unit is the output end, and the end of the upper arm unit near the back clip unit is the driven end. By connecting the rotating part to the output end of the back clip unit and the swinging part to the driven end of the upper arm unit, the movements of various parts and joints of the human body can be simulated more accurately, thereby improving control precision.

[0011] Preferably, a transition plate is provided between the rotating part and the swinging part, and a strapping arm unit is provided on the multi-axis connecting unit at both ends of the forearm unit. The strapping arm unit is connected to the transition plate. The transition plate, connected to the strapping arm unit, allows the transition plate to rotate when the forearm or upper arm rotates, thus enabling the encoder in the multi-axis connecting unit to detect the rotation signal.

[0012] Preferably, the arm strap unit includes a support base for connecting a transition plate, and an arm strap is connected to the support base. The arm strap unit includes a support base and an arm strap, and the arm strap can be an elastic curved plate or a Velcro strap structure, thereby achieving quick connection to the arm.

[0013] Preferably, the gripping remote control unit includes a force feedback unit located below the gripping trigger. The force feedback unit includes a drive motor with a damping gear assembly connected to it. By incorporating this force feedback unit below the gripping trigger, the rotation of the motor drives the damping gears to produce different damping effects on the gripping trigger during use, thus providing varying force feedback to the user and promptly informing them of the current gripping status. This improves real-time performance and enhances the user's gripping control accuracy.

[0014] Preferably, the grip remote control unit includes two opposing inclined operating surfaces, with the displacement joystick and clamping trigger respectively disposed on the corresponding inclined operating surfaces. The opposing arrangement of the two inclined operating surfaces allows for adaptation to the human grip angle, enabling the thumb to engage with the control joystick during use, while the index finger or index finger engages with the control clamping trigger. Furthermore, the grip remote control unit includes a switch button for issuing data acquisition start and stop commands.

[0015] The beneficial effects of this utility model are as follows:

[0016] (1) By setting up a multi-axis connection unit between each wearable unit and setting an encoder on the multi-axis connection unit to signal the rotation action, the overall weight is reduced, and it can be controlled by the staff wearing it, thus improving the flexibility, convenience and real-time performance of the whole device.

[0017] (2) By setting adjustable support plates and adjustment plates, it is possible to adapt to the shoulder width and body shape of different workers and improve adaptability;

[0018] (3) By setting up a rotating part and a swinging part, the whole device can better simulate the movement of the human body, better adapt to the flexibility of real joints, and improve the operation accuracy and operation smoothness. Attached Figure Description

[0019] Figure 1 This is the first isometric drawing of this utility model.

[0020] Figure 2 This is the second isometric drawing of this utility model.

[0021] Figure 3 This is the third axonometric drawing of this utility model.

[0022] Figure 4 This is a partial perspective view of the present invention.

[0023] In the picture:

[0024] 1 Wearing unit, 11 Back clip unit, 111 Fixed shaft, 112 Support plate, 113 Hanging shoulder strap, 114 Adjustment plate, 12 Upper arm unit, 13 Forearm unit, 14 Protective shell, 141 Upper shell, 142 Lower shell, 143 Clearance mounting position, 15 Output end, 16 Slave end;

[0025] 2. Hold the remote control unit; 21. Displacement joystick; 22. Clamp the trigger; 23. Tilt the operating surface.

[0026] 3. Multi-axis connection unit, 31. Encoder, 32. Rotating part, 33. Swinging part, 34. Transition plate, 35. Arm binding unit, 351. Support base, 352. Arm binding strap. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] Example 1:

[0029] like Figure 1As shown, a wearable master-slave arm telecontrol device includes several wearable units 1. Each wearable unit 1 includes a back clip unit 11, with upper arm units 12 connected to both sides of the back clip unit 11. Each upper arm unit 12 is connected to a forearm unit 13. A gripping remote control unit 2 is provided at the end of the forearm unit 13 away from the upper arm unit 12. The gripping remote control unit 2 is provided with a displacement joystick 21 and a clamping trigger 22. A multi-axis connection unit 3 is provided between each wearable unit 1. The wearable unit 1 can rotate around the rotation axis of the multi-axis connection unit 3. An encoder 31 is provided on the rotation axis of the multi-axis connection unit 3.

[0030] Currently, there are two main approaches to master-slave robot designs: The first approach involves using two identical arms, one as the master arm and the other as the slave arm. This results in a bulky overall structure, as a robot can weigh anywhere from five or six kilograms to tens or even hundreds of kilograms. Therefore, this type of design can only be fixed to the ground or table using bolts or clamps during setup. The second approach uses motors to read joint angles. For example, using a seven-axis robotic arm as the slave arm would require seven motors for the master arm. Each motor weighs at least 500 grams, and the addition of connecting components further increases the weight, hindering movement and preventing wearable devices, thus significantly limiting flexibility. Therefore, to address the aforementioned problems, this application configures each component as a wearable unit 1. Each wearable unit 1 includes a back clip unit 11, an upper arm unit 12, and a forearm unit 13. Each wearable unit 1 can connect to a corresponding part of the human body. The back clip unit 11 connects to the shoulder and back of the human body, the upper arm unit 12 connects to the upper arm, and the forearm unit 13 connects to the forearm. A multi-axis connection unit 3 is provided between each wearable unit 1. The multi-axis connection unit 3 includes multiple rotation axes, thereby simulating the rotation and swaying between different parts of the human body to reflect the flexibility of the human joints. The multi-axis connection unit 3 is equipped with a coding system. The encoder 31 corresponds to the rotation axis of the multi-axis connection unit 3. Therefore, during use, when each wearable unit 1 rotates or swings relative to the human body, the encoder 31 can be triggered to read the data of the changing angle and transmit the signal to the slave arm to perform the corresponding action. Since the encoder 31 is used in this application, its weight is optimized compared to the motor, making the overall weight lighter. In addition, it can achieve the wearing effect with each wearable unit 1, improving the flexibility of use. This makes the rotation of each multi-axis connection unit 3 more in line with the actual movement of the human body, improving the accuracy of operation. At the same time, the gripping remote control unit 2 connected to the forearm unit 13 in this application can control the clamping action and the movement and lifting action of the slave arm. Specifically, the movement of the lifting mechanism, drive trolley and other components connected to the slave arm is controlled by the displacement joystick 21, thereby changing the overall position of the slave arm. A gripper is set at the end of the slave arm, and the action is controlled by the gripping trigger 22, thereby ensuring control accuracy and flexibility.

[0031] Example 2:

[0032] like Figure 1 , 2As shown, a wearable master-slave arm telescopic device includes several wearable units 1. Each wearable unit 1 includes a back clip unit 11, with upper arm units 12 connected to both sides of the back clip unit 11. Each upper arm unit 12 is connected to a forearm unit 13. A gripping remote control unit 2 is provided at the end of the forearm unit 13 away from the upper arm unit 12. The gripping remote control unit 2 is provided with a displacement joystick 21 and a gripping trigger 22. A multi-axis connection unit 3 is provided between each wearable unit 1. The wearable unit 1 can rotate around the rotation axis of the multi-axis connection unit 3. An encoder 31 is provided on the rotation axis of the multi-axis connection unit 3. The back clip unit 11 includes a fixed shaft 111, with a support plate 112 slidably connected to the fixed shaft 111. A hanging shoulder strap 113 is provided on the support plate 112. An adjustment plate 114 is slidably connected to the fixed shaft 111. The multi-axis connection unit 3 between the back clip unit 11 and the upper arm unit 12 is provided on the adjustment plate 114. There are three fixed shafts 111, which are arranged in a triangular pattern.

[0033] In this embodiment, each component is configured as a wearable unit 1. Each wearable unit 1 includes a back clip unit 11, an upper arm unit 12, and a forearm unit 13. Each wearable unit 1 can be connected to a corresponding part of the human body. The back clip unit 11 is connected to the back and shoulders of the human body, the upper arm unit 12 is connected to the upper arm, and the forearm unit 13 is connected to the forearm. A multi-axis connection unit 3 is provided between each wearable unit 1. The multi-axis connection unit 3 includes multiple rotation axes, thereby simulating the rotation and swaying between different parts of the human body to reflect the flexibility of the human joints. An encoder 31 is provided on the multi-axis connection unit 3. Each encoder 31 corresponds to the rotation axis of the multi-axis connection unit 3. Therefore, during use, when each wearable unit 1 rotates or swings relative to the human body, the encoder 31 can be triggered to read the data of the changing angle and transmit the signal to the slave arm to perform the corresponding action. Since the encoder 31 is used in this application, its weight is optimized compared to the motor, making the overall weight lighter. In addition, it can achieve the wearing effect with each wearable unit 1, improving the flexibility of use. This makes the rotation of each multi-axis connection unit 3 more in line with the actual movement of the human body, improving the accuracy of operation. At the same time, the gripping remote control unit 2 connected to the forearm unit 13 in this application can control the clamping action and the movement and lifting action of the slave arm. Specifically, the movement of the lifting mechanism, drive trolley and other components connected to the slave arm is controlled by the displacement joystick 21, thereby changing the overall position of the slave arm. A gripper is set at the end of the slave arm, and the action is controlled by the gripping trigger 22, thereby ensuring control accuracy and flexibility.

[0034] The back clip unit 11 includes a relatively fixed fixing shaft 111, which is horizontally arranged. A support plate 112 is slidably connected to the fixing shaft 111, and the support plate 112 is vertically arranged. A hanging shoulder strap 113 is connected to the side of the support plate 112 away from the fixing shaft 111, so that the entire back clip unit 11 can be fixed to the back of the user's hand by the hanging shoulder strap 113. Since the support plate 112 is slidably connected to the fixing shaft 111, the support plate 112 fits in close contact with the user's lower back, improving wearing comfort and avoiding contact between the fixing shaft 111 and the user, thus preventing discomfort. The sliding connection between the support plate 112 and the fixing shaft 111 controls the contact position between the hanging shoulder strap 113 and the shoulder, thereby adapting to different users' shoulder structures. In this embodiment, an adjustable clamp is provided on the support plate 112, which is connected to the fixed shaft 111. A bolt is provided on the clamp for tightening; the force exerted by the clamp on the fixed shaft 111 is controlled by adjusting the tightness of the bolt, thereby controlling the support plate 112 in the desired position. An adjusting plate 114 is slidably connected to the fixed shaft 111. The adjusting plate 114 is connected to the boom unit 12 via a multi-axis connecting unit 3, thereby allowing adjustment of the boom unit 12's unfolded width to accommodate users with different shoulder widths and improve adaptability. In this embodiment, a coupling is provided on the adjusting plate 114, and the relative fixation between the adjusting plate 114 and the fixed shaft 111 is achieved by fastening screws on the coupling. Three fixed shafts 111 are provided, and their triangular arrangement improves stability and structural strength.

[0035] like Figure 3 As shown, both the boom unit 12 and the forearm unit 13 are provided with protective housings 14. The protective housing 14 includes an upper housing 141 and a lower housing 142. The lower housing 142 is axially upward along the protective housing 14. The length of the lower housing 142 is smaller than that of the upper housing 141. A clearance mounting position 143 is formed on the upper housing 141. The clearance mounting position 143 is connected to the multi-axis connection unit 3. The upper arm unit 12 and the lower arm unit 13 are cylindrical in shape, and therefore include a protective shell 14. A multi-axis connecting unit 3 is connected inside the protective shell 14. Therefore, the protective shell 14 is configured as an upper shell 141 and a lower shell 142, wherein the size of the upper shell 141 is larger than that of the lower shell 142. Therefore, a part of the upper shell 141 cannot be fully covered by the lower shell 142. A clearance mounting position 143 is left on the upper shell 141 for the installation of the multi-axis connecting unit 3. This allows the operator's arm to support the upper shell 141 to the maximum extent, while avoiding contact with the rotating parts of the multi-axis connecting unit 3. This provides better protection for the rotating parts of the multi-axis connecting unit 3 and improves the reliability of the entire device.

[0036] like Figure 4As shown, the multi-axis connection unit 3 includes a rotating part 32 and a swinging part 33. Each wearable unit 1 includes an output end 15 and a driven end 16. The rotating part 32 is connected to the output end 15, and the swinging part 33 is connected to the driven end 16. A transition plate 34 is provided between the rotating part 32 and the swinging part 33. Arm strapping units 35 are provided on the multi-axis connection units 3 at both ends of the forearm unit 13, and the arm strapping units 35 are connected to the transition plate 34.

[0037] The multi-axis connection unit 3 has a rotating part 32 and a swinging part 33. The rotation axis of the rotating part and the rotation axis of the swinging part 33 are perpendicular to each other. The output end 15 and the driven end 16 of the wearable unit 1 are arranged opposite each other. For example, the output end 15 of the back clip unit 11 near the upper arm unit 12 is the output end 15, and the driven end 16 of the upper arm unit 12 near the back clip unit 11 is the driven end 16. The rotating part 32 is connected to the output end 15 of the back clip unit 11, and the swinging part 33 is connected to the driven end 16 of the upper arm unit 12, thereby enabling more accurate simulation of the movements of various parts and joints of the human body. A transition plate 34 is provided between the rotating part 32 and the swinging part 33. The transition plate 34 is connected to the arm strap unit 35, which is connected to the upper arm or forearm. When the upper arm or forearm rotates, it can drive the transition plate 34 to rotate, thereby enabling the encoder 31 in the multi-axis connection unit 3 to detect the rotation signal.

[0038] like Figure 1 , 2 As shown, the arm strap unit 35 includes a support base 351 that connects to the transition plate 34, and an arm strap 352 is connected to the support base 351. The arm strap unit 35 includes the support base 351 and the arm strap 352. The arm strap 352 can be an elastic arc-shaped clamp or a Velcro strap structure, thereby achieving quick connection with the arm.

[0039] The gripping remote control unit 2 contains a force feedback unit located below the gripping trigger 22. The force feedback unit includes a drive motor with a damping gear assembly connected to it. During use, the rotation of the motor drives the damping gears to produce different damping effects on the gripping trigger 22, thus creating varying force feedback and improving the user's gripping control accuracy.

[0040] like Figure 1As shown, the grip remote control unit 2 includes two tilted operating surfaces 23 arranged opposite to each other. A displacement joystick 21 and a clamping trigger 22 are respectively disposed on the corresponding tilted operating surfaces 23. The two tilted operating surfaces 23 are arranged opposite to each other to adapt to the grip angle of the human body. During use, the thumb can abut against the control displacement joystick 21, while the index finger or index finger can abut against the control clamping trigger 22. Furthermore, a switch button is provided on the grip remote control unit 2 to issue data acquisition start and stop commands.

[0041] This embodiment, through the aforementioned structure, enables the use of multi-axis connection units between various wearable units, and encoders on these units to signal rotational movements. This reduces the overall weight, allowing for control by the wearer and improving the flexibility and convenience of the entire device. Adjustable support and adjustment plates accommodate different shoulder widths and body types, enhancing adaptability. The inclusion of rotating and swinging sections allows the device to better simulate human movement, better mimicking the flexibility of real joints and improving operational precision and smoothness.

Claims

1. A wearable master-slave arm telecontrol device, characterized in that, The device includes several wearable units, each of which includes a back clip unit. Upper arm units are connected to both sides of the back clip unit, and each upper arm unit is connected to a forearm unit. A gripping remote control unit is located at the end of each forearm unit away from the upper arm unit. The gripping remote control unit is equipped with a displacement joystick and a gripping trigger. A multi-axis connection unit is provided between each wearable unit, and each wearable unit is capable of rotating around the rotation axis of the multi-axis connection unit. An encoder is located on the rotation axis of the multi-axis connection unit.

2. The master-slave arm teleoperation apparatus of claim 1, wherein The back clip unit includes a fixed shaft, a support plate is slidably connected to the fixed shaft, and a hanging shoulder strap is provided on the support plate.

3. The master-slave arm teleoperation apparatus of claim 1, wherein The back clamp unit includes a fixed shaft, an adjusting plate is slidably connected to the fixed shaft, and a multi-axis connecting unit between the back clamp unit and the upper arm unit is disposed on the adjusting plate.

4. The master-slave arm teleoperation apparatus of claim 3, wherein There are three fixed shafts, which are arranged in a triangular pattern.

5. The master-slave arm teleoperation apparatus of claim 1, wherein Both the boom unit and the forearm unit are provided with protective shells. The protective shells include an upper shell and a lower shell. Along the axial direction of the protective shells, the length of the lower shell is smaller than that of the upper shell. The upper shell has a clearance mounting position, which is connected to a multi-axis connection unit.

6. The telechiric device of claim 1, wherein the master arm is configured to be worn on the user's body. The multi-axis connection unit includes a rotating part and a swinging part. Each wearable unit includes an output end and a driven end. The rotating part is connected to the output end, and the swinging part is connected to the driven end.

7. The master-slave arm teleoperation apparatus of claim 6, wherein A transition plate is provided between the rotating part and the swinging part, and arm-binding units are provided on the multi-axis connecting units at both ends of the forearm unit, and the arm-binding units are connected to the transition plate.

8. The master-slave arm teleoperation apparatus of claim 7, wherein The arm strap unit includes a support base for connecting a transition plate, and an arm strap is connected to the support base.

9. The master-slave arm teleoperation device of any of claims 1-8, wherein, The grip remote control unit is equipped with a force feedback unit located below the trigger. The force feedback unit includes a drive motor, and a damping gear assembly is connected to the drive motor.

10. The master-slave arm teleoperation device of any of claims 1-8, wherein, The gripping remote control unit includes two tilted operating surfaces arranged opposite each other, and the displacement joystick and the clamping trigger are respectively arranged on the corresponding tilted operating surfaces.

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