Robotic data acquisition device for teleoperation

Abstract

The utility model belongs to the technical field of robot remote operation, concretely relates to a kind of robot data acquisition device for remote operation, including wearing component, support structure, mechanical arm structure, joint module and end execution mechanism;Wearing component includes double shoulder strap and fixed backplate, and the back structure of fixed backplate and double shoulder strap is fixedly connected;Support structure includes fixed support and aluminium profile, and fixed support is installed on fixed backplate, and aluminium profile is installed on fixed support;Mechanical arm structure includes at least one mechanical arm and bandage, and the base of mechanical arm is fixed on aluminium profile, and is sequentially connected by multiple connecting rods;Joint module is arranged between each connecting rod and the connecting place of connecting rod and base.The utility model is made of replaceable connecting rod and angle limit block using modular structure and 3D printing, and only needs to replace corresponding component to quickly adapt multiple single-arm and double-arm robots, and the adaptability of device is greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of robot teleoperation technology, specifically, it relates to a robot data acquisition device for teleoperation. Background Technology

[0002] In the field of robot teleoperation, efficient collection of operator motion data is required to achieve precise control of robots. Traditional mechanical robot teaching systems are complex and costly, while existing wearable exoskeleton devices, although capable of collecting user arm movement data, improving teleoperation efficiency and reducing costs, have significant shortcomings.

[0003] In the prior art, such as the "Wearable Exoskeleton Device, Operating Method and Robotic Teleoperation System" disclosed in Chinese Patent Application No. CN202510103054.9, its applicability is limited because it cannot be adapted to various types of end effectors. At the same time, the external wiring harness of the system is exposed, which is easily pulled during operation, posing a risk of breakage and affecting the stability of operation and the safety of use.

[0004] Therefore, there is an urgent need for a remote data acquisition device that can be quickly adapted to various robots and end-effectors and has a safe and reliable wiring harness layout. Utility Model Content

[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a data acquisition device for remotely operated robots.

[0006] According to this utility model, a data acquisition device for remotely operated robots includes a wearable component, a support structure, a robotic arm structure, a joint module, and an end effector. The wearable component includes shoulder straps and a fixed back plate, with the fixed back plate fixedly connected to the back structure of the shoulder straps. The support structure includes a fixed support and an aluminum profile, with the fixed support mounted on the fixed back plate and the aluminum profile mounted on the fixed support. The robotic arm structure includes at least one robotic arm and a strap, with the base of the robotic arm fixed to the aluminum profile and composed of multiple links connected in sequence. The joint module is disposed between the links and at the connection points between the links and the base. The end effector is detachably connected to the end of the robotic arm.

[0007] Furthermore, the wearable component also includes a waist strap for securely wearing the device on the human body.

[0008] Furthermore, the end effector includes a two-finger gripper and a remote control handle.

[0009] Furthermore, the robotic arm includes a left arm and a right arm. The bases of the left arm and the right arm are respectively fixed to both sides of the aluminum profile. The right arm is symmetrical to the left arm. Both the left and right arms include a shoulder base, multiple links, a joint module, and a two-finger gripper. The links include a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link connected in sequence.

[0010] Furthermore, both the third and fifth links are equipped with straps. The third link is bound to the operator's upper arm via the straps, and the fifth link is bound to the operator's forearm via the straps.

[0011] Furthermore, joint modules are provided at the connection points between the shoulder base and the first link, the first link and the second link, the second link and the third link, the third link and the fourth link, the fourth link and the fifth link, the fifth link and the sixth link, and the sixth link and the two-finger gripper. The joint modules are connected to the links by screws.

[0012] Furthermore, the joint module integrates an encoder, an angle limiting block, and a wire block. The encoder base is connected to one end of an adjacent connecting rod by screws, and the encoder's rotating flange is connected to one end of another adjacent connecting rod by screws. The angle limiting block is sleeved on the encoder's rotating flange. The angle limiting block engages with the flat key on the encoder's rotating flange through a circumferential slot. The angle limiting block achieves mechanical limiting by contacting the boss on its lower surface with the boss on the upper surface of the encoder base. The wire block is fixed to the encoder base by its own boss and is used to guide the signal line.

[0013] Furthermore, the connecting rod and the angle limiting block are manufactured using 3D printing technology.

[0014] Furthermore, the encoder's signal line passes sequentially through the wire block and the encoder's center hole, connecting to the encoder of the next joint.

[0015] Furthermore, the angle limiting block can be replaced according to the required range of rotation of the joint.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This utility model adopts a modular structure and replaceable connecting rods and angle limiting blocks made by 3D printing. It can be quickly adapted to various single-arm and dual-arm robots by simply replacing the corresponding parts, which greatly improves the adaptability of the device.

[0018] 2. The integrated joint module of this utility model has a built-in wire block, which realizes the internal arrangement of the wire harness, effectively avoiding the problem of exposed wire harness being easily pulled and broken, and improving the stability and safety of system operation.

[0019] 3. This utility model supports flexible replacement of end-effector tools. Two-finger grippers, remote control handles, etc. can be selected according to different task requirements, which enhances the flexibility and applicability of the equipment and expands the application range.

[0020] 4. This utility model device is designed to be portable and easy to wear. It fits closely to the human body through straps and other structures, ensuring the accuracy of motion data collection and facilitating efficient and precise remote operation of the robot. Attached Figure Description

[0021] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the wearable component of this utility model;

[0023] Figure 2 This is a schematic diagram of the support structure of this utility model;

[0024] Figure 3 This is a schematic diagram of the shoulder base, joint module, and first connecting rod of this utility model;

[0025] Figure 4 This is a schematic diagram of the joint module of this utility model;

[0026] Figure 5 This is an assembly drawing of the two-finger gripper of this utility model;

[0027] Figure 6 This is an assembly drawing of the remote control handle of this utility model;

[0028] The following are the labeling elements in the figure:

[0029] Detailed Implementation

[0030] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0031] Example 1

[0032] like Figure 1-3As shown, this utility model discloses a data acquisition device for a remotely operated robot, including a wearable component, a support structure, a robotic arm structure, a joint module 23, and an end effector. The wearable component includes shoulder straps 1 and a fixed back plate 2. The fixed back plate 2 is fixedly connected to the back structure of the shoulder straps 1 by screws. The support structure includes a fixed support 3 and an aluminum profile 4. The fixed support 3 is installed on the fixed back plate 2 by screws. The aluminum profile 4 is installed on the fixed support 3 by screws and T-nuts. A device provides support; the robotic arm structure includes a robotic arm and a strap 24. The robotic arm includes a left arm 25 and a right arm 26. The bases of the left arm 25 and the right arm 26 are respectively fixed to both sides of the aluminum profile 4. The right arm 26 is symmetrical to the left arm 25. Both the left arm 25 and the right arm 26 include a shoulder base 5, multiple links, a joint module 23, and a two-finger gripper 12. The links include a first link 6, a second link 7, a third link 8, a fourth link 9, a fifth link 10, and a sixth link 11 connected in sequence. Both the third link 8 and the fifth link 10 are equipped with straps 24. During operation, the operator can put the shoulder straps of the double shoulder straps 1 on their shoulders and tighten the waist straps to ensure that the entire data acquisition device is securely worn on the human body. In conjunction with the third link 8 being bound to the operator's upper arm through the straps 24, and the fifth link 10 being bound to the operator's forearm through the straps 24, the fit and motion coordination between the device and the human body are improved, ensuring the collaborative ability between the robot data acquisition device and the human body, and enhancing the stability and flexibility when performing complex actions. Joint modules 23 are provided at the connection points between the shoulder base 5 and the first link 6, the first link 6 and the second link 7, the second link 7 and the third link 8, the third link 8 and the fourth link 9, the fourth link 9 and the fifth link 10, the fifth link 10 and the sixth link 11, and the sixth link 11 and the two-finger gripper 12. The joint modules 23 are connected to the links by screws.

[0033] like Figure 4As shown, the joint module 23 integrates an encoder 20, an angle limiting block 21, and a wire block 22. The base of the encoder 20 is connected to one end of an adjacent connecting rod by screws, and the rotating flange of the encoder 20 is connected to one end of another adjacent connecting rod by screws. The angle limiting block 21 is fitted onto the rotating flange of the encoder 20. The angle limiting block 21 engages with the flat key on the rotating flange of the encoder 20 through a circumferential slot. The angle limiting block 21 achieves mechanical limiting by contacting the boss on the bottom surface of its own bottom with the boss on the upper surface of the encoder 20 base. The angle limiting block 21 is manufactured by 3D printing technology. For different joints, the rotation range can be flexibly adjusted by replacing the corresponding angle limiting block 21, improving the module's versatility and adaptability. The wire block 22 is fixed to the base of the encoder 20 by its own boss and is used to guide the signal line. The signal line of the encoder 20 passes through the wire block 22 and the center hole of the encoder 20 in sequence and connects to the encoder 20 of the next joint, making the wiring harness built-in and realizing signal transmission and communication between the joints.

[0034] like Figure 5 As shown, the end effector is detachably mounted at the end of the sixth link 11. The end effector is a two-finger gripper 12. The operator can intuitively control the robot's movement by manually dragging the two-finger gripper 12, and at the same time, by opening and closing the two-finger gripper 12, complete the precise control of the robot's end tool movements.

[0035] Example 2

[0036] like Figure 6 As shown, the structural position of this embodiment is the same as that of Embodiment 1. The main improvement is that the end effector can be replaced according to different task requirements. The remote control handle 13 is installed at the mounting end of the robotic arm structure, thereby replacing the two-finger gripper 12. The operator can achieve intuitive control of the robot's movement by manually dragging the remote control handle 13. At the same time, by opening and closing the trigger on the remote control handle 13, the precise control of the robot's end tool movement can be achieved. This enables flexible replacement and combination of the end effector, significantly improving the robot's adaptability to diverse end tools and further enhancing the system's operational flexibility and application adaptability.

[0037] Example 3

[0038] The structure and position of this embodiment are the same as in Embodiment 2. The main improvement is that the robotic arm is a single arm. The single arm base can be fixedly installed on the left or right side of the aluminum profile 4 according to the needs of remote operation, so as to facilitate the user's usage habits. Compared with the dual-arm structure, it can significantly reduce the burden and reduce the manufacturing cost.

[0039] Working principle

[0040] In use, the operator wears the device on their body using the wearable components. Specifically, the shoulder straps 1 are placed over the shoulders and the waist straps are tightened to ensure the fixed back plate 2 fits snugly against the back. Simultaneously, the straps 24 on the third link 8 and the fifth link 10 are used to bind the robotic arm to the operator's upper and lower arms respectively, ensuring a close fit between the device and the body. The fixed support 3 and aluminum profile 4 in the support structure provide stable support for the entire device. The robotic arm structure is fixed to the aluminum profile 4 via the shoulder base 5 and consists of multiple links (including the first link 6, second link 7, third link 8, fourth link 9, fifth link 10, and sixth link 11) connected sequentially via the joint module 23. The encoder 20 in the joint module 23 can collect motion data such as the rotation angle at each link connection in real time. The angle limiting block 21 achieves mechanical limiting by contacting the boss on its lower surface with the boss on the upper surface of the encoder 20 base, and can adjust the angle according to the required rotation of the joint. The range of motion can be changed to adapt to different motion requirements; the signal line of encoder 20 is guided through wire block 22 and passes through the center hole of encoder 20 to connect with encoder 20 of the next joint, realizing the built-in arrangement of the wire harness and avoiding the problem of exposed wire harness being pulled and broken; the end effector (including two-finger gripper 12, remote control handle 13, etc.) is detachably connected to the end of the robot arm (such as the end of the sixth link 11). The operator manually operates the end effector such as two-finger gripper 12 or remote control handle 13 to drive the movement of each link. The encoder 20 in the joint module 23 transmits the collected motion data in real time, thereby realizing remote operation control of the robot. At the same time, due to the modular structure and the replaceable links and angle limit blocks 21 made by 3D printing, it is only necessary to replace the corresponding parts to quickly adapt to various single-arm (such as left arm 25 or right arm 26) and dual-arm (left arm 25 and right arm 26) robots, which greatly improves the adaptability and flexibility of the device.

[0041] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A data acquisition device for a remotely operated robot, characterized in that, The device includes a wearable assembly, a support structure, a robotic arm structure, a joint module (23), and an end effector. The wearable assembly includes a shoulder strap (1) and a fixed back plate (2), with the fixed back plate (2) fixedly connected to the back structure of the shoulder strap (1). The support structure includes a fixed support (3) and an aluminum profile (4), with the fixed support (3) mounted on the fixed back plate (2) and the aluminum profile (4) mounted on the fixed support (3). The robotic arm structure includes at least one robotic arm and a strap (24), with the base of the robotic arm fixed to the aluminum profile (4) and composed of multiple connecting rods connected in sequence. The joint module (23) is located between the connecting rods and at the connection between the connecting rods and the base. The end effector is detachably attached to the end of the robotic arm.

2. The robot data acquisition device according to claim 1, characterized in that, The wearable component also includes a waist strap for securing the device to the body.

3. The robot data acquisition device according to claim 1, characterized in that, The end effector includes a two-finger gripper (12) and a remote control handle (13).

4. The robot data acquisition device according to claim 1, characterized in that, The robotic arm includes a left arm (25) and a right arm (26). The base of the left arm (25) and the base of the right arm (26) are respectively fixed on both sides of the aluminum profile (4). The right arm (26) is symmetrical to the left arm (25). Both the left arm (25) and the right arm (26) include a shoulder base (5), multiple links, a joint module (23) and a two-finger gripper (12). The links include a first link (6), a second link (7), a third link (8), a fourth link (9), a fifth link (10) and a sixth link (11) connected in sequence.

5. The robot data acquisition device according to claim 4, characterized in that, Both the third link (8) and the fifth link (10) are equipped with straps (24). The third link (8) is bound to the operator's upper arm by the straps (24), and the fifth link (10) is bound to the operator's forearm by the straps (24).

6. The robot data acquisition device according to claim 4, characterized in that, The joint module (23) is provided at the connection between the shoulder base (5) and the first link (6), the connection between the first link (6) and the second link (7), the connection between the second link (7) and the third link (8), the connection between the third link (8) and the fourth link (9), the connection between the fourth link (9) and the fifth link (10), the connection between the fifth link (10) and the sixth link (11), and the connection between the sixth link (11) and the two-finger gripper (12). The joint module (23) is connected to the link by screws.

7. The robot data acquisition device according to claim 6, characterized in that, The joint module (23) integrates an encoder (20), an angle limiting block (21), and a wire block (22). The base of the encoder (20) is connected to one end of an adjacent connecting rod by screws. The rotating flange of the encoder (20) is connected to one end of another adjacent connecting rod by screws. The angle limiting block (21) is sleeved on the rotating flange of the encoder (20). The angle limiting block (21) is engaged with the flat key on the rotating flange of the encoder (20) through a circumferential slot. The angle limiting block (21) achieves mechanical limiting by contacting the boss on the bottom surface of its own bottom with the boss on the upper surface of the base of the encoder (20). The wire block (22) is fixed to the base of the encoder (20) by its own boss and is used to guide the signal line.

8. The robot data acquisition device according to claim 7, characterized in that, The connecting rod and angle limiting block (21) are manufactured by 3D printing process.

9. The robot data acquisition device according to claim 7, characterized in that, The signal line of the encoder (20) passes through the conductor block (22) and the center hole of the encoder (20) in sequence, and is connected to the encoder (20) of the next joint.

10. The robot data acquisition device according to claim 7, characterized in that, The angle limiting block (21) can be replaced according to the required range of rotation of the joint.

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