Joint motor real-time force feedback driving robot cooperative operation control device

Abstract

The utility model relates to a robot collaborative operation control device of joint motor real -time force feedback drive. Including waist pitch action joint motor, waist somersault action joint motor and waist yaw action joint motor are used for collecting the pitch, somersault and yaw action of waist joint, support plate is fixed on the base to bear waist joint motor, the shoulder pitch action joint motor and shoulder somersault action joint motor of left and right shoulder part are set up respectively, and are used for collecting shoulder action, left and right big arm part joint motor, elbow joint motor and small arm part joint motor are used for collecting big arm rotation, elbow bending and small arm rotation action respectively. The prior art scheme in the human-shaped robot control device lacks real -time feedback mechanism, cannot perceive own posture and environmental interaction force, leads to the mechanical collision or imbalance of motion process, and the technical problem that the mechanical structure is generally heavy, the waist stability is insufficient, and the robot is easy to fall when power off or unmanned, has the security hidden danger.

Description

Technical Field

[0001] This utility model relates to the field of robot control devices, and in particular to a robot collaborative operation control device driven by real-time force feedback of joint motors. Background Technology

[0002] Existing humanoid robot control technologies primarily rely on manual programming to achieve mechanical movement through preset action commands. However, this approach has significant drawbacks: First, the programming process is cumbersome and time-consuming, requiring separate code design for each action, making it difficult to adapt to complex and ever-changing work scenarios. Second, robot movements are stiff and lack coordination, easily leading to action failure due to limited joint range of motion or interference from the dynamic environment. More seriously, existing systems lack real-time feedback mechanisms, failing to perceive their own posture and environmental interactions, resulting in susceptibility to mechanical collisions or imbalances during movement. For example, a robot arm may interfere with its own torso when extending, due to improper path planning. Furthermore, the mechanical structures of existing devices are generally bulky, lacking sufficient waist stability, and prone to tipping over during power outages or when unattended, posing safety hazards. Utility Model Content

[0003] This application provides a robot collaborative operation control device driven by real-time force feedback of joint motors, which solves the technical problems of existing humanoid robot control devices lacking real-time feedback mechanisms, being unable to sense their own posture and the interaction force with the environment, resulting in easy mechanical collisions or imbalances during movement, and the fact that the mechanical structure of existing devices is generally bulky, with insufficient waist stability, and is prone to tipping over when power is cut off or when no one is operating, posing safety hazards.

[0004] The technical solution adopted in the embodiments of this application is as follows: A robot collaborative operation control device driven by real-time force feedback of joint motors includes a waist pitch joint motor, a waist roll joint motor, and a waist yaw joint motor for collecting pitch, roll, and yaw movements of the waist joint; a support plate fixed on a base to support the waist joint motors; shoulder pitch and roll joint motors respectively located on the left and right shoulders for collecting shoulder movements; left and right upper arm joint motors, elbow joint motors, and forearm joint motors for collecting upper arm rotation, elbow flexion, and forearm rotation movements, respectively; wrist roll and pitch joint motors for realizing wrist roll and pitch movements; self-balancing springs symmetrically arranged on both sides of the waist to achieve dynamic balance of the waist through compression and release; a gas spring and locking stud integrated in the support column for adjusting and locking the device height; and a controller connected to each joint motor and sensor signal to process motion data in real time and output control commands.

[0005] A further technical solution is that the shoulder is provided with a guide groove and a locking structure to adapt to different shoulder widths.

[0006] A further technical solution is as follows: the self-balancing spring is compressed on both sides when the waist is tilted forward to generate a backward pushing tendency, and compressed on one side when tilted to the side to generate a reverse thrust.

[0007] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By employing waist pitch, roll, and yaw joint motors, and utilizing a real-time force feedback and collaborative control mechanism among these multi-joint motors, the robot's flexibility and coordination are significantly improved. Firstly, the use of human motion capture technology instead of traditional programming control greatly reduces operational complexity, enabling the robot to quickly adapt to diverse task requirements. Secondly, the collaborative design of the waist self-balancing spring and gas spring ensures dynamic stability while maintaining a lightweight design, solving the problem of tipping over in existing equipment, making it particularly suitable for unstructured environments. Furthermore, adjustable guide slots and locking studs in the shoulder and upper arm enhance the device's versatility, adapting to users of different body types and reducing customization costs. The multi-degree-of-freedom joint motors in the wrist further improve the precision of the end effector, meeting the needs of fine-tuning operations. The overall solution simplifies maintenance processes through modular design, lowers the barrier to entry, and provides an efficient and reliable collaborative operation solution for fields such as industrial automation and medical rehabilitation. Attached Figure Description

[0008] Figure 1 This is a front view of a robot collaborative operation control device driven by real-time force feedback of a joint motor according to an embodiment of this utility model.

[0009] Figure 2 This is a side view of a robot collaborative operation control device driven by real-time force feedback of a joint motor according to an embodiment of this utility model.

[0010] Figure 3 This is a rear view of a robot collaborative operation control device driven by real-time force feedback of a joint motor, according to an embodiment of this utility model.

[0011] In the diagram: 1. Waist pitch joint motor; 2. Waist roll joint motor; 3. Waist yaw joint motor; 4. Support plate; 5. Shoulder pitch joint motor; 6. Shoulder roll joint motor; 7. Upper arm joint motor; 8. Elbow joint motor; 9. Forearm joint motor; 10. Wrist roll joint motor; 12. Wrist pitch joint motor; 13. Base; 14. Gas spring; 15. Locking stud; 16. Self-balancing spring; 17. Controller. Detailed Implementation

[0012] This application provides a robot collaborative operation control device driven by real-time force feedback of joint motors, which solves the technical problems of existing humanoid robot control devices lacking real-time feedback mechanisms, being unable to sense their own posture and the interaction force with the environment, resulting in easy mechanical collisions or imbalances during movement, and the fact that the mechanical structure of existing devices is generally bulky, with insufficient waist stability, and is prone to tipping over when power is cut off or when no one is operating, posing safety hazards.

[0013] The technical solution in this application is to solve the above problems, and the overall approach is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0014] A robot collaborative operation control device driven by real-time force feedback of articulated motors, such as... Figure 1 , Figure 2 and Figure 3 As shown, the device includes a lumbar pitch joint motor 1, a lumbar roll joint motor 2, and a lumbar yaw joint motor 3, used to collect pitch, roll, and yaw movements of the lumbar joint; a support plate 4 is fixed to the base 13 to support the lumbar joint motors; shoulder pitch joint motors 5 and shoulder roll joint motors 6 are respectively set on the left and right shoulders to collect shoulder movements; left and right upper arm joint motors 7, elbow joint motors 8, and forearm joint motors 9 are used to collect upper arm rotation, elbow flexion, and forearm rotation movements, respectively; wrist roll joint motors 10 and wrist pitch joint motors 12 are used to realize wrist roll and pitch movements; self-balancing springs 16 are symmetrically arranged on both sides of the waist to achieve dynamic balance of the waist through compression and release; gas springs 14 and locking studs 15 integrated in the support column are used to adjust the height of the device and lock it; and a controller 17 is connected to the signals of each joint motor and sensor to process motion data in real time and output control commands.

[0015] The shoulder area is equipped with guide grooves and locking structures to accommodate different shoulder widths.

[0016] The self-balancing spring 16 is compressed on both sides when the waist is tilted forward to generate a backward thrust, and compressed on one side when tilted to the side to generate a reverse thrust.

[0017] The main body of the device is supported by a base 13, on which a support plate 4 is fixed. The waist pitch, roll, and yaw motion joint motors 1, 2, and 3 are mounted on the support plate, and a self-balancing spring 16 maintains an upright waist position. Shoulder pitch and roll motion joint motors 5 and 6 are located on the left and right shoulders. Upper arm joint motor 7 drives upper arm rotation, elbow joint motor 8 controls elbow flexion, and forearm joint motor 9 achieves forearm axial rotation. Wrist movements are performed by roll and pitch motion joint motors 10 and 12. A gas spring 14 inside the support column engages with a locking stud 15 to adjust and lock the device height. The controller 17 receives motion signals from each joint motor in real time, processes them, and drives the robot to synchronously execute the operator's movements. When the operator leans forward, the self-balancing springs on both sides compress to generate a reverse thrust, preventing the device from tipping over; when tilting to the side, a single spring compresses to achieve dynamic balance. Shoulder guide grooves and locking structures can accommodate different user shoulder widths, and gas spring support reduces the operating load, ensuring smooth movements.

[0018] Operating procedures Initial adjustment: Adjust the height of the bracket to suit the operator's height using the gas spring 14, and tighten the locking stud 15; adjust the shoulder guide groove to suit the shoulder width and lock it.

[0019] Motion capture: After the operator wears the device, motors 1-12 of each joint collect motion data of the waist, shoulder, upper arm, elbow, forearm and wrist in real time.

[0020] Data processing: Controller 17 receives sensor signals, analyzes motion trajectories, and generates control commands.

[0021] Force feedback drive: The controller transmits instructions to the corresponding joint motors of the robot, driving them to perform actions synchronously; the self-balancing spring 16 dynamically adjusts according to the waist posture to maintain overall stability.

[0022] Collaborative operation: Operators control robots to complete complex tasks, such as grasping, carrying or obstacle avoidance, through natural body movements. The system corrects movement deviations in real time to avoid collisions.

[0023] Beneficial effects By employing a waist pitching joint motor 1, a waist rolling joint motor 2, and a waist yaw joint motor 3, the robot's flexibility and coordination are significantly improved through real-time force feedback and collaborative control mechanisms of these multi-joint motors. Firstly, the use of human motion capture technology to replace traditional programming control greatly reduces operational complexity, enabling the robot to quickly adapt to diverse task requirements. Secondly, the collaborative design of the waist self-balancing spring 16 and gas spring 14 ensures dynamic stability while maintaining a lightweight design, solving the problem of easy tipping in existing equipment, making it particularly suitable for unstructured environments. Furthermore, adjustable structural guide grooves and locking studs in the shoulder and upper arm enhance the device's versatility, adapting to users of different body types and reducing customization costs. The wrist multi-degree-of-freedom joint motors 10 and 12 further improve the precision of the end effector, meeting the needs of fine-tuning operations. The overall solution simplifies maintenance processes and lowers the barrier to entry through modular design, providing an efficient and reliable collaborative operation solution for fields such as industrial automation and medical rehabilitation.

[0024] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0025] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A robot collaborative operation control device with real-time force feedback drive of joint motors, characterized in that, The system includes a lumbar pitch joint motor (1), a lumbar roll joint motor (2), and a lumbar yaw joint motor (3) for collecting pitch, roll, and yaw movements of the lumbar joint; a support plate (4) is fixed to the base (13) to support the lumbar joint motors; shoulder pitch joint motors (5) and shoulder roll joint motors (6) are respectively installed on the left and right shoulders for collecting shoulder movements; and left and right upper arm joint motors (7), elbow joint motors (8), and forearm joint motors (9) are respectively used for collecting... It integrates upper arm rotation, elbow flexion and forearm rotation movements; wrist rolling joint motor (10) and wrist pitching joint motor (12) to realize wrist rolling and pitching movements; self-balancing springs (16) symmetrically arranged on both sides of the waist to realize dynamic balance of the waist through compression and release; gas spring (14) and locking stud (15) integrated in the support column to adjust the height of the device and lock it; controller (17) connected to the joint motors and sensor signals to process motion data in real time and output control commands.

2. The robot collaborative operation control device with real-time force feedback drive of joint motors as described in claim 1, characterized in that, The shoulder section is equipped with a guide groove and a locking structure to accommodate different shoulder widths.

3. The robot collaborative operation control device with real-time force feedback drive of joint motors as described in claim 1, characterized in that, The self-balancing spring (16) is compressed on both sides when the waist is tilted forward to generate a backward thrust, and compressed on one side when tilted to the side to generate a reverse thrust.

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