A force feedback dual-arm collaborative robot

Abstract

The utility model discloses a force feedback formula double -arm cooperation robot, including depth vision sensor, degree of freedom holder module, two degrees of freedom anthropomorphic manipulator module, two bionic flexible dexterous hand module, main body support frame module, force sensor, main control system module and power module. Holder is fixed on main body support frame module, and depth vision sensor is fixed on holder, and double mechanical arm is symmetrically set in the both sides of main body support frame module, and bionic flexible dexterous hand is connected in anthropomorphic manipulator end, and force sensor is installed in the fingertip and palm site of bionic flexible dexterous hand, and is electrically connected with motion control system, and power module and motion control system are placed in the inside of main body support frame module. The utility model discloses can be used in the fine operation and cooperation task under the complex environment, and compact structure, lightweight design has higher flexibility, can simulate human hand and carry out fine operation and double -arm cooperation.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to a force feedback dual-arm collaborative robot. Background Technology

[0002] In hazardous environments, particularly in explosives disposal, robotic systems have become crucial equipment for ensuring personnel safety. However, current robots used in such high-risk operations are generally equipped with only a single robotic arm to perform core tasks such as inspecting, detecting, and disposing of explosive devices, and their development costs are prohibitive.

[0003] The aforementioned single-arm system has significant limitations: its dexterity, operating range, and load capacity are all restricted. This not only makes it difficult for the robot to complete tasks requiring precise collaborative operation, but also increases the risk of accidentally triggering an explosion due to operational limitations. Therefore, it is necessary to develop a highly human-like, dual-arm collaborative robot designed for hazardous environments to simulate the collaborative capabilities of human arms, enabling the safe and precise handling of explosives, thereby significantly reducing risks and threats. Utility Model Content

[0004] To address the aforementioned technical problems, the purpose of this utility model is to provide a force feedback dual-arm collaborative robot, the specific technical solution of which is as follows: A force feedback dual-arm collaborative robot includes a main control system module, a power supply module, a force sensor, a main support frame module, a degree-of-freedom gimbal, a degree-of-freedom humanoid robotic arm module, and a bionic flexible dexterous hand module. The gimbal with degrees of freedom is fixed to the top of the main support frame module; The depth vision sensor is fixed on a gimbal with degrees of freedom, and the gimbal drives pitch and yaw movements. The gimbal includes a Y-axis servo motor that rotates around the Y-axis and a Z-axis servo motor that rotates around the Z-axis; used to drive the depth vision sensor to rotate around the Y-axis and Z-axis respectively. The humanoid robotic arm module has two parts, which are symmetrically fixed to both sides of the main support frame module. The bionic flexible dexterous hand module is provided in two parts, and each bionic flexible dexterous hand module is connected to the end of a humanoid robotic arm module with one degree of freedom. The force sensors are distributed at the contact points of the joints of the bionic flexible dexterous hand module; The main control system module is located inside the main support frame module; The power module is mounted on the main support frame module; The force sensor, depth vision sensor, degree-of-freedom gimbal, degree-of-freedom humanoid robotic arm module, and bionic flexible dexterous hand module are all electrically connected to the main control system module; the power supply module supplies power to each module.

[0005] A preferred embodiment of the force feedback dual-arm collaborative robot is that the humanoid robotic arm module includes joint mechanisms that are rotatably connected in sequence. Its joint mechanism includes the anterior shoulder joint, posterior shoulder joint, forearm joint, posterior upper arm joint, forearm joint, posterior forearm joint, and wrist joint; The base end of the anterior shoulder joint is fixed to the main support frame module; The posterior shoulder joint is rotatably connected to the anterior shoulder joint via a drive motor. The forearm joint is rotatably connected to the shoulder joint via a second drive motor. The rear upper arm joint is rotatably connected to the front upper arm joint via a No. 3 drive motor. The forearm joint is rotatably connected to the upper arm joint via a No. 4 drive motor. The rear forearm joint is rotatably connected to the forearm joint via a No. 5 drive motor. The wrist joint is rotatably connected to the forearm joint via a No. 6 drive motor, and its end is connected to a bionic flexible dexterous hand module. The drive motors mentioned above are integrated inside the corresponding joint mechanisms. Each joint achieves its rotational degree of freedom through its corresponding drive motor.

[0006] A preferred embodiment of the force feedback dual-arm collaborative robot is that the rear forearm joint includes a rear forearm joint skeleton and a shell that can be detachably covered by the skeleton. Drive motors No. 8, No. 9, No. 10, No. 11, and No. 12 are integrated inside the forearm joint skeleton to drive the movement of each finger in the bionic flexible dexterity hand module.

[0007] The preferred embodiment of the force feedback dual-arm collaborative robot is that the biomimetic flexible dexterous hand module includes a palm, proximal joints of the fingers, middle joints of the fingers, and distal joints of the fingers. The palm is rotatably connected to the wrist joint via a No. 7 drive motor, which enables rotation around the Z-axis; The proximal joints of the fingers are rotatably connected to the palm via bolts; The middle joint of the finger is rotatably connected to the proximal joint of the finger via bolts; The distal joint of the finger is rotatably connected to the middle joint of the finger by bolts, and a force sensor groove is formed on its surface. One end of the tendon rope is fixed to the distal joint of the finger, and the other end passes through the middle joint and proximal joint of the finger in an S-shaped path and extends to the inside of the forearm joint, connecting to the corresponding drive motors No. 8, No. 9, No. 10, No. 11 and No. 12 of the finger.

[0008] In a preferred embodiment of the force feedback dual-arm collaborative robot, the distal joint surface of the fingers is provided with a groove for storing a force sensor. The force sensor is embedded in the grooves of the palm surface, the surface of the proximal joint of the finger, the surface of the middle joint of the finger, and the distal joint of the finger; wherein the force sensor in the groove of the distal joint of the finger is encapsulated and fixed by a filler.

[0009] In a preferred embodiment of the force feedback dual-arm collaborative robot, the main support frame module is provided with a T-shaped base at its bottom, or it can be replaced with a movable base.

[0010] In a preferred embodiment of the force feedback dual-arm collaborative robot, the gimbal has 2 degrees of freedom and the humanoid robotic arm has 7 degrees of freedom.

[0011] A force feedback dual-arm collaborative robot operates on the following principle: A depth vision sensor fixed on a degree-of-freedom gimbal simulates human eye function, collecting real-time depth vision information of the robot's workspace. The collected environmental information is transmitted to the main control system module. The main control system module performs one of the following operations: (a) processes the received environmental information according to a built-in algorithm to generate collaborative motion control commands for the two degree-of-freedom humanoid robotic arm modules and the two bionic flexible dexterous hand modules; (b) remotely transmits the collected environmental information to an external host computer system via its communication interface; the host computer system performs advanced analysis, generates corresponding control commands, and transmits them back to the main control system module via wireless / wired means. The main control system module converts the generated or received control commands into specific drive signals and sends them to the corresponding drive motors of each joint and the dexterous hand. The drive motors drive the robotic arm and dexterous hand to perform precise and coordinated movements according to the commands, executing tasks such as grasping, handling, and assembly. During operation, force sensors distributed on the palm surface and finger joints of the bionic flexible dexterous hand module detect the contact force information with the manipulated object in real time. The detected real-time pressure / force data is transmitted back to the main control system module. Based on the received force sensor data, and in conjunction with the current motion command and target force control strategy, the main control system module adjusts the control signals sent to the relevant drive motors in real time to achieve closed-loop feedback control of the contact force. Optionally, the main control system module can also transmit the contact force signal and robot status data to an external host computer system through its communication interface for monitoring, recording, or adjusting more advanced force control strategy parameters. The adjusted parameters can then be sent back to the main control system module. Beneficial effects

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This invention combines the force and position control, precision, and dexterity of a robot with the movements of a human arm and the tactile feedback of a hand, enabling unmanned operation in hazardous, complex, and unstructured environments and improving safety. The force feedback dual-arm collaborative robot provides a safer and more efficient way to perform dexterous tasks under challenging and dangerous conditions. This robot can perform complex tasks in hazardous environments while keeping operators away from danger, offering significant social benefits. The humanoid dual-arm collaborative robot can be used not only for the placement and handling of explosives but also for the disposal of suspicious objects in public safety, as well as for nuclear detection and the detection and disposal of hazardous chemicals, meeting the application needs of various scenarios. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of a force feedback dual-arm collaborative robot. Figure 2 This is a schematic diagram of the arm structure of a force feedback dual-arm collaborative robot. Figure 3 A schematic diagram of the head and neck structure of a force feedback dual-arm collaborative robot; Figure 4 This is a schematic diagram of the hand and forearm structure of a force feedback dual-arm collaborative robot. Figure 5 This is a schematic diagram of a force feedback-based dual-arm collaborative robot control strategy.

[0014] The system comprises: 1. Main control system module; 2. Host computer; 3. Servo module; 4. Power supply module; 5. Force sensor; 10. Main support frame module; 20. Gimbal; 21. Depth vision sensor; 22. Y-axis servo; 23. Z-axis servo; 30. Humanoid robotic arm module; 31. Servo No. 1; 32. Front shoulder joint; 33. Rear shoulder joint; 34. Servo No. 2; 35. Front upper arm joint; 36. Servo No. 3; 37. Rear upper arm joint; 38. Servo No. 4; 39. Front forearm joint; 40. Servo No. 5; 41. Rear forearm joint; 42. Servo No. 6; 43. Wrist joint; 50. Bionic flexible dexterous hand module; 51. Servo No. 7; 52. Palm; 53. Proximal joint of finger; 54. Middle joint of finger; 55. Distal joint of finger; 56. Servo No. 8; 57. Servo No. 9; 58. Servo No. 10; 59. Servo No. 11; 60. Servo No. 12. Detailed Implementation

[0015] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0016] like Figure 1-5 As shown, a force feedback dual-arm collaborative robot includes a main control system module 1, a host computer 2, a servo motor module 3, a power supply module 4, a force sensor 5, a main support frame module 10, a degree-of-freedom gimbal 20, a degree-of-freedom humanoid robotic arm module 30, and a bionic flexible dexterous hand module 50. The gimbal 20 is fixed to the top of the main support frame module 10; The depth vision sensor 21 is fixed on the gimbal 20 and is driven by the gimbal to achieve pitch and yaw motion. The gimbal 20 includes a Y-axis servo motor 22 that rotates around the Y-axis and a Z-axis servo motor 23 that rotates around the Z-axis; used to drive the depth vision sensor 21 to rotate around the Y-axis and the Z-axis respectively. Two humanoid robotic arm modules 30 are provided, which are symmetrically fixed to both sides of the main support frame module 10. Two bionic flexible dexterous hand modules 50 are provided, and each bionic flexible dexterous hand module 50 is connected to the end of a humanoid robotic arm module 30 with one degree of freedom. The force sensors 5 are distributed at the contact points of the joints of the bionic flexible dexterous hand module 50; The main control system module 1 is located inside the main support frame module 1; The power module 4 is mounted on the main support frame module 10; The force sensor 5, depth vision sensor 21, degree-of-freedom gimbal 20, degree-of-freedom humanoid robotic arm module 30, and bionic flexible dexterous hand module 50 are all electrically connected to the main control system module 1; the power supply module 4 supplies power to each module.

[0017] The humanoid robotic arm module 30 with degrees of freedom includes a joint mechanism that is rotatably connected in sequence. Its joint mechanism includes anterior shoulder joint 32, posterior shoulder joint 33, anterior upper arm joint 35, posterior upper arm joint 37, anterior forearm joint 39, posterior forearm joint 41, and wrist joint 43. The base end of the anterior shoulder joint 32 is fixed to the main support frame module 10; The rear shoulder joint 33 is rotatably connected to the front shoulder joint 32 via a drive motor 31. The forearm joint 35 is rotatably connected to the shoulder joint 33 via a second drive motor 34. The rear upper arm joint 37 is rotatably connected to the front upper arm joint 35 via a third drive motor 36. The forearm joint 39 is rotatably connected to the upper arm joint 37 via a No. 4 drive motor 38. The rear forearm joint 41 is rotatably connected to the forearm joint 39 via a No. 5 drive motor 40; The wrist joint 43 is rotatably connected to the forearm joint 41 via a No. 6 drive motor 42, and its end is connected to the bionic flexible dexterous hand module 50. The drive motors mentioned above are integrated inside the corresponding joint mechanisms. Each joint achieves its rotational degree of freedom through its corresponding drive motor.

[0018] The forearm joint 41 includes a forearm joint skeleton and a shell that can be detachably covered by the skeleton. Drive motors 56 (number 8), 57 (number 9), 58 (number 10), 59 (number 11), and 60 (number 12) are integrated inside the forearm joint skeleton and are used to drive the movement of each finger of the bionic flexible dexterous hand module 50.

[0019] The biomimetic flexible dexterous hand module 50 includes a palm 52, proximal joints of the fingers 53, middle joints of the fingers 54, and distal joints of the fingers 55. The palm 52 can be rotatably connected to the wrist joint 43 via the No. 7 drive motor 51 to achieve rotation around the Z-axis; The proximal joint of the finger 53 is rotatably connected to the palm 52 by bolts; The middle joint 54 of the finger is rotatably connected to the proximal joint 53 of the finger by bolts; The distal joint 55 of the finger is rotatably connected to the middle joint 54 of the finger by bolts, and a force sensor groove is formed on its surface. One end of the tendon cord is fixed to the distal joint 55 of the finger, and the other end passes through the middle joint 54 and the proximal joint 53 of the finger in an S-shaped path and extends to the inside of the forearm joint 41, connecting to the corresponding drive motors 8, 9, 57, 10, 58, 11, 59, and 12 of the finger.

[0020] The surface of the distal joint 55 of the finger is provided with a groove for storing the force sensor 5; The force sensor 5 is embedded in the grooves of the palm 52, the proximal joint 53 of the finger, the middle joint 54 of the finger, and the distal joint 55 of the finger; wherein the force sensor in the groove of the distal joint 55 of the finger is encapsulated and fixed by a filler.

[0021] The main support frame module 10 is provided with a T-shaped base 11 at the bottom, or it can be replaced with a movable base.

[0022] The gimbal 20 has 2 degrees of freedom, and the humanoid robotic arm 30 has 7 degrees of freedom.

[0023] Figure 5This diagram illustrates a force feedback dual-arm collaborative robot control strategy provided in this embodiment of the invention. The robot's control strategy involves a depth vision sensor 21 collecting environmental depth information in real time and transmitting it to the main control system module 1. Executable path A: The main control system module 1 generates dual-arm collaborative motion commands through built-in algorithms, such as target recognition and motion planning. Alternatively, it can execute path B: Upload the data to an external host computer 2 via a communication interface and receive the parsed commands. The main control system module 1 converts the commands into drive signals to control the servo motor module 3, enabling tasks such as grasping and assembly. During operation, the force sensor 5 on the bionic flexible dexterous hand module 50 detects contact force data in real time and feeds it back to the main control system module 1. Based on the force data, current motion state, and force control strategy, the main control system module 1 dynamically adjusts the drive signals to achieve closed-loop control of the contact force. Optionally, the main control system module 1 can transmit force data and status to the host computer 2 via a communication interface; the host computer can optimize the force control parameters and send them back.

[0024] The depth vision sensor of this invention mimics the human head, the gimbal with degrees of freedom mimics the human neck, and the Y-axis and Z-axis servo motors drive the robot to mimic human nodding, raising, and shaking movements. The two humanoid robotic arm modules with degrees of freedom mimic the two arms of a human, respectively, to achieve various different movements. The entire robot has high flexibility and a high degree of human-likeness, and can meet the needs of various humanoid movements.

[0025] Unless otherwise stated, if any of the technical solutions disclosed in this utility model discloses a numerical range, then the disclosed numerical range is a preferred numerical range. Any person skilled in the art should understand that the preferred numerical range is merely one among many feasible numerical values ​​that has a more obvious or representative technical effect. Because there are many numerical values, it is impossible to list them all. Therefore, this utility model discloses only some numerical values ​​to illustrate the technical solutions of this utility model. Furthermore, the numerical values ​​listed above should not constitute a limitation on the scope of protection of this utility model.

[0026] Meanwhile, if the present invention discloses or relates to mutually fixedly connected parts or structural components, then unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection, or a non-detachable fixed connection. Of course, mutually fixed connections can also be replaced by an integral structure.

[0027] Furthermore, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in this utility model have the meaning of being similar to, analogous to, or close to such a state or shape. Any component provided by this utility model can be assembled from multiple individual components, or it can be a single component manufactured using a one-piece molding process.

Claims

1. A force feedback dual-arm collaborative robot, characterized in that: Includes main control system module (1), power supply module (4), force sensor (5), main support frame module (10), degree of freedom gimbal (20), degree of freedom humanoid robotic arm module (30), and bionic flexible dexterous hand module (50). The gimbal (20) is fixed to the top of the main support frame module (10); The depth vision sensor (21) is fixed on the gimbal (20) and is driven by the gimbal to realize pitch and yaw motion; The gimbal (20) includes a Y-axis servo motor (22) that rotates around the Y-axis and a Z-axis servo motor (23) that rotates around the Z-axis; used to drive the depth vision sensor (21) to rotate around the Y-axis and the Z-axis respectively; Two humanoid robotic arm modules (30) are provided, which are symmetrically fixed on both sides of the main support frame module (10); Two bionic flexible dexterous hand modules (50) are provided, and each bionic flexible dexterous hand module (50) is connected to the end of a humanoid robotic arm module (30) with one degree of freedom. The force sensors (5) are distributed at the contact points of the joints of the bionic flexible dexterous hand module (50); The main control system module (1) is located inside the main support frame module (10); The power module (4) is mounted on the main support frame module (10); The force sensor (5), depth vision sensor (21), degree-of-freedom gimbal (20), degree-of-freedom humanoid robotic arm module (30) and bionic flexible dexterous hand module (50) are all electrically connected to the main control system module (1); the power supply module (4) supplies power to each module.

2. The force feedback dual-arm collaborative robot according to claim 1, characterized in that: The humanoid robotic arm module (30) includes joint mechanisms that are rotatably connected in sequence; Its joint mechanism includes the anterior shoulder joint (32), the posterior shoulder joint (33), the anterior upper arm joint (35), the posterior upper arm joint (37), the anterior forearm joint (39), the posterior forearm joint (41), and the wrist joint (43). The base end of the anterior shoulder joint (32) is fixed to the main support frame module (10); The posterior shoulder joint (33) is rotatably connected to the anterior shoulder joint (32) via a drive motor (31). The forearm joint (35) is rotatably connected to the shoulder joint (33) via a second drive motor (34). The rear upper arm joint (37) is rotatably connected to the front upper arm joint (35) via a third drive motor (36). The forearm joint (39) is rotatably connected to the upper arm joint (37) via a No. 4 drive motor (38). The rear forearm joint (41) is rotatably connected to the forearm joint (39) via a No. 5 drive motor (40). The wrist joint (43) is rotatably connected to the forearm joint (41) via a No. 6 drive motor (42), and its end is connected to a bionic flexible dexterous hand module (50). Each of the above drive motors is integrated inside the corresponding joint mechanism; each joint achieves its rotational freedom through the corresponding drive motor.

3. The force feedback dual-arm collaborative robot according to claim 2, characterized in that: The posterior forearm joint (41) includes a posterior forearm joint skeleton and a shell that can be detachably covered by the skeleton; Drive motors No. 8 (56), No. 9 (57), No. 10 (58), No. 11 (59), and No. 12 (60) are integrated inside the forearm joint skeleton and are used to drive the movement of each finger of the bionic flexible dexterous hand module (50).

4. The force feedback dual-arm collaborative robot according to claim 2, characterized in that: The biomimetic flexible dexterous hand module (50) includes a palm (52), proximal joints of the fingers (53), middle joints of the fingers (54), and distal joints of the fingers (55). The palm (52) can be rotatably connected to the wrist joint (43) via a No. 7 drive motor (51) to achieve rotation around the Z-axis; The proximal joint of the finger (53) is rotatably connected to the palm (52) by bolts. The middle joint (54) of the finger is rotatably connected to the proximal joint (53) of the finger by bolts; The distal joint (55) of the finger is rotatably connected to the middle joint (54) of the finger by bolts, and a force sensor groove is formed on its surface. One end of the tendon cord is fixed to the distal joint of the finger (55), and the other end passes through the middle joint (54) and proximal joint (53) of the finger in an S-shaped path and extends to the inside of the forearm joint (41), connecting to the No. 8 drive motor (56), No. 9 drive motor (57), No. 10 drive motor (58), No. 11 drive motor (59), and No. 12 drive motor (60) of the corresponding finger.

5. A force feedback dual-arm collaborative robot according to claim 4, characterized in that: The distal joint (55) of the finger has a groove on its surface for storing the force sensor (5); The force sensor (5) is embedded in the grooves of the palm (52), the proximal joint (53) of the finger, the middle joint (54) of the finger, and the distal joint (55) of the finger; wherein the force sensor in the groove of the distal joint (55) of the finger is encapsulated and fixed by a filler.

6. The force feedback dual-arm collaborative robot according to claim 1, characterized in that: The main support frame module (10) is provided with a T-shaped base (11) at the bottom, or it can be replaced with a movable base.

7. A force feedback dual-arm collaborative robot according to claim 1, characterized in that: The gimbal (20) has 2 degrees of freedom, and the humanoid robotic arm module (30) has 7 degrees of freedom.

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