Robotic seven-degree-of-freedom teleoperation master

Abstract

The utility model discloses a kind of robot seven degrees of freedom teleoperation master hand, including sequentially connected pedestal, waist rotary joint, shoulder joint, elbow joint, wrist joint and handle;The waist rotary joint is equipped with first steering wheel, for driving shoulder joint rotates in horizontal plane;The shoulder joint includes shoulder pitch joint and shoulder yaw joint, and shoulder pitch joint and shoulder yaw joint are respectively equipped with second steering wheel for driving elbow joint swing back and forth and third steering wheel for driving elbow joint axial yaw;The elbow joint is equipped with fourth steering wheel for driving wrist joint swing up and down;The wrist joint includes wrist pitch joint, wrist yaw joint and wrist rotation joint, and wrist pitch joint and wrist yaw joint are respectively equipped with fifth steering wheel for driving handle swing up and down.The utility model solves the problem that existing teleoperation equipment and seven degrees of freedom robot kinematic structure are not matched, operation is not intuitive, and portability is poor.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, specifically, it relates to a seven-degree-of-freedom remote control master hand for robots. Background Technology

[0002] In the field of robotics learning, using human teleoperation to collect demonstration data is an important way to train robots to master complex skills. For seven-degree-of-freedom robots, the redundant degrees of freedom enable more flexible obstacle avoidance and operation, but also place higher demands on teleoperation equipment.

[0003] In existing teleoperation devices, some devices are incompatible with the kinematic structure of seven-DOF robots. Operators cannot intuitively perceive the robot's joint constraints and redundant degrees of freedom, resulting in unintuitive operation, frequent collisions or operation failures, and impacting the quality of demonstration data. While some teleoperation systems employ similar structures, there are few dedicated designs for seven-DOF robots, and they suffer from poor portability. Therefore, there is a need for a teleoperation master hand that matches the kinematic characteristics of seven-DOF robots and offers intuitive operation. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a seven-degree-of-freedom teleoperated master hand for robots, comprising a base, a waist rotation joint, a shoulder joint, an elbow joint, a wrist joint, and a handle connected in sequence; the waist rotation joint is equipped with a first servo motor for driving the shoulder joint to rotate in the horizontal plane; the shoulder joint includes a shoulder pitch joint and a shoulder yaw joint, and the shoulder pitch joint and shoulder yaw joint are respectively equipped with a second servo motor for driving the elbow joint to swing back and forth and a third servo motor for driving the elbow joint to deflect axially; the elbow joint is equipped with a handle for driving the wrist joint to move upwards... The grip includes a fourth servo for downward swinging; the wrist joint comprises a wrist pitch joint, a wrist yaw joint, and a wrist rotation joint, with the wrist pitch joint and wrist yaw joint each equipped with a fifth servo for driving the grip to swing up and down, a sixth servo for driving the grip to axially deflect, and a seventh servo for driving the grip to rotate; the grip is equipped with a trigger and an eighth servo, and the eighth servo is linked to the trigger; the shoulder pitch joint, elbow joint, and trigger are each equipped with a regularization component for resetting; and a data transmission module is also included, which is electrically connected to the first to eighth servos respectively.

[0005] A preferred embodiment of this invention is as follows: The output shafts of the first servo motor to the eighth servo motor are respectively provided with corresponding connecting rods. For example, the first servo motor and its corresponding connecting rod form a waist-shaped rotary joint. The base is provided with a bearing housing containing a bearing body. The outer ring of the bearing body is fixed to the bearing housing. The first servo motor is fixedly connected to the base, and the output shaft of the first servo motor passes through the inner ring of the bearing body before connecting to the connecting rod of the first servo motor. Similarly, the second servo motor and its corresponding connecting rod form a shoulder-shaped pitch joint, and the end of the connecting rod of the first servo motor is connected to the second servo motor.

[0006] The preferred embodiment of this utility model is as follows: the data transmission module acquires angle data from the first to the eighth servo motors via a TTL level serial port, and the data transmission module encapsulates the data using the ZMQ protocol before sending it to the control system of the target seven-degree-of-freedom robot, with a communication frequency of 50Hz-200Hz. Communication frequency adjustment: based on the control response requirements of the target robot, for example, in scenarios with high control response speed requirements (such as precision assembly), it is set to 200Hz; in scenarios with lower response speed requirements (such as material handling), it is set to 50Hz to reduce data transmission pressure.

[0007] The preferred embodiment of this invention is as follows: the encoders of the first to eighth servos are all 12-bit or 14-bit encoders. If a servo servo with a 12-bit encoder (angle measurement accuracy 0.088°) is used, data is transmitted via serial port + ZMQ protocol (communication frequency adjustable at 100Hz), compatible with the FrankaROS2 interface, ensuring accurate and stable remote operation. Alternatively, a higher-precision 14-bit encoder can be used, achieving an angle measurement accuracy of 0.022°.

[0008] The beneficial effects of this utility model are as follows: 1. Precise kinematic matching, intuitive and efficient operation: The linkage is designed based on the DH parameters of the target seven-DOF robot. The joint connection sequence, motion axis direction and constraints are completely corresponding (only the linkage is scaled proportionally). With the bearing structure (bearing the lateral force of the first linkage and reducing the risk of damage to the first servo motor), the operator can directly control the target robot with the master hand without calculating inverse kinematics. The operator can also intuitively perceive the flexibility of redundant degrees of freedom, solving the problems of unintuitive operation and easy collision of existing equipment.

[0009] 2. High precision and strong compatibility: It adopts a servo motor with a 12 or 14-bit encoder, transmits data through serial port + ZMQ protocol (communication frequency adjustable at 100Hz), and is compatible with FrankaROS2 interface, ensuring accurate and stable remote operation.

[0010] 3. Stable posture and reliable operation: The joint regularization components (springs at the second and fourth joints and the handle) can prevent the master hand from shifting due to gravity when it is not powered, so that the end effector maintains a fixed width in its natural state and reduces accidental movement.

[0011] 4. Balancing specialization and structural protection: Designed specifically for seven-degree-of-freedom robots, the base integrates power supply and data transmission modules and is covered with a protective cover, resulting in a compact structure that improves the poor portability of existing equipment. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of the seven-degree-of-freedom remote-operated master hand of the robot in this utility model; Figure 2 for Figure 1 A magnified view of a portion of the image.

[0014] Reference numerals: 1. Base; 2. Waist rotation joint; 3. Shoulder joint; 4. Elbow joint; 5. Wrist joint; 6. Grip; 7. First servo; 8. Second servo; 9. Third servo; 10. Fourth servo; 11. Fifth servo; 12. Sixth servo; 13. Seventh servo; 14. Eighth servo; 15. Linkage; 16. Bearing body; 17. Bearing housing; 18. Regularization component; 19. Protective cover; 20. Trigger. Detailed Implementation

[0015] In view of the shortcomings of the prior art, the inventor of this utility model has, through long-term research and extensive practice, proposed the technical solution of this utility model. The following will further explain and illustrate the technical solution, its implementation process, and its principles in conjunction with the accompanying drawings and specific implementation examples.

[0016] like Figure 1 As shown, this embodiment provides a seven-degree-of-freedom teleoperated master hand for a robot, including a base 1, a waist rotation joint 2, a shoulder joint 3, an elbow joint 4, a wrist joint 5, and a grip 6 connected in sequence. Figure 2 As shown, the waist rotation joint 2 is equipped with a first servo motor 7, which drives the shoulder joint 3 to rotate in the horizontal plane, that is, to rotate around the vertical axis. The output shaft of the first servo motor 7 is connected to the connecting rod 15 of the waist rotation joint 2, that is, the first servo motor 7 and the corresponding connecting rod 15 form the waist rotation joint 2. The base 1 is equipped with a bearing seat 17 with a bearing body 16. The outer ring of the bearing body 16 is fixed to the bearing seat 17. The first servo motor 7 is fixedly connected to the base 1, and the output shaft of the first servo motor 7 passes through the inner ring of the bearing body 16 and then connects to the connecting rod 15 of the first servo motor 7.

[0017] In this embodiment, the shoulder joint 3 includes a shoulder pitch joint and a shoulder yaw joint. The shoulder pitch joint and shoulder yaw joint are respectively equipped with a second servo 8 for driving the elbow joint 4 to swing back and forth and a third servo 9 for driving the elbow joint 4 to deflect axially. Specifically, the second servo 8 is connected to the connecting rod 15 of the first servo 7, and the connecting rod 15 of the output shaft of the second servo 8 is connected to the third servo 9. The shoulder pitch joint is the first major joint located above the waist rotation joint 2, enabling the remote control hand to swing back and forth, i.e., swing up and down around the horizontal axis, equivalent to the back-and-forth swinging motion of the human shoulder. Immediately following the shoulder pitch joint is the shoulder yaw joint, which swings left and right, i.e., rotates around the axis of the upper arm itself, equivalent to the internal / external pronation of the human arm. The axes of the shoulder pitch joint and the shoulder yaw joint intersect at a point, forming a "ball-and-socket" type shoulder joint.

[0018] In this embodiment, the elbow joint 4 is equipped with a fourth servo motor 10 for driving the wrist joint 5 to swing up and down, that is, swinging up and down around the horizontal axis, which is equivalent to the human elbow joint, to complete the bending and extension of the arm.

[0019] In this embodiment, the wrist joint 5 includes a wrist pitch joint, a wrist yaw joint, and a wrist rotation joint. The wrist pitch joint and wrist yaw joint are each equipped with a fifth servo motor 11 for driving the grip 6 to swing up and down, i.e., swinging up and down around a horizontal axis, equivalent to the up-and-down bending motion of a human wrist. A sixth servo motor 12 is used to drive the grip 6 to axially deflect, swinging left and right around a vertical axis, equivalent to the left-and-right swinging motion of a human wrist. Finally, a seventh servo motor 13 is used to drive the grip 6 to rotate, rotating around the forearm axis itself, equivalent to the internal / external pronation of a human wrist.

[0020] In this embodiment, the encoders of the first servo motor 7 to the eighth servo motor 14 are all 12-bit or 14-bit encoders. If a servo motor with a 12-bit encoder is used (angle measurement accuracy 0.088°), data is transmitted via serial port + ZMQ protocol (communication frequency adjustable at 100Hz), compatible with the FrankaROS2 interface, ensuring accurate and stable remote operation. Alternatively, a higher-precision 14-bit encoder can be used, with an angle measurement accuracy of 0.022°. The specific connection structure of the first servo 7 to the eighth servo 14 is as follows: Corresponding connecting rods 15 are respectively provided on the output shafts of the first servo 7 and the eighth servo 14. Specifically, the second servo 8 and its corresponding connecting rod 15 form a shoulder pitch joint; the third servo 9 and its corresponding connecting rod 15 form a shoulder yaw joint; the fourth servo 10 and its corresponding connecting rod 15 form an elbow joint; the fifth servo 11 and its corresponding connecting rod 15 form a wrist pitch joint; the sixth servo 12 and its corresponding connecting rod 15 form a wrist yaw joint; and the seventh servo 13 and its corresponding connecting rod 15 form a wrist rotation joint. The end of the connecting rod 15 of the first servo 7 is connected to the second servo 8. Similarly, the end of the linkage 15 of the second servo 8 is connected to the third servo 9, the end of the linkage 15 of the third servo 9 is connected to the fourth servo 10, the end of the linkage 15 of the fifth servo 11 is connected to the sixth servo 12, the end of the linkage 15 of the sixth servo 12 is connected to the seventh servo 13, and the end of the linkage 15 of the seventh servo 13 is connected to the grip 6. Additionally, the grip 6 is equipped with a trigger 20 and an eighth servo 14, and the eighth servo 14 is linked to the trigger 20. Pressing the trigger 20 simultaneously activates the eighth servo 14.

[0021] To ensure the teleoperated master hand returns to its initial posture when not being controlled, this embodiment includes regularization components 18 for resetting at the shoulder pitch joint, elbow joint 4, and trigger 20. This embodiment does not limit the specific type of regularization component 18; it can be a cylindrical spring, a disc spring, or a gas spring, etc. Taking a cylindrical spring at the shoulder pitch joint as an example, a hook point is provided on the connecting rod 15 of the shoulder pitch joint. The two ends of the cylindrical spring are connected to the hook point and the housing of the shoulder pitch joint, respectively. When the connecting rod 15 deflects, it pulls the cylindrical spring to extend. When the teleoperated master hand is not being controlled, the connecting rod 15 resets under the force of the cylindrical spring. Similarly, the regularization component 18 at the elbow joint 4 has the same structure and also resets under the force of the cylindrical spring. The regularization component 18 at the trigger 20 is used to reset the trigger 20, thereby maintaining the target robot's end effector (grip 6) at its maximum opening angle with a fixed width. Alternatively, a parallel connection of two cylindrical springs can be used to improve the restoring force; however, the specific parallel structure is not limited in this embodiment.

[0022] This embodiment also includes a data transmission module, which is electrically connected to the first servo motor 7 through the eighth servo motor 14 respectively. Further, the base 1 is equipped with a power supply module electrically connected to the data transmission module. Both the data transmission module and the power supply module are located inside the protective cover 19 of the base 1. The data transmission module collects the angle data of the first servo motor 7 through the eighth servo motor 14 via a TTL level serial port. The data transmission module encapsulates the data using the ZMQ protocol and sends it to the control system of the target seven-degree-of-freedom robot. The communication frequency is 50Hz-200Hz. Communication frequency adjustment: Based on the control response requirements of the target robot, for example, in scenarios with high control response speed requirements (such as precision assembly), it is set to 200Hz; in scenarios with lower response speed requirements (such as handling), it is set to 50Hz to reduce data transmission pressure. Electrical connection in this embodiment: The communication interfaces of the first to eighth servo motors 14 are electrically connected to the power supply module and the data transmission module inside the protective cover 19 via TTL lines. The power supply module uses 5V voltage to power all servo motors. The data transmission module collects the angle data of each servo motor through the serial port, encapsulates it through the ZMQ protocol, and sends it to the control system of the target seven-degree-of-freedom robot. The communication frequency is set to 100Hz.

[0023] The working process of this embodiment is as follows: The operator holds the handle 6 and directly controls the movement of the seven-degree-of-freedom robotic arm. Specifically, when the operator rotates a link 15, the servo motor at the corresponding joint (such as rotating the first servo motor 7) collects joint angle data in real time through its built-in 12-bit encoder (accuracy 0.088°). This data is transmitted to the host computer via the data transmission module and then sent to the target robot control system. The first to seventh servos 13 respectively control the movement of the first to seventh joints of the target robot, and the eighth servo motor 14 controls the movement of the target robot's end effector. Since the joint connection sequence, motion axis direction, and kinematic constraints of the robotic arm body completely correspond to the target robot (only the link 15 is scaled by a 0.5 ratio), the operator does not need to calculate inverse kinematics and can intuitively perceive the motion state of the target robot and the flexibility of the redundant degrees of freedom. The joint regularization component 18 restores the robotic arm body to a stable posture when the operator releases the handle, avoiding accidental movement. In this embodiment, all links 15 are designed based on the DH parameters of the target seven-DOF robot. They have seven rotary joints, and the connection sequence, motion axis direction, and kinematic constraints of the joints correspond completely to the target robot. Only the length of the link 15 is scaled proportionally by 0.3-0.7, with the optimal value being 0.5.

[0024] It should be understood that the above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. It should not be considered that the specific implementation of this utility model is limited to these descriptions. For those skilled in the art to which this utility model pertains, several simple deductions or substitutions can be made without departing from the concept of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A robotic seven degree of freedom teleoperation master hand, characterized by: It includes a base, a waist rotation joint, a shoulder joint, an elbow joint, a wrist joint, and a handle, which are connected in sequence. The waist rotation joint is equipped with a first servo motor for driving the shoulder joint to rotate in the horizontal plane; The shoulder joint includes a shoulder pitch joint and a shoulder yaw joint. The shoulder pitch joint and the shoulder yaw joint are respectively provided with a second servo for driving the elbow joint to swing back and forth and a third servo for driving the elbow joint to axially deflect. The elbow joint is equipped with a fourth servo motor for driving the wrist joint to swing up and down. The wrist joint includes a wrist pitch joint, a wrist yaw joint, and a wrist rotation joint. The wrist pitch joint and the wrist yaw joint are respectively equipped with a fifth servo for driving the grip to swing up and down, a sixth servo for driving the grip to yaw axially, and a seventh servo for driving the grip to rotate. The grip is equipped with a trigger and an eighth servo, and the eighth servo is linked to the trigger; The shoulder pitch joint, elbow joint, and trigger are each equipped with a regularization component for resetting. It also includes a data transmission module, which is electrically connected to the first to the eighth servo motors respectively.

2. The robotic seven-degree-of-freedom teleoperated master hand according to claim 1, characterized in that: The output shafts of the first servo motor to the eighth servo motor are respectively equipped with corresponding connecting rods.

3. A seven-degree-of-freedom teleoperated master hand for robots according to claim 2, characterized in that: The base is provided with a bearing housing with a bearing body. The outer ring of the bearing body is fixed to the bearing housing. The first servo motor is fixedly connected to the base, and the output shaft of the first servo motor passes through the inner ring of the bearing body and is then connected to the connecting rod of the first servo motor.

4. The seven-degree-of-freedom teleoperated master hand for robots according to claim 1, characterized in that: The regularization component is a cylindrical spring, a disc spring, or a gas spring.

5. A seven-degree-of-freedom teleoperated master hand for robots according to claim 1, characterized in that: The data transmission module acquires angle data from the first to the eighth servo motors via a TTL level serial port, and sends the data transmission module to the control system of the target seven-degree-of-freedom robot after being encapsulated by the ZMQ protocol, with a communication frequency of 50Hz-200Hz.

6. A seven-degree-of-freedom teleoperated master hand for robots according to claim 1, characterized in that: The encoders of the first to the eighth servos are all 12-bit or 14-bit encoders.

7. A seven-degree-of-freedom teleoperated master hand for robots according to claim 1, characterized in that: The base is equipped with a power supply module that is electrically connected to the data transmission module. Both the data transmission module and the power supply module are located inside the protective cover of the base.

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