CN114833850A - Control master hand of teleoperation arm - Google Patents

Abstract

A control master hand for a teleoperated mechanical arm, comprising: a base, a large arm, a small arm, a handle, a rotating assembly arranged in the base, a motor for powering the large arm, and a motor for powering the small arm 2, the driver, the controller, and two sets of gravity balance devices symmetrically arranged on the top of the inner wall of the base, one set of gravity balance devices is used to provide gravity reverse force to the big arm, and the other set of gravity balance devices is used to counteract the forearm Provides a gravity-reverse force to keep the boom and forearm balanced, reducing operator fatigue.

Description

A control master hand for teleoperating a robotic arm

【Technical field】

The invention belongs to the field of machinery and automatic control, and in particular relates to a control master hand for a remote-operated mechanical arm.

【Background technique】

Nowadays, due to the unknowable dangers of the complex or dangerous working environment, it is generally done by robots, but it may not be possible to complete the target tasks only by relying on robots. Therefore, human-computer interaction teleoperation technology has emerged. This technology It is the interaction between the operator and the remote working environment, that is, the operation information of the person is transmitted to the remote working environment and the task is performed, and the operation information of the remote working environment is fed back to the operator. Among them, the remote operation is generally completed by the remote operation of the main hand, and the six-degree-of-freedom manipulator can meet the adjustment of the position and attitude in space, so that the robot can reach any spatial position, so the six-axis robot is the most commonly used structure.

The main control hand of the robotic arm has a certain weight, which will bring fatigue to the operator during the operation. Therefore, a control main hand that can balance the weight of the main hand and reduce the operator's operational fatigue is urgently needed.

[Content of the invention]

In order to solve the above problems, the present invention provides a control master hand for a teleoperated mechanical arm, which provides a gravitational reverse force to the big arm by setting a neutral balance device, so that the big arm and the small arm are kept in balance, thereby reducing the operator's Operation fatigue.

The present invention is achieved through the following technical solutions, and provides a control master hand for a teleoperated mechanical arm, which includes: a base, a large arm, a small arm, a handle, a rotating assembly arranged in the base, and used to provide power for the large arm First, the motor used to provide power for the forearm Second, the driver, the base is provided with a rotating assembly, the rotating assembly and the end of the arm are connected through the mandrel, the arm is driven by the mandrel The second connection, the third connection between the handle and the forearm through the mandrel, also includes: two sets of symmetrically arranged gravity balance devices, which include: a first fixed pulley, a second fixed pulley, a fixing screw, a movable pulley, a spring, a wire pulley, wire rope;

the first fixed pulley is fixed on the top of the inner wall of the base, its axis is perpendicular to the top of the inner wall of the base, and the edge of the first fixed pulley protrudes from the edge of the base;

The second fixed pulley is fixed on one side of the base, and its axis is parallel to the top of the inner wall of the base, and the U-shaped groove of the second fixed pulley and the U-shaped groove of the extended part of the first fixed pulley are on the same vertical plane;

the fixing screw is arranged on the top of the inner wall of the base;

The axis of the movable pulley is perpendicular to the top of the inner wall of the base, and its axis is located on the center line of the fixed screw and the first fixed pulley, and the moving pulley, the fixed screw, and the first fixed pulley form an isosceles right-angled triangle;

One end of the spring is fixed on the top of the inner wall of the base, and the other end is connected with the movable pulley;

The wire pulley is arranged at the end of the mandrel, which includes: a fixed wheel arranged at the end of the mandrel, and a fan-shaped wheel arranged coaxially with the fixed wheel. The two ends of the fan-shaped wheel are connected with the fixed wheel through a connecting rod. There is a fixed block on the rod;

One end of the steel wire rope is fixed on the fixing screw, and the other end bypasses the movable pulley and is wound on the sector wheel after being reversed through the first fixed pulley and the second fixed pulley respectively, and finally fixed on the fixed block;

One end of the mandrel is provided with a first connecting rod, and two ends of the mandrel are provided with a second connecting rod, the first connecting rod and the end of the second connecting rod are connected by a third connecting rod, one of which is The wire wheel in the gravity balancing device is fixedly arranged at the end of the boom, and the wire wheel in the other group of the gravity balancing device is fixedly connected with the first connecting rod.

In particular, the base, the big arm, the small arm and the handle are made of aluminum alloy respectively.

In particular, the top of the inner wall of the base is provided with a fixing column, the movable pulley is provided with a connecting piece, and a suspension column extends from the connecting piece toward the top of the inner wall of the base, and the two ends of the spring are respectively provided with hooks, one of which is The hook is suspended on the fixed column, and the other hook is suspended on the suspension column.

In particular, one end of the small arm is provided with a U-shaped connecting piece, and a rotating piece extends outward from the center of the end of the large arm, and the rotating piece and the U-shaped connecting piece are connected by the second mandrel.

In particular, the other end of the forearm is provided with a horseshoe-shaped connecting block, and the end of the handle is provided with a rotating block, the rotating block is arranged in the middle of the horseshoe-shaped connecting block, and the rotating block and the horseshoe-shaped connecting block are connected through the spindle three.

In particular, the rotating block is perpendicular to the handle.

In particular, three single-turn absolute code discs are arranged in the horseshoe-shaped connecting block.

In particular, the boom is a hollow sleeve, the third link is arranged in the boom, and both ends protrude from the end of the boom.

In particular, the first motor and the second motor are arranged on the top of the base, and the base is provided with a power supply for providing power for the first motor and the second motor, and the base is provided with a casing, and the first motor and the second motor are provided with a power supply. in the casing.

In particular, the driver is arranged on the casing.

The invention provides a control master hand of a remote-operated mechanical arm, which eliminates the gap of component transmission through effective preload in the gravity balance device, thereby improving the transmission precision, and realizing the gravity balance of the master hand, thereby reducing the operator's operating fatigue. Realize the force feedback control function; the first link, the second link, the third link and the big arm form a parallelogram link mechanism, which can move the driving device of the tube IE forward, thereby reducing the required torque and reducing the small Active torque output of arm joints; through the design of U-shaped connecting piece and rotating piece, as well as horseshoe-shaped connecting block and rotating block, the installation size between the big arm and the forearm, the forearm and the handle can be reduced, which is convenient for installation and realizes its own The correction of the position indirectly increases the working space and can meet the needs of the working environment.

【Description of drawings】

1 is a side view of a control master hand of a teleoperated robotic arm according to the present invention;

2 is a cross-sectional view of a control master hand of a teleoperated robotic arm according to the present invention;

3 is a schematic structural diagram of a base and a gravity balance Zhuangzi in a control master of a teleoperated robotic arm according to the present invention;

4 is a schematic structural diagram of a forearm and a handle in a control master of a teleoperated robotic arm according to the present invention;

FIG. 5 is a schematic structural diagram of a large arm in a control master of a teleoperated mechanical arm according to the present invention.

In the drawings, 1 base, 2 big arm, 3 small arm, 4 handle, 5 rotating assembly, 6 motor one, 7 motor two, 8 spindle one, 9 spindle two, 10 spindle three, 11 first fixed pulley , 12 second fixed pulley, 13 fixed screw, 14 movable pulley, 15 spring, 16 wire pulley, 17 wire rope, 18 fixed pulley, 19 sector pulley, 20 connecting rod, 21 fixed block, 22 first connecting rod, 23 second connecting rod Rod, 24 third link, 25 fixed column, 26 connecting piece, 27 hanging column, 28 hook, 29 U-shaped connecting piece, 30 rotating piece, 31 horseshoe-shaped connecting block, 32 rotating block, 33 power supply, 34 shell.

【Detailed ways】

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

1-5, the present invention provides a control master hand for a teleoperated mechanical arm, which includes: a base 1, a large arm 2, a small arm 3, a handle 4, a rotating assembly 5 arranged in the base 1, for Motor one 6 for powering the boom 2, motor two 7 for powering the small arm 3, and a driver, the rotating assembly 5 is connected with the end of the boom 2 through a spindle one 8, and the boom 2 is small due to its small size. The arm 3 is connected by the second mandrel 9, the handle 4 and the forearm 3 are connected by the third mandrel 10, and also include: two sets of symmetrically arranged gravity balancing devices, which can balance out the assistant's own weight, thereby reducing the The fatigue degree of the operator during the operation, which includes: the first fixed pulley 11, the second fixed pulley 12, the fixing screw 13, the movable pulley 14, the spring 15, the wire wheel 16, and the wire rope 17;

The first fixed pulley 11 is fixed on the top of the inner wall of the base 1, its axis is perpendicular to the top of the inner wall of the base 1, and the edge of the first fixed pulley 11 protrudes from the edge of the base 1;

The second fixed pulley 12 is fixed on one side of the base 1, its axis is parallel to the top of the inner wall of the base 1, and the U-shaped groove of the second fixed pulley 12 and the U-shaped groove of the extended part of the first fixed pulley 11 are in the same position. vertical plane;

The fixing screw 13 is arranged on the top of the inner wall of the base 1;

The axis of the movable pulley 14 is perpendicular to the top of the inner wall of the base 1, and its axis is located on the center line of the fixing screw 13 and the first fixed pulley 11. The movable pulley 14, the fixing screw 13, and the first fixed pulley 11 form an isosceles right-angled triangle;

One end of the spring 15 is fixed on the top of the inner wall of the base 1, and the other end is connected with the movable pulley 14;

The wire pulley 16 is provided at the end of the mandrel, and includes: a fixed pulley 18 disposed at the end of the mandrel, and a fan-shaped pulley 19 disposed coaxially with the fixed pulley 18. The two ends of the fan-shaped pulley 19 pass through the fixed pulley 18. The connecting rod 20 is connected, and the connecting rod 20 is provided with a fixing block 21;

One end of the wire rope 17 is fixed on the fixing screw 13, and the other end bypasses the movable pulley 14 and is respectively reversed through the first fixed pulley 11 and the second fixed pulley 12 and wound on the sector wheel 19, and finally fixed on the fixed block 21;

The end of the mandrel 18 is provided with a first connecting rod 22, the end of the mandrel 29 is provided with a second connecting rod 23, and the ends of the first connecting rod 22 and the second connecting rod 23 pass through the third connecting rod 23. The connecting rods 24 are connected, wherein the wire pulley 16 in one set of gravity balancing device is fixedly arranged on the end of the boom 2, and the wire wheel 16 in the other set of gravity balancing device is fixedly connected with the first connecting rod 22, such a set of gravity balance The device is used to provide gravity reverse force to the boom, and another set of gravity balance devices is used to provide gravity reverse force to the forearm, so as to keep the boom and the forearm in balance; at the same time, the first link 22 and the second link 23. A parallelogram link mechanism is formed between the third link 24 and the big arm. The parallelogram link mechanism can move the drive device of joint three forward, reduce the torque required for driving and reduce the active torque of the forearm joint output.

In particular, the base 1 , the big arm 2 , the small arm 3 and the handle 4 are respectively made of aluminum alloy, which is designed so that the main control hand can reduce the weight under the condition that the structural requirements are met.

In particular, the top of the inner wall of the base 1 is provided with a fixed column 25, the movable pulley 14 is provided with a connecting piece 26, and a suspension column 27 extends from the connecting piece 26 toward the top of the inner wall of the base 1. The spring 15 has two The ends are respectively provided with hooks 28, one of the hooks 28 is suspended on the fixed column 25, and the other hook 28 is suspended on the suspension column 27; in this way, the spring 15 can be quickly installed on the top of the inner wall of the base 1 through the hooks 28, and the work When the tension of the spring 15 is transmitted to the upper arm and the lower arm, the steel wire will transmit the pulling force of the spring 15 to the upper arm and the lower arm, and provide them with a reverse force, so as to keep the upper arm and the lower arm in a balanced position and avoid the loosening of the upper arm and the lower arm in the natural state. affect the operation.

In particular, one end of the small arm 3 is provided with a U-shaped connecting piece 29 , and a rotating piece 30 extends outward from the center of the end of the large arm 2 , and the rotating piece 30 and the U-shaped connecting piece 29 are connected by the second mandrel 9 ; In this way, when the forearm 3 and the big arm 2 are straightened, the axes are on the same horizontal line, which is convenient for installation and reduces the installation size, and they are on the same axis, which is convenient for position finding and calibration, so as to facilitate the alignment of Control the movement position of the main hand for programming, and in the present invention, the forearm 3 and the large arm 2 can be designed as hollow, and then the lines used for control are installed in the hollow part, so as to avoid the operation being affected by the messy lines, and Realize its own position correction function.

In particular, the other end of the arm 3 is provided with a horseshoe-shaped connecting block 31, and the end of the handle 4 is provided with a rotating block 32, the rotating block 32 is arranged in the middle of the horseshoe-shaped connecting block 31, and the rotating block 32 is connected with the horseshoe-shaped connecting block 32. The block 31 is connected by the mandrel 3 10, so designed that when the handle 4 and the forearm 3 are straightened, the axis of the connection position is on the same horizontal line, which is convenient for installation and reduces the installation size, and is on the same axis, which is convenient for the installation. Position search and verification, so as to facilitate the programming of the moving position of the control main hand, and realize the function of self-position correction.

In particular, during work, there will be rotation between the handle 4 and the forearm 3. Due to the connection relationship of the existing handle 4, when the handle is twisted upward, it will bring discomfort to the operator, and at the same time, when the main hand is in a low position, Therefore, in the present invention, the rotating block 32 is perpendicular to the handle 4; in this way, the above problem can be solved, and the operation can be prevented from being affected by the touch between the handle 4 and the forearm.

In particular, the horseshoe-shaped connecting block 31 is provided with three single-turn absolute code discs (not shown in the figure); The handle 4 controls the forearm 3 and the big arm 2. When the controller reads the data of the single-turn absolute code disc, it assigns the operation data to the slave hands, so as to realize real-time control of the master and slave hands, with high controllability.

In particular, the boom 2 is a hollow sleeve, the third link 24 is arranged in the boom 2, and both ends protrude from the end of the boom 2; The lines and components are arranged inside the boom 2, which increases the work space and improves the work safety without affecting the information transmission and operation.

In particular, in the present invention, the first motor 6 and the second motor 7 are arranged on the top of the base 1, and the base 1 is provided with a power supply 33 for providing power for the first motor 6 and the second motor 7, and the base 1 There is a casing 34 made of aluminum alloy on it, and the motor one 6 and the motor two 7 are arranged in the casing 34; in this way, the control main hand of the present invention can be increased through the motor one 6, the motor two 7, the power supply 33 and the circuit, etc. The weight of the base, thus improving the stability of the control main hand.

In particular, since the driver will generate heat during operation, in order to achieve a better heat dissipation effect, in the present invention, the driver is provided on the casing 34 .

The control main hand provided by the present invention can control the grasping of the target body at any position in the working area from the gripper at the end of the hand. It determines the spatial position of the end through the first three joints, and adjusts the spatial posture of the end through the three joints of the handle. Among them, the gravity balance device can balance the weight of the main hand, thereby reducing the operator's fatigue during use, and through the connection structure between the big arm and the forearm, the forearm and the handle, combined with the controller, the main hand can also be controlled. The correction of its own position ensures that when the master hand manipulates the slave hand to grab and lift heavy objects, the master hand operation end feels powerful, without increasing the operator's fatigue, thereby realizing the force feedback control function, and ensuring the accuracy of force feedback, The magnitude of the force and the continuity of the force feedback.

At the same time, in the present invention, a control panel is provided on the side wall of the base 1, and the control panel is electrically connected to 7 control buttons, 1 power button, and 1 emergency stop button, and one of the control buttons is used to enable the motor , the remaining 6 control buttons are used to adjust the slave hand, each button corresponds to a moving position, so as to realize the slave hand clamp posture to meet the work requirements of grabbing target parts of different orientations, and control the clamping and release actions of the clamp . When the master hand manipulates the slave hand to grab and lift heavy objects, the operation end of the master hand has a strong feeling but does not increase the labor of the operator.

Claims (10)

1. A master hand for teleoperated robotic arms, comprising: base (1), big arm (2), forearm (3), handle (4), locate rotating assembly (5) in base (1), be used for providing motor (6) of power for big arm (2), be used for providing motor two (7) of power for forearm (3), driver, this rotating assembly (5) are connected through mandrel one (8) with big arm (2) tip, big arm (2) are connected through mandrel two (9) because forearm (3), handle (4) are connected through mandrel three (10) with forearm (3), its characterized in that still includes: two sets of gravity balance device that symmetry set up, it includes: the pulley comprises a first fixed pulley (11), a second fixed pulley (12), a fixing screw (13), a movable pulley (14), a spring (15), a wire wheel (16) and a steel wire rope (17);

the first fixed pulley (11) is fixedly arranged at the top of the inner wall of the base (1), the axis of the first fixed pulley is vertical to the top of the inner wall of the base (1), and the edge of the first fixed pulley (11) extends out of the edge of the base (1);

the second fixed pulley (12) is fixedly arranged on one side of the base (1), the axis of the second fixed pulley is parallel to the top of the inner wall of the base (1), and a U-shaped groove of the second fixed pulley (12) and a U-shaped groove of the extending part of the first fixed pulley (11) are positioned on the same vertical plane;

the fixing screw (13) is arranged on the top of the inner wall of the base (1);

the axis of the movable pulley (14) is vertical to the top of the inner wall of the base (1), and the axis of the movable pulley is positioned on the central line of the fixing screw (13) and the first fixed pulley (11);

one end of the spring (15) is fixed on the top of the inner wall of the base (1), and the other end of the spring is connected with the movable pulley (14);

the reel (16) is arranged at the end part of the mandrel and comprises: the fixed wheel (18) is arranged at the end part of the mandrel, the sector wheel (19) is coaxially arranged with the fixed wheel (18), the two end parts of the sector wheel (19) are connected with the fixed wheel (18) through a connecting rod (20), and a fixed block (21) is arranged on the connecting rod (20);

one end of the steel wire rope (17) is fixed on the fixing screw (13), and the other end of the steel wire rope (17) rounds the movable pulley (14), is wound on the fan-shaped wheel (19) after being respectively reversed by the first fixed pulley (11) and the second fixed pulley (12), and is finally fixed on the fixing block (21);

the end part of the first mandrel (8) is provided with a first connecting rod (22), the end part of the second mandrel (9) is provided with a second connecting rod (23), the first connecting rod (22) is connected with the end part of the second connecting rod (23) through a third connecting rod (24), the wire wheels (16) in one group of gravity balancing devices are fixedly arranged at the end part of the large arm (2), and the wire wheels (16) in the other group of gravity balancing devices are fixedly connected with the first connecting rod (22).

2. The main control hand of the teleoperated mechanical arm as claimed in claim 1, wherein the base (1), the large arm (2), the small arm (3) and the handle (4) are made of aluminum alloy respectively.

3. The main control hand of the teleoperation mechanical arm is characterized in that a fixed column (25) is arranged at the top of the inner wall of the base (1), a connecting piece (26) is arranged on the movable pulley (14), a hanging column (27) extends out of one side, facing the top of the inner wall of the base (1), of the connecting piece (26), hooks (28) are respectively arranged at two ends of the spring (15), one hook (28) is hung on the fixed column (25), and the other hook (28) is hung on the hanging column (27).

4. The master control hand of a teleoperated mechanical arm as claimed in claim 1, wherein one end of the small arm (3) is provided with a U-shaped connecting piece (29), the central position of the end of the large arm (2) extends outwards to form a rotating piece (30), and the rotating piece (30) is connected with the U-shaped connecting piece (29) through a second mandrel (9).

5. The master control hand of a teleoperated manipulator according to claim 1, characterized in that the other end of the small arm (3) is provided with a horseshoe-shaped connecting block (31), the end of the handle (2) is provided with a rotating block (32), the rotating block (32) is arranged in the middle of the horseshoe-shaped connecting block (31), and the rotating block (32) and the horseshoe-shaped connecting block (31) are connected through a mandrel III (10).

6. A master hand for a teleoperated robotic arm according to claim 5, wherein the rotary block (32) is perpendicular to the handle (4).

7. The master control hand of a teleoperated mechanical arm as claimed in claim 5, wherein three single-turn absolute code wheels are provided in said horseshoe-shaped connecting block (31).

8. The master control hand of a teleoperated manipulator according to claim 1, wherein the large arm (2) is a hollow sleeve, and the third link (24) is arranged in the large arm (2) and both ends of the third link protrude from the end of the large arm (2).

9. The master control hand of the teleoperation mechanical arm according to claim 1, wherein the first motor (6) and the second motor (7) are both arranged at the top of the base (1), a power supply (33) for providing power for the first motor (6) and the second motor (7) is arranged in the base (1), a shell (34) made of aluminum alloy is arranged on the base (1), and the first motor (6) and the second motor (7) are arranged in the shell (34).

10. A master hand for a teleoperated robotic arm according to claim 8, wherein the actuator is provided on the housing (34).

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