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CN-224209935-U - Remote operation device for mechanical arm

CN224209935UCN 224209935 UCN224209935 UCN 224209935UCN-224209935-U

Abstract

The application relates to a teleoperation device for a mechanical arm, which comprises an active mechanical arm, wherein the active mechanical arm comprises a plurality of connecting rods which are sequentially connected in series, each two adjacent connecting rods are rotationally connected through a joint assembly, each joint assembly comprises a joint shaft which is pivotally connected with the two adjacent connecting rods, and at least one damper which is arranged on the joint shaft and/or the connecting rods so as to slow down the angle change rate of the joint assembly. According to the application, the angle change rate of the joint shaft and/or the connecting rod is slowed down through the resistance generated by the damper, the deviation between the position of each joint component and the position of the arm of the operator is reduced or eliminated, so that the data such as the joint angle and the like acquired by the driving mechanical arm can accurately reflect the actual intention of the operator, the acquired data is smoother, the data acquisition quality is improved, the simulation accuracy of the driven mechanical arm to the action of the driving mechanical arm is further improved, and the teleoperation precision and reliability are improved.

Inventors

  • MO AN
  • SUN BO
  • LIU DIYUAN
  • JI CHAO

Assignees

  • 安徽聆动通用机器人科技有限公司

Dates

Publication Date
20260508
Application Date
20250418

Claims (11)

  1. 1. The teleoperation device for the mechanical arm is characterized by comprising an active mechanical arm, wherein the active mechanical arm comprises a plurality of connecting rods which are sequentially connected in series, every two adjacent connecting rods are rotationally connected through a joint assembly, and each joint assembly comprises: the joint shaft is pivotally connected with two adjacent connecting rods; At least one damper is disposed on the joint shaft and/or the link to slow down the rate of angular change of the joint assembly.
  2. 2. A teleoperated device according to claim 1, wherein the damper comprises a rotary damper disposed on the joint shaft.
  3. 3. A teleoperated device according to claim 1, wherein the damper comprises a linear damper having one end hinged to one of the two links pivotally connected to the articulation axis and the other end hinged to the other of the two links pivotally connected to the articulation axis.
  4. 4. Teleoperated device according to claim 1, characterized in that the damping coefficient of the damper is adjustable and/or that the damper is detachably arranged to exchange the damper with a different damping coefficient.
  5. 5. A teleoperation device according to claim 1, characterized in that the damper is one or more of a mechanical damper, a hydraulic damper, a pneumatic damper and an electromagnetic damper.
  6. 6. A teleoperation device according to any one of claims 1 to 5, characterized in that one of the two adjacent links is fixedly connected to the corresponding joint axis and the other of the two adjacent links is sleeved and connected to the corresponding joint axis.
  7. 7. A teleoperated device according to any one of claims 1-5, wherein the joint assembly further comprises a position sensor disposed at the joint shaft for detecting an angle of movement of the joint assembly.
  8. 8. A teleoperated device according to claim 7, wherein the position sensor is one or more of a potentiometer, an optical encoder, a magnetic encoder or an inertial measurement unit.
  9. 9. The teleoperation device according to claim 1, wherein the two links of the active mechanical arm at both ends are a shoulder fixed link and a hand dragging link, respectively, the active mechanical arm further comprising: The shoulder base is arranged on the shoulder fixing connecting rod and used for fixing the shoulder fixing connecting rod; The hand control piece is arranged on the hand dragging connecting rod and used for an operator to drag and position the hand dragging connecting rod.
  10. 10. Teleoperated device according to claim 1, characterized in that the joint assembly is provided with seven such that the active robotic arm has seven degrees of freedom.
  11. 11. A teleoperated device according to claim 1, further comprising a slave robotic arm, the master robotic arm being disposed in one-to-one correspondence with the slave robotic arm.

Description

Remote operation device for mechanical arm Technical Field The application belongs to the field of teleoperation of anthropomorphic robotic arms, and particularly relates to a teleoperation device of a robotic arm. Background Current robotic teleoperation devices include a slave robotic arm and a master robotic arm similar in configuration to the slave robotic arm. The driving mechanical arm is built by adopting an integrated joint motor module, and the joint angle data can be obtained by reading the angle data of the motor. The operator drags the driving mechanical arm and directly maps the joint angle to the joint angle instruction of the driven mechanical arm, so as to realize the teleoperation function. Under the conditions of shoulder fixing and tail end dragging and positioning, the middle joints of the existing mechanical arm teleoperation device easily and rapidly fall into the gesture with minimum system energy due to the action of underactuation and gravity, and particularly the elbow joints automatically fall down, so that larger deviation is generated between the positions of the joints and the positions of arms of operators, and the quality of data such as joint angles is reduced. Disclosure of utility model The application provides a teleoperation device for a mechanical arm, which aims to solve the technical problem that each joint of the teleoperation device for the mechanical arm is easy to fall down to influence the data quality. In order to solve the technical problems, the technical scheme includes that the mechanical arm teleoperation device comprises an active mechanical arm, wherein the active mechanical arm comprises a plurality of connecting rods which are sequentially connected in series, every two adjacent connecting rods are rotationally connected through a joint assembly, each joint assembly comprises a joint shaft which is pivotally connected with the two adjacent connecting rods, and at least one damper is arranged on the joint shaft and/or the connecting rods to slow down the angle change rate of the joint assembly. According to an embodiment of the present application, the damper includes a rotary damper provided on the joint shaft. According to an embodiment of the present application, the damper includes a linear damper, one end of which is hinged to one of two links pivotally connected to the joint shaft, and the other end of which is hinged to the other of the two links pivotally connected to the joint shaft. According to one embodiment of the application, the damping coefficient of the damper is adjustable, and/or the damper is detachably arranged to replace dampers with different damping coefficients. According to an embodiment of the present application, the damper is one or more of a mechanical damper, a hydraulic damper, a pneumatic damper, and an electromagnetic damper. According to one embodiment of the application, one connecting rod of the two adjacent connecting rods is fixedly connected with the corresponding joint shaft, and the other connecting rod of the two adjacent connecting rods is sleeved and connected with the corresponding joint shaft. According to an embodiment of the application, the joint assembly further comprises a position sensor, wherein the position sensor is arranged on the joint shaft and is used for detecting the movement angle of the joint assembly. According to an embodiment of the application, the position sensor is one or more of a potentiometer, an optical encoder, a magnetic encoder or an inertial measurement unit. According to one embodiment of the application, the two connecting rods at the two ends of the driving mechanical arm are respectively a shoulder fixing connecting rod and a hand dragging connecting rod, and the driving mechanical arm further comprises a shoulder base, a hand operating piece and a hand dragging connecting rod, wherein the shoulder base is arranged on the shoulder fixing connecting rod and used for fixing the shoulder fixing connecting rod, and the hand operating piece is arranged on the hand dragging connecting rod and used for an operator to drag and position the hand dragging connecting rod. According to an embodiment of the application, the joint assembly is provided with seven such that the active robotic arm has seven degrees of freedom. According to an embodiment of the present application, the teleoperation device further includes a driven mechanical arm, where the driving mechanical arm and the driven mechanical arm are disposed in one-to-one correspondence. The application has the beneficial effects that the driving mechanical arm of the mechanical arm teleoperation device comprises a plurality of connecting rods which are sequentially connected in series, every two adjacent connecting rods are rotationally connected through a joint assembly, each joint assembly comprises a joint shaft and at least one damper, the joint shaft is pivotally connected with the two adjacent connecting rods, and the at