CN106926260A - A kind of teleoperation robot interaction controller - Google Patents
A kind of teleoperation robot interaction controller Download PDFInfo
- Publication number
- CN106926260A CN106926260A CN201710142118.1A CN201710142118A CN106926260A CN 106926260 A CN106926260 A CN 106926260A CN 201710142118 A CN201710142118 A CN 201710142118A CN 106926260 A CN106926260 A CN 106926260A
- Authority
- CN
- China
- Prior art keywords
- robot
- mainframe box
- electric part
- pedal
- interaction controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/04—Foot-operated control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
- B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Present invention is disclosed a kind of teleoperation robot interaction controller, it includes：Support frame；Mainframe box, is supported, by support frame for housing electric part；Left sensing mechanical arm, installed in mainframe box left side, electrically connects with electric part；Right sensing mechanical arm, installed in mainframe box right side, electrically connects with electric part；Several pedals, installed in support frame lower end, electrically connect with electric part, for controlling robot walking mechanism to move.Teleoperation robot interaction controller simple structure of the invention, rationally arrangement types of functionality part, integration, generalization, and operator can carry out teleoperation robot using sitting posture, and it is easy to operate, it is laborsaving.
Description
Technical field
Embodiments of the invention are related to robot field, in particular to a kind of teleoperation robot interaction controller.
Background technology
During teleoperation of robot, control people needs the good controller of a high efficiency, comfortable, stabilization, compatibility
Medium, to assign various orders to robot, and receives sensory information.Current robot controller is broadly divided into following three class.
The first kind is keyboard-type (including mechanical keyboard, touch-screen simulating keyboard) and joystick formula, this robot control
Device processed is characterized in that each degree of free for robot degree is controlled by a button or rocking bar respectively, and each robot motion will divide
Solve and could be completed after being adjusted respectively for multiple frees degree, control efficiency is low, and these robot controllers are only suitable for dynamic
Make task that is simple, repeating to be controlled, be not suitable for controlling the complicated robots of behavior such as interactive class, service class.
Equations of The Second Kind is the action for using video analysis, radiotechnics etc. non-contactly to catch control people, and being converted into hold
After row instruction, robot is transmitted further to.But such technology cannot be adapted to and the distinguishing robot arm of human arm structure
Type, and because the action of control people is hanging, non-contacting, control people cannot be fed back and be referred to, it is impossible to be felt
What kind of action command is suitable to completion task.
3rd class is the mechanical structure for using joint tandem, every in direct measurement mechanical structure by angular transducer
Angle, the speed in individual joint etc. are instructed, while control people can also obtain robotic's arm configuration, fortune from controller
Dynamic reference, receives the feedback of robot.It is but this quasi-controller also has deficiency, i.e., functionally single, not with robot its
Its operation link is integrated, therefore is also seldom employed.
The content of the invention
It is an object of the invention to be directed to drawbacks described above of the prior art, there is provided a kind of simple structure, integration is general
Change, easy to operate teleoperation robot interaction controller.The interaction controller controlled it is the most suitable be with both sides
Symmetrical mechanical arm, and the robot type advanced by mechanisms such as wheel, crawler belts.
For achieving the above object, present invention employs following technical scheme：A kind of teleoperation robot interactive controlling
Device, it includes：Support frame；Mainframe box, is supported, by support frame for housing electric part；Left sensing mechanical arm, installed in main frame
Case left side, electrically connects with electric part；Right sensing mechanical arm, installed in mainframe box right side, electrically connects with electric part；Several
Pedal, installed in support frame lower end, electrically connects with electric part, for controlling robot walking mechanism to move.
Additionally, the present invention also provides following attached technical scheme：
Preferably, teleoperation robot interaction controller also includes hand-operating lever, is removably mounted on the mainframe box
Top, electrically connects with electric part, and for controlling robot visual angle to move up and down, and control robot is overall front and rear left
Right motion.
Preferably, teleoperation robot interaction controller also includes pin action bars, installed in support frame as described above lower end, with electricity
Gas part electrically connects, for controlling robot visual angle to move up and down.
Preferably, support frame includes base and expansion link, and length of telescopic bar is adjustable, and the mainframe box is arranged on expansion link
End.
Preferably, mainframe box upper surface is provided with removable support, and the support is used to place video terminal.
Preferably, several pedals include the first from left pedal, the second from left pedal, a right pedal and right two pedal, the first from left pedal and
The second from left pedal is used to control robot left side walking mechanism to move forward and backward, and a right pedal and right two pedal are used to control robot
Right side walking mechanism moves forward and backward.
Compared to prior art, advantage of the invention is that：Teleoperation robot interaction controller structure letter of the invention
It is single, rationally arrangement types of functionality part, integration, generalization, and operator can carry out teleoperation robot using sitting posture, do
Go out compared with compound action, it is easy to operate, it is laborsaving.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be in embodiment or description of Related Art
The required accompanying drawing for using is briefly described, it should be apparent that, drawings in the following description merely relate to more of the invention
Embodiment, not limitation of the present invention.
Fig. 1 is the structural representation of teleoperation robot interaction controller of the invention.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Apply mode and make further nonrestrictive detailed description to technical solution of the present invention.
The robot that interaction controller of the invention is controlled with family expenses, service humanoid robot based on, the structure of robot
Form is：Left-right wheeled, crawler-type mobile, close to the symmetrical arm structure of the mankind, and can up and down change and regard
The head at angle.
As shown in figure 1, mainframe box 1 is supported by support frame 2, mainframe box 1 is the core component of this interaction controller, its design
Into square block, electric part is installed in inside, and electric part includes but is not limited to power module, processor module and communication mould
Block, the data processing of electric part is prior art, non-invention protection point.Support frame 2 includes base 2a and expansion link 2b, stretches
Contracting bar 2b possesses Telescopic, and mainframe box 1 is arranged on expansion link 2b upper ends, and the height of mainframe box 1 is realized by adjustable telescopic rod 2b
Lifting, is used with the people for adapting to different heights.
Left sensing mechanical arm 3 is installed in the left side of mainframe box 1, and right sensing mechanical arm 4, the left and right sensing mechanical arm are installed in right side
3rd, 4 electrically connected with electric part, the double-handed exercise instruction of acquisition control people, controls the left and right mechanical arm of robot respectively；Pass
Sense mechanical arm tail end has robot sensing's paw controller, can control the action of robot hand；Can be according to different machines
Device people mechanical arm, paw type, use the different frees degree, different series sequences, various sizes of sensing mechanical arm and paw control instead
Device processed；Both arms of the sensing mechanical arm not with control people carry out binding fixation, to facilitate control people to stop at any time control process, soar
Hand goes to process other affairs at one's side.
The top of mainframe box 1 is provided with dismountable 2DOF hand-operating lever, including left-handed operation bar 5 and right-hand operated
Bar 6, the left hand and right hand action bars 5,6 is electrically connected with electric part, and bottom left on the control robot of left-handed operation bar 5 visual angle
Right motion, the control of right-hand operated bar 6 robot is integrally all around moved.The upper plane of mainframe box 1 can also be used to place video
Terminal, such as panel computer, mobile phone, notebook electric energy, video terminal can set up video communication with robot, real-time by robot
Monitoring distal environment.For more preferable location panel computer and mobile phone, removable support 10, flat board are additionally provided with mainframe box 1
Computer and mobile phone can be placed on support 10.
Several pedals, pin action bars, and start stop switch 9 are installed on the base 2a of support base 2.In the present embodiment,
Pedal includes the first from left pedal 7a, the second from left pedal 7b, right pedal 7c and right two pedals 7d, and the first from left pedal 7a is used to control robot
Left walking mechanism advances, and the second from left pedal 7b is used to control the left walking mechanism of robot to retreat, and right pedal 7c is used to control machine
The right walking mechanism of people advances, and right two pedals 7d is used to control the right walking mechanism of robot to retreat.Pin action bars is operated including left foot
The pitching at bar 8a and right crus of diaphragm action bars 8b, left foot control stick 8a control robot visual angle, right crus of diaphragm control stick 8b controls robot is regarded
The left and right turn at angle.The transmission of the control controller signals of start stop switch 9 starts and stops.
When in use, control people is in sitting posture to teleoperation robot interaction controller of the invention, and this interaction controller is put
In front, adjustment mainframe box 1 height is substantially between shoulder and chest.If using mobile phone or panel computer as video
Terminal, can be arranged on the upper surface of mainframe box 1 by support 10, if using notebook computer as video terminal, by support
10 remove.Set up after being connected with the communication of target robot, control people steps on start stop switch 9 and starts control；Can when need to suspend
Suspended with stepping on start stop switch 9, without the channel connection between closing control device and robot.If in control process not
The hand motion of control robot is needed, then controls people only can be completed to machine using two hand-operating levers on mainframe box 1
People's rotary head, the overall control advanced；If necessary to control robot hand action, control people pedal and pin behaviour then below use
Vertical pole controls robot rotary head, overall advances.
In sum, teleoperation robot interaction controller simple structure of the invention, types of functionality part of rationally arranging,
Integration, generalization, and operator can carry out teleoperation robot using sitting posture, make compared with compound action, easy to operate, save
Power.
It is pointed out that above-mentioned preferred embodiment is only explanation technology design of the invention and feature, its object is to
Allow person skilled in the art will appreciate that present disclosure and implement according to this, protection of the invention can not be limited with this
Scope.Any equivalent change or modification in accordance with the spirit of the invention, should all be included within the scope of the present invention.
Claims (6)
1. a kind of teleoperation robot interaction controller, it is characterised in that it includes：
Support frame；
Mainframe box, is supported, by support frame for housing electric part；
Left sensing mechanical arm, installed in mainframe box left side, electrically connects with electric part；
Right sensing mechanical arm, installed in mainframe box right side, electrically connects with electric part；
Several pedals, installed in support frame lower end, electrically connect with electric part, for controlling robot walking mechanism to move.
2. teleoperation robot interaction controller according to claim 1, it is characterised in that：Also include hand-operating lever, can
Mainframe box top is releasably arranged on, is electrically connected with electric part, for controlling robot visual angle to move up and down, with
And control robot is integrally all around moved.
3. teleoperation robot interaction controller according to claim 1, it is characterised in that：Also include pin action bars, peace
Mounted in support frame as described above lower end, electrically connected with electric part, for controlling robot visual angle to move up and down.
4. teleoperation robot interaction controller according to claim 1, it is characterised in that：Support frame as described above includes base
And expansion link, length of telescopic bar is adjustable, and the mainframe box is arranged on expansion link upper end.
5. teleoperation robot interaction controller according to claim 1, it is characterised in that：The mainframe box upper surface sets
Removable support is equipped with, the support is used to place video terminal.
6. teleoperation robot interaction controller according to claim 1, it is characterised in that：Described several pedals include
The first from left pedal, the second from left pedal, a right pedal and right two pedal, the first from left pedal and the second from left pedal are used to control robot left side to advance
Mechanism moves forward and backward, and a right pedal and right two pedal are used to control robot right side walking mechanism to move forward and backward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710142118.1A CN106926260A (en) | 2017-03-10 | 2017-03-10 | A kind of teleoperation robot interaction controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710142118.1A CN106926260A (en) | 2017-03-10 | 2017-03-10 | A kind of teleoperation robot interaction controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106926260A true CN106926260A (en) | 2017-07-07 |
Family
ID=59432345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710142118.1A Pending CN106926260A (en) | 2017-03-10 | 2017-03-10 | A kind of teleoperation robot interaction controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926260A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1440856A (en) * | 2003-03-14 | 2003-09-10 | 南开大学 | Internet control system for remotely controlling robots to play chess |
| CN1586827A (en) * | 2004-09-23 | 2005-03-02 | 上海交通大学 | Joint-telescopic type super high voltage live cleaning robot |
| CN102615637A (en) * | 2012-04-01 | 2012-08-01 | 山东电力研究院 | Master-slave control robot work platform for high-voltage live working |
| CN203031600U (en) * | 2013-01-29 | 2013-07-03 | 山东电力集团公司电力科学研究院 | Converting station hot-line work robot insulation protection system |
| US20130178978A1 (en) * | 2012-01-10 | 2013-07-11 | Samsung Electronics Co., Ltd. | Robot and control method thereof |
| CN103213132A (en) * | 2012-01-20 | 2013-07-24 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm remote control system for specialized robot |
| CN103648730A (en) * | 2011-04-29 | 2014-03-19 | 雷斯昂公司 | Teleoperated robotic system |
| CN205889194U (en) * | 2016-07-29 | 2017-01-18 | 北京工业大学 | Distant operation follow -up robot control system |
| CN106378769A (en) * | 2016-10-14 | 2017-02-08 | 昆明理工大学 | Remotely controlled manipulator |
-
2017
- 2017-03-10 CN CN201710142118.1A patent/CN106926260A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1440856A (en) * | 2003-03-14 | 2003-09-10 | 南开大学 | Internet control system for remotely controlling robots to play chess |
| CN1586827A (en) * | 2004-09-23 | 2005-03-02 | 上海交通大学 | Joint-telescopic type super high voltage live cleaning robot |
| CN103648730A (en) * | 2011-04-29 | 2014-03-19 | 雷斯昂公司 | Teleoperated robotic system |
| US20130178978A1 (en) * | 2012-01-10 | 2013-07-11 | Samsung Electronics Co., Ltd. | Robot and control method thereof |
| CN103213132A (en) * | 2012-01-20 | 2013-07-24 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm remote control system for specialized robot |
| CN102615637A (en) * | 2012-04-01 | 2012-08-01 | 山东电力研究院 | Master-slave control robot work platform for high-voltage live working |
| CN203031600U (en) * | 2013-01-29 | 2013-07-03 | 山东电力集团公司电力科学研究院 | Converting station hot-line work robot insulation protection system |
| CN205889194U (en) * | 2016-07-29 | 2017-01-18 | 北京工业大学 | Distant operation follow -up robot control system |
| CN106378769A (en) * | 2016-10-14 | 2017-02-08 | 昆明理工大学 | Remotely controlled manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106808461B (en) | The method of its realization remote operation of magnetorheological force feedback type data glove and application | |
| JPH06271299A (en) | Man helping system for control of adaptation | |
| CN107015564B (en) | Walking-aid robot and combined intelligent control method | |
| CN107914124A (en) | Operation auxiliary system with rote learning portion | |
| CN104825258A (en) | Shoulder-wearable functional auxiliary arm | |
| CN107280910B (en) | A kind of autonomous intelligence massager and operating method based on data acquisition | |
| CN106383441A (en) | Novel system and method for remotely operating multi-foot robot on more flat ground | |
| WO2002040227A1 (en) | Remote controller of biped robot | |
| CN206604096U (en) | Trailing type lower extremity movement rehabilitation omni-directional mobile robots | |
| CN201350631Y (en) | Simulation robot | |
| CN106926260A (en) | A kind of teleoperation robot interaction controller | |
| CN103784269B (en) | A kind of boosting type can lower jaw control intelligent wheel chair | |
| CN111496803A (en) | Tai Ji pushing robot | |
| CN201224104Y (en) | Force feedback three-DOF hand controlled regulator mechanism | |
| JP2005006735A (en) | Massage machine | |
| DE20115213U1 (en) | Hand drill holder | |
| CN106863302B (en) | Robot charging device and implementation method thereof | |
| CN112932862B (en) | Standing and transferring auxiliary robot and using method | |
| CN109172064A (en) | A kind of artificial hand sensing mechanisms and system for supporting cloud to merge | |
| CN103365435B (en) | Mouse | |
| CN113796963A (en) | Mechanical arm control method with force sensing feedback adjustment function and control terminal | |
| CN213722141U (en) | Shock wave robot treatment system | |
| CN107481563A (en) | A kind of Edutainment robot based on neuron control form | |
| CN109381325B (en) | Five-degree-of-freedom series-parallel lower limb rehabilitation robot with strong continuity | |
| CN206892826U (en) | A kind of tablet personal computer backup actuating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170707 |