CN112959291A - Full-view remote operation master-slave robot arm system - Google Patents
Full-view remote operation master-slave robot arm system Download PDFInfo
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- CN112959291A CN112959291A CN202110399313.9A CN202110399313A CN112959291A CN 112959291 A CN112959291 A CN 112959291A CN 202110399313 A CN202110399313 A CN 202110399313A CN 112959291 A CN112959291 A CN 112959291A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of remote operation robots, in particular to a full-view remote operation master-slave robot arm system which comprises an operation device, an execution device, a monitoring device and a control device, wherein the operation device comprises a workbench and a master operating rod, the master operating rod is arranged on the workbench, the execution device comprises a mobile vehicle-mounted platform, a slave mechanical arm and an actuator, the slave mechanical arm is arranged on the mobile vehicle-mounted platform, the actuator is arranged on the slave mechanical arm, and the monitoring device comprises a monitoring camera and a monitoring screen. The remote monitoring system comprises an operating device and an executing device, wherein the operating device remotely controls the activity of the executing device, is matched with a monitoring device, can remotely and clearly observe, better controls the activity of the executing device and can remotely complete more complex operation tasks; the invention remotely controls the slave mechanical arm to move through the main operating rod, and further drives the actuator to move, so that an operator has better on-site operation feeling.
Description
Technical Field
The invention relates to the technical field of remote operation robots, in particular to a full-view remote operation master-slave robot arm system.
Background
Currently, master-slave arm robots are becoming a popular research field in remote follow-up robot research. Due to the special mechanism design and the introduction of the robot technology, the remote master-slave arm robot can overcome the motion limitation that the traditional robot can only be programmed in a short distance, greatly expands the application range of the robot, enables an operator to realize the tasks of controlling, maintaining and the like of remote equipment, and further fully exerts the advantages of the traditional robot arm. By utilizing the advanced remote master-slave robot arm control technology, the quality and the safety of remote control operation are further improved, the application range of the traditional mechanical arm is expanded, and the remote master-slave robot system is paid more and more attention. With the increasing requirements of people on remote maintenance quality and the more convenient control experience, the remote master-slave control robot has wider application prospect in future industrial application.
In the control process of the master-slave arm robot system, an operator mainly carries out remote control through a master-slave teleoperation rod, namely the operator only needs to sit beside a master control console, and holds the hand of the master operation rod by two hands to complete various remote industrial maintenance actions or dangerous environment operation.
For example, patent with application number CN202010958532.1 discloses a master-slave control system for a mechanical arm, which includes a slave arm and a master arm, where the master arm and the slave arm are connected with the master-slave control system therebetween, the slave arm includes an upper arm part and a forearm part, the upper arm part includes a shoulder deflection shaft joint, a shoulder pitch shaft joint and an elbow pitch shaft joint, the forearm part mainly includes a wrist pitch shaft joint, a wrist deflection shaft joint and a wrist rotation shaft joint, the master arm includes a base, a shoulder joint, a big arm joint, a small arm joint, an elbow joint, a wrist joint, a handle grip and a servo steering engine, and the master-slave control system includes a master arm drive control case, a control display unit and a slave arm control module. The invention can realize complex main arm signal transmission and has a plurality of degrees of freedom and a plurality of switch button signals.
The master-slave arm robot system in the prior art has the problem that the control distance is not far enough, the operation can be implemented only in the visual inspection range, higher requirements are provided for the judgment of the eyesight of an operator, and even in this way, under the working conditions of light and outside complexity, the operator can also make misjudgment to cause misoperation. The manipulator is easy to be excessively moved unconsciously by an operator, so that a sharp actuator is rubbed and collided with an operation target, and the manipulator is accidentally damaged.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art and provides a full-view remote operation master-slave robot arm system.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a full-view-angle remote operation master-slave robot arm system comprises an operating device, an executing device, a monitoring device and a control device, wherein the operating device comprises a workbench and a master operating rod, the master operating rod is arranged on the workbench, the executing device comprises a mobile vehicle-mounted platform, a slave mechanical arm and an actuator, the slave mechanical arm is arranged on the mobile vehicle-mounted platform, the actuator is arranged on the slave mechanical arm, the master operating rod remotely controls the slave mechanical arm to enable the slave mechanical arm to drive the actuator to move, the monitoring device comprises a monitoring camera and a monitoring screen, the monitoring camera is arranged on the executing device and is used for shooting images of the executing work of the executing device from a plurality of view angles, the monitoring screen is arranged on the workbench and is used for displaying the images shot by the monitoring camera, and the control device is respectively connected with the operating device, the monitoring device and the control device, The execution device and the monitoring device are connected to control the operation device, the execution device and the monitoring device.
Further, the surveillance camera includes a global camera disposed on the mobile onboard platform.
Furthermore, a support rod is arranged on the mobile vehicle-mounted platform and used for supporting the global camera.
Furthermore, a pitching motor is arranged on the supporting rod and used for driving the global camera to rotate around the horizontal axis, and the control device is connected with the pitching motor through a circuit.
Furthermore, a rotating motor is arranged on the supporting rod and used for driving the global camera to rotate around a vertical axis, and the control device is connected with the rotating motor through a circuit.
Further, the surveillance camera includes an actuator camera disposed above the actuator.
Furthermore, the main operating rod and the driven mechanical arm are of an isomorphic structure with equal proportion, and the main operating rod and the driven mechanical arm cooperate with each other in moving action.
Furthermore, a plurality of driving omnidirectional wheels are arranged at the bottom of the mobile vehicle-mounted platform and used for driving the mobile vehicle-mounted platform to move, and the driving omnidirectional wheels are in circuit connection with the control device.
Furthermore, the control device comprises an operation end control system and an execution end control system which are connected by a circuit, wherein the operation end control system is arranged on the operation device, and the execution end control system is arranged on the execution device.
Furthermore, two connection modes of wired connection and wireless signal connection are compatible between the operating end control system and the execution end control system.
From the above description of the present invention, it can be seen that the full-view remote operation master-slave robot arm system of the present invention has at least one of the following advantages compared with the prior art:
1. the master-slave robot arm system with full-view remote operation comprises an operation device and an execution device, wherein the operation device remotely controls the movement of the execution device, and is matched with a monitoring device, so that the remote clear observation can be realized, the movement of the execution device can be well controlled, and more complex operation tasks can be remotely completed.
2. According to the full-view-angle remote-operation master-slave robot arm system, an operator remotely controls the slave mechanical arm to move through the master operating rod, so that the actuator is driven to move, the operator has a better in-situ operation feeling, and the operation accuracy is ensured.
3. According to the master-slave robot arm system with full-view remote operation, the executing device is provided with the two-stage visual monitoring systems which are respectively a global camera and an actuator camera, so that an operator can observe the movement of the slave robot arm from the global view and the actuator view, the operation position can be determined more accurately, and a fine operation task can be completed.
4. According to the master-slave robot arm system with full-view-angle remote operation, disclosed by the invention, the execution device is provided with the mobile vehicle-mounted platform capable of moving in all directions, can receive remote control signals and realize the activities of rotation, forward and backward movement and the like, so that the whole execution device can flexibly change the position and more accurately approach to a target to be operated.
Drawings
FIG. 1 is a schematic diagram of an execution device according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an operating device according to a preferred embodiment of the present invention;
FIG. 3 is an enlarged view of FIG. 1 at A;
reference numerals: 1. an operating device; 2. an execution device; 3. a monitoring device; 11. a work table; 12. a main operating lever; 21. moving the vehicle-mounted platform; 22. a driven mechanical arm; 23. an actuator; 24. driving the omni wheel; 31. a surveillance camera; 32. a monitor screen; 33. a support bar; 34. a pitch motor; 35. a rotating electric machine; 311. a global camera; 312. an actuator camera.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 3, a preferred embodiment of the present invention is a full-view remotely-operated master-slave robot arm system, including an operating device 1, an executing device 2, a monitoring device 3 and a control device, wherein the operating device 1 includes a workbench 11 and a master-operating lever 12, the master-operating lever 12 is disposed on the workbench 11, the executing device 2 includes a mobile vehicle-mounted platform 21, a slave-robot arm 22 and an actuator 23, the slave-robot arm 22 is disposed on the mobile vehicle-mounted platform 21, the actuator 23 is disposed on the slave-robot arm 22, the master-operating lever 12 remotely controls the slave-robot arm 22 to make the slave-robot arm 22 drive the actuator 23 to move, the monitoring device 3 includes a monitoring camera 31 and a monitoring screen 32, the monitoring camera 31 is disposed on the executing device 2 for capturing images of the executing device 2 from several views, the monitor screen 32 is provided on the table 11 for displaying images taken by the monitor camera 31, and the control device is connected to the operation device 1, the execution device 2, and the monitor device 3 and controls the operation device 1, the execution device 2, and the monitor device 3, respectively.
The master-slave robot arm system with full-view remote operation comprises an operating device 1 and an executing device 2, wherein the operating device 1 remotely controls the executing device 2 to move, and a monitoring device 3 is matched with the executing device 2, so that the remote clear observation can be realized, the movement of the executing device 2 can be well controlled, and more complex operation tasks can be remotely completed; an operator remotely controls the slave mechanical arm 22 to move through the main operating rod 12, so as to drive the actuator 23 to move, so that the operator has better on-site operation feeling, and the operation accuracy is ensured; the execution device 2 is provided with two-stage visual monitoring systems, namely a global camera 311 and an actuator camera 312, so that an operator can observe the movement of the driven mechanical arm 22 from a global visual angle and an actuator 23 visual angle, the operation position is determined more accurately, and a fine operation task is completed; the execution device 2 is provided with a mobile vehicle-mounted platform 21 capable of moving in all directions, can receive remote control signals, and realizes activities such as rotation, forward and backward movement and the like, so that the whole execution device 2 can flexibly change positions and more accurately approach a target to be operated.
As a preferred embodiment of the present invention, it may also have the following additional technical features:
in the present embodiment, the monitoring camera 31 includes a global camera 311, and the global camera 311 is disposed on the mobile vehicle-mounted platform 21. The global camera 311 is arranged on the mobile vehicle-mounted platform 21, so that the position of the whole slave mechanical arm 22 and the movement situation can be observed through the global camera 311, and the movement of the execution device 2 to the operation position can be controlled remotely.
In this embodiment, a support rod 33 is disposed on the mobile vehicle-mounted platform 21, and the support rod 33 is used for supporting the global camera 311. The support rod 33 is arranged on the mobile vehicle-mounted platform 21, the global camera 311 is supported through the support rod 33, and the height of the global camera 311 is increased so as to obtain a better shooting view.
In this embodiment, a tilt motor 34 is disposed on the supporting rod 33, the tilt motor 34 is used for driving the global camera 311 to rotate around a horizontal axis, and the control device is electrically connected to the tilt motor 34. A tilt motor 34 is disposed on the supporting rod 33, and an operator drives the global camera 311 to rotate around a horizontal axis by controlling the tilt motor 34, so as to adjust the angle of view of the global camera 311 in the horizontal direction, and better manipulate the actuator 2.
In this embodiment, a rotating motor 35 is disposed on the supporting rod 33, the rotating motor 35 is used for driving the global camera 311 to rotate around a vertical axis, and the control device is electrically connected to the rotating motor 35. A rotating motor 35 is disposed on the supporting rod 33, and an operator drives the global camera 311 to rotate around a vertical axis by controlling the rotating motor 35, so as to adjust the viewing angle of the global camera 311 in a vertical direction, and better manipulate the actuator 2.
In the present embodiment, the monitoring camera 31 includes an actuator camera 312, and the actuator camera 312 is disposed above the actuator 23. An actuator camera 312 is arranged above the actuator 23, and an image of the angle of view of the actuator 23 is captured by the actuator camera 312, so that the operation task can be completed more accurately.
In the present embodiment, the master lever 12 and the slave robot 22 are equivalent structures in equal proportion, and the master lever 12 and the slave robot 22 cooperate with each other in their moving motions. The main operating rod 12 and the driven mechanical arm 22 are isomorphic structures in equal proportion, the isomorphic structures are designed based on a full-view hand-eye coordination criterion, the equal proportion ensures the space motion mapping relationship between a main operating arm and a driven operating arm, the movable actions of the main operating rod 12 and the driven mechanical arm 22 are cooperated, namely the moving angle of the operating rod, the actions can be mapped onto the driven operating arm in equal proportion, an accurate operation task is realized, the motion of the driven execution mechanical arm observed by an operator in the teleoperation process always completely accords with the subjective feeling of the operator, and the telepresence of teleoperation is ensured to the maximum extent.
In this embodiment, a plurality of driving omni wheels 24 are disposed at the bottom of the mobile vehicle-mounted platform 21, the driving omni wheels 24 are used for driving the mobile vehicle-mounted platform 21 to move, and the driving omni wheels 24 are in circuit connection with the control device. The driving omnidirectional wheel 24 is arranged at the bottom of the mobile vehicle-mounted platform 21, and the driving omnidirectional wheel 24 receives a remote control signal, so that various combined actions of rotation, forward and backward movement, lateral movement and the like of the mobile vehicle-mounted platform 21 are realized, the position of the whole execution device 2 can be changed, the target to be operated can be more accurately approached, and the use is more flexible.
In the present embodiment, the control device includes an operation end control system and an execution end control system which are electrically connected, the operation end control system is provided on the operation device 1, and the execution end control system is provided on the execution device 2. An operation end control system is arranged on the operation device 1, the main operation rod 12 and the monitoring screen 32 which are positioned at the operation end are connected through the operation end control system, an execution end control system is arranged on the execution device 2, the monitoring camera 31, the mobile vehicle-mounted platform 21, the driven mechanical arm 22 and the actuator 23 which are positioned at the execution end are connected through the execution end control system, and remote connection of the operation end control system and the execution end control system is established so as to establish corresponding signal connection to the operation device 1, the execution device 2 and the monitoring device 3 through the control device.
In this embodiment, two connection modes, namely wired connection and wireless signal connection, are compatible between the operation-side control system and the execution-side control system. The operating end control system and the execution end control system have two modes of wired transmission and wireless signal transmission, can be compatible with short-distance control and wireless remote control, such as internet communication transmission, and can also complete remote real-time control tasks.
The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. A full-view remote operation master-slave robot arm system is characterized in that: comprising an operating device (1), an executing device (2), a monitoring device (3) and a control device, wherein the operating device (1) comprises a workbench (11) and a main operating rod (12), the main operating rod (12) is arranged on the workbench (11), the executing device (2) comprises a mobile vehicle-mounted platform (21), a driven mechanical arm (22) and an actuator (23), the driven mechanical arm (22) is arranged on the mobile vehicle-mounted platform (21), the actuator (23) is arranged on the driven mechanical arm (22), the main operating rod (12) remotely controls the driven mechanical arm (22) to enable the driven mechanical arm (22) to drive the actuator (23) to move, the monitoring device (3) comprises a monitoring camera (31) and a monitoring screen (32), the monitoring camera (31) is arranged on the executing device (2) and is used for shooting images of the executing work executed by the executing device (2) from a plurality of visual angles, the monitoring screen (32) is arranged on the workbench (11) and is used for displaying images shot by the monitoring camera (31), and the control device is respectively connected with the operating device (1), the executing device (2) and the monitoring device (3) and controls the operating device (1), the executing device (2) and the monitoring device (3).
2. A full-view remotely operated master slave robotic arm system according to claim 1, wherein: the surveillance camera (31) comprises a global camera (311), the global camera (311) being arranged on a mobile onboard platform (21).
3. A full-view remotely operated master slave robotic arm system according to claim 2, wherein: the mobile vehicle-mounted platform (21) is provided with a support rod (33), and the support rod (33) is used for supporting the global camera (311).
4. A full-view remotely operated master slave robotic arm system according to claim 3, wherein: the supporting rod (33) is provided with a pitching motor (34), the pitching motor (34) is used for driving the global camera (311) to rotate around a horizontal axis, and the control device is in circuit connection with the pitching motor (34).
5. A full-view remotely operated master slave robotic arm system according to claim 3, wherein: the supporting rod (33) is provided with a rotating motor (35), the rotating motor (35) is used for driving the global camera (311) to rotate around a vertical axis, and the control device is in circuit connection with the rotating motor (35).
6. A full-view remotely operated master slave robotic arm system according to claim 1, wherein: the monitoring camera (31) includes an actuator camera (312), the actuator camera (312) being disposed above the actuator (23).
7. A full-view remotely operated master slave robotic arm system according to claim 1, wherein: the main operating rod (12) and the driven mechanical arm (22) are of isomorphic structures in equal proportion, and the movable actions of the main operating rod (12) and the driven mechanical arm (22) are cooperated.
8. A full-view remotely operated master slave robotic arm system according to claim 1, wherein: the bottom of the mobile vehicle-mounted platform (21) is provided with a plurality of driving omnidirectional wheels (24), the driving omnidirectional wheels (24) are used for driving the mobile vehicle-mounted platform (21) to move, and the driving omnidirectional wheels (24) are in circuit connection with the control device.
9. A full-view remotely operated master slave robotic arm system according to claim 1, wherein: the control device comprises an operation end control system and an execution end control system which are connected by a circuit, wherein the operation end control system is arranged on the operation device (1), and the execution end control system is arranged on the execution device (2).
10. A full-view remotely operated master slave robotic arm system according to claim 9, wherein: the operating end control system and the execution end control system are compatible with two connection modes of wired connection and wireless signal connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110399313.9A CN112959291A (en) | 2021-04-14 | 2021-04-14 | Full-view remote operation master-slave robot arm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110399313.9A CN112959291A (en) | 2021-04-14 | 2021-04-14 | Full-view remote operation master-slave robot arm system |
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| CN112959291A true CN112959291A (en) | 2021-06-15 |
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| CN202110399313.9A Pending CN112959291A (en) | 2021-04-14 | 2021-04-14 | Full-view remote operation master-slave robot arm system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211493A (en) * | 2021-12-23 | 2022-03-22 | 武汉联影智融医疗科技有限公司 | Remote control system and method for mechanical arm |
| CN118024286A (en) * | 2024-03-29 | 2024-05-14 | 深圳市元亨光电股份有限公司 | Intelligent maintenance robot and control method |
-
2021
- 2021-04-14 CN CN202110399313.9A patent/CN112959291A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211493A (en) * | 2021-12-23 | 2022-03-22 | 武汉联影智融医疗科技有限公司 | Remote control system and method for mechanical arm |
| CN114211493B (en) * | 2021-12-23 | 2023-10-27 | 武汉联影智融医疗科技有限公司 | Remote control system and method for mechanical arm |
| CN118024286A (en) * | 2024-03-29 | 2024-05-14 | 深圳市元亨光电股份有限公司 | Intelligent maintenance robot and control method |
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Application publication date: 20210615 Assignee: Jiangxi Zhicong Robot Technology Co.,Ltd. Assignor: Jiangxi Intelligent Industry Technology Innovation Research Institute Contract record no.: X2021980007018 Denomination of invention: A master-slave robot arm system with full view remote operation License type: Common License Record date: 20210804 |
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