CN214643584U - Full-view remote operation master-slave robot arm system - Google Patents
Full-view remote operation master-slave robot arm system Download PDFInfo
- Publication number
- CN214643584U CN214643584U CN202120758447.0U CN202120758447U CN214643584U CN 214643584 U CN214643584 U CN 214643584U CN 202120758447 U CN202120758447 U CN 202120758447U CN 214643584 U CN214643584 U CN 214643584U
- Authority
- CN
- China
- Prior art keywords
- full
- camera
- monitoring
- actuator
- operating
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a remote operation robotechnology field, concretely relates to full visual angle remote operation master-slave robot arm system, including operating means, executing device, monitoring devices, controlling means, operating means includes workstation and main operating rod, main operating rod sets up on the workstation, executing device is including removing vehicle-mounted platform, slave machine arm and executor, slave machine arm sets up on removing vehicle-mounted platform, the executor sets up on slave machine arm, monitoring devices is including surveillance camera and surveillance screen. The utility model comprises an operating device and an executing device, wherein the operating device remotely controls the executing device to move, and a monitoring device is matched with the operating device, so that the remote clear observation can be realized, and more complex operation tasks can be remotely completed by better controlling the executing device to move; the utility model discloses a master control pole remote control is from the arm activity, and then drives the executor activity, makes the operator have better operation sense on the spot.
Description
Technical Field
The utility model relates to a remote operation robot technical field, concretely relates to full visual angle 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 utility model discloses can realize complicated main arm signal transmission, have a plurality of degrees of freedom and a plurality of shift knob signal.
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.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a full visual angle remote operation principal and subordinate robot arm system.
In order to achieve the above object, the utility model adopts the following technical scheme: 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.
It is right from the foregoing to the utility model discloses a description can know, compares with prior art, the utility model discloses a full visual angle remote operation master slave robot arm system has one of following beneficial effect at least:
1. the utility model discloses a full visual angle remote operation's principal and subordinate robot arm system, including operating means and executing device, operating means remote control executing device activity to supporting monitoring arrangement can long-range clear observation, and with better control executing device activity, can the comparatively complicated operation task of long-range completion.
2. The utility model discloses a full visual angle remote operation's principal and subordinate robot arm system, operator pass through the activity of master control pole remote control slave manipulator, and then drive the executor activity, make the operator have better operation sense on the spot, ensure the accuracy of operation.
3. The utility model discloses a full visual angle remote operation's principal and subordinate robot arm system is equipped with two-stage vision monitoring system on the final controlling element, is global camera and executor camera respectively, makes the operator can follow global visual angle and executor visual angle and observes the activity of following the mechanical arm, and meticulous operation task is accomplished to more accurate definite operating position.
4. The utility model discloses a full visual angle remote operation's principal and subordinate robot arm system, actuating device have the removal vehicle platform that can omnidirectional movement, can receive remote control signal, realize rotatory, go forward and retreat, wait the activity to realize that whole actuating device can alternate the position in a flexible way, more accurate is close the target of treating the operation.
Drawings
Fig. 1 is a schematic structural diagram of an executing device end in a preferred embodiment of the present invention;
fig. 2 is a schematic structural diagram of an operating device end in 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 solution of 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, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-3, a preferred embodiment of the present invention is a full-view remote operation master-slave robot arm system, including an operating device 1, an executing device 2, a monitoring device 3, and a control device, where 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 mechanical arm 22, and an actuator 23, the slave mechanical arm 22 is disposed on the mobile vehicle-mounted platform 21, the actuator 23 is disposed on the slave mechanical arm 22, the master operating lever 12 remotely controls the slave mechanical arm 22 to make the slave mechanical 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 operation performed by 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 utility model discloses a master-slave robot arm system of full visual angle remote operation includes operating means 1 and executive device 2, and the activity of operating means 1 remote control executive device 2 to supporting monitoring arrangement 3 can the clear observation of remote, with the activity of better control executive device 2, can accomplish comparatively complicated operation task remotely; 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 or equivalents may be substituted for elements thereof 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, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are intended to be covered by the present invention.
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 |
|---|---|---|---|
| CN202120758447.0U CN214643584U (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 |
|---|---|---|---|
| CN202120758447.0U CN214643584U (en) | 2021-04-14 | 2021-04-14 | Full-view remote operation master-slave robot arm system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214643584U true CN214643584U (en) | 2021-11-09 |
Family
ID=78462024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120758447.0U Active CN214643584U (en) | 2021-04-14 | 2021-04-14 | Full-view remote operation master-slave robot arm system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214643584U (en) |
-
2021
- 2021-04-14 CN CN202120758447.0U patent/CN214643584U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10905508B2 (en) | Remote control robot system | |
| CN204997657U (en) | Biomimetic mechanical hand with imitate function | |
| CN109397249B (en) | Method for positioning and grabbing robot system by two-dimensional code based on visual identification | |
| CN1319702C (en) | Movable manipulator system | |
| CN112959291A (en) | Full-view remote operation master-slave robot arm system | |
| CN106695748A (en) | Hot-line robot with double mechanical arms | |
| CN103624790B (en) | Control method of teleoperation of six-freedom-degree mechanical arm | |
| CN111432991B (en) | Robot system and method for manufacturing article using the same | |
| CN100361792C (en) | Controlling system of movable manipulator | |
| US20220250237A1 (en) | Teaching device, teaching method, and recording medium | |
| JP7306871B2 (en) | ROBOT OPERATING DEVICE, ROBOT, ROBOT OPERATING METHOD, PROGRAM AND ROBOT CONTROLLER | |
| KR20170018384A (en) | Machine and method for operating a machine | |
| CN2645862Y (en) | Mobile mechanical arm system | |
| JPH0811071A (en) | Controller for manipulator | |
| CN214643584U (en) | Full-view remote operation master-slave robot arm system | |
| TW201622920A (en) | Robot apparatus and robot control device | |
| JP2006346827A (en) | Teaching system of robot | |
| CN115958575B (en) | Mobile robot capable of being operated flexibly by similar people | |
| WO2018145917A1 (en) | Device and method for regulating the driving operation of remote-controlled vehicle by means of a manipulator | |
| CN114589680A (en) | Control device, special robot system and control method thereof | |
| CN113263494A (en) | Control device and special robot system | |
| CN215618048U (en) | Special robot with anthropomorphic visual angle | |
| CN209682173U (en) | The removable crawl mechanical arm of one kind | |
| CN112935636A (en) | Welding robot system capable of being remotely controlled | |
| JP6268924B2 (en) | Robot and robot working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Jiangxi Zhicong Robot Technology Co.,Ltd. Assignor: Jiangxi Intelligent Industry Technology Innovation Research Institute Contract record no.: X2021980007018 Denomination of utility model: A master-slave robot arm system with full view remote operation Granted publication date: 20211109 License type: Common License Record date: 20210804 |