Robot arm operation device, robot arm operation system, and robot operation system

A robot arm operation device being configured to be mounted on an upper arm, a forearm, and a hand of an operator and through which the operator inputs, by moving the robot arm operation device, an operation instruction to operate a robot arm to a control calculation device that controls the robot arm including a hand, a forearm to which the hand is connected rotatably, an upper arm to which the forearm is connected rotatably, an arm base to which the upper arm is connected rotatably, an arm connection portion to which the arm base is connected rotatably, a wrist joint to connect the hand to the forearm rotatably, an elbow joint to connect the forearm to the upper arm rotatably, and a shoulder joint to connect the upper arm to the arm base rotatably, in the robot arm, the hand being connected to the forearm such that a hand first inclination angle being an angle formed between a forearm rotation axis and the hand in a first plane including the forearm rotation axis passing through the forearm and a hand second inclination angle being an angle formed between the forearm rotation axis and the hand in a second plane crossing the first plane and including the forearm rotation axis are changeable, the forearm being connected to the upper arm such that a forearm inclination angle being an angle formed by the upper arm and the forearm is changeable, the upper arm being connected to the arm base such that an upper arm inclination angle being an angle formed by the arm base and the upper arm is changeable, the arm base being connected to the arm connection portion such that an arm base rotation angle being a rotation angle around an arm base rotation axis passing through the arm base is changeable, the upper arm being rotatable around an upper arm rotation axis passing through the upper arm, and the forearm being rotatable around the forearm rotation axis,

• the robot arm operation device comprising:
• an arm connection structure;
• an upper arm structure connected to the arm connection structure;
• a forearm structure connected to the upper arm structure;
• a hand structure connected to the forearm structure;
• a shoulder measurement joint to connect the upper arm structure to the arm connection structure so as to be rotatable around an arm connection structure rotation axis perpendicular to the arm connection structure, such that an upper arm inclination measurement angle being an angle formed by the upper arm structure and the arm connection structure rotation axis is changeable, and so as to be rotatable around an upper arm structure rotation axis passing through the upper arm structure;
• an elbow measurement joint to connect the forearm structure to the upper arm structure such that a forearm inclination measurement angle being an angle formed by the forearm structure with respect to the upper arm structure is changeable and so as to be rotatable around a forearm structure rotation axis passing through the forearm structure;
• a wrist measurement joint to connect the hand structure to the forearm structure such that a hand first inclination measurement angle being an angle formed by the hand structure with respect to the forearm structure rotation axis in a first measurement plane including the forearm structure rotation axis and a hand second inclination measurement angle being an angle formed by the hand structure with respect to the forearm structure rotation axis in a second measurement plane crossing the first measurement plane and including the forearm structure rotation axis are changeable;
• a shoulder joint angle measurement part to measure an arm base rotation measurement angle being an angle at which the upper arm structure is rotated around the arm connection structure rotation axis, the upper arm inclination measurement angle, and an upper arm rotation measurement angle being an angle at which the upper arm structure is rotated around the upper arm structure rotation axis;
• an elbow joint angle measurement part to measure the forearm inclination measurement angle and a forearm rotation measurement angle being an angle at which the forearm structure is rotated around the forearm structure rotation axis;
• and
• a wrist joint angle measurement part to measure the hand first inclination measurement angle and the hand second inclination measurement angle,
• wherein the operation instructions are the arm base rotation measurement angle, the upper arm inclination measurement angle, the upper arm rotation measurement angle, the forearm inclination measurement angle, the forearm rotation measurement angle, the hand first inclination measurement angle, and the hand second inclination measurement angle.

A robot arm operation device being configured to be mounted on an upper arm, a forearm, and a hand of an operator and through which the operator inputs, by moving the robot arm operation device, an operation instruction to operate a robot arm to a control calculation device that controls the robot arm including an arm connection portion, an upper arm connected to the arm connection portion, a forearm connected to the upper arm, a hand connected to the forearm, a shoulder joint to connect the upper arm to the arm connection portion rotatably, an elbow joint to connect the forearm to the upper arm rotatably, and a wrist joint to connect the hand to the forearm rotatably, in the robot arm, the upper arm being connected to the arm connection portion so as to be rotatable around a shoulder rotation axis crossing the arm connection portion and such that an angle formed between the shoulder rotation axis and the upper arm is changeable, the forearm being connected to the upper arm such that an angle formed between an upper arm rotation axis passing through the upper arm and the forearm is changeable, the hand being connected to the forearm rotatably, and the upper arm or the forearm being rotatable around the upper arm rotation axis,

• the robot arm operation device comprising:
• an arm connection structure;
• an upper arm structure connected to the arm connection structure;
• a forearm structure connected to the upper arm structure;
• a hand structure connected to the forearm structure;
• a shoulder measurement joint to connect the upper arm structure to the arm connection structure so as to be rotatable around an arm connection structure rotation axis crossing the arm connection structure, such that an upper arm inclination measurement angle being an angle formed by the upper arm structure and the arm connection structure rotation axis is changeable, and so as to be rotatable around an upper arm structure rotation axis passing through the upper arm structure;
• an elbow measurement joint to connect the forearm structure to the upper arm structure such that a forearm inclination measurement angle being an angle formed by the forearm structure with respect to the upper arm structure is changeable;
• a wrist measurement joint to connect the hand structure to the forearm structure rotatably;
• a shoulder joint angle measurement part to measure a shoulder rotation measurement angle being an angle at which the upper arm structure is rotated around the arm connection structure rotation axis, the upper arm inclination measurement angle, and an upper arm rotation measurement angle being an angle at which the upper arm structure is rotated around the upper arm structure rotation axis;
• an elbow joint angle measurement part to measure the forearm inclination measurement angle;
• and
• a wrist joint angle measurement part to measure a wrist joint measurement angle being an angle at which the hand structure is connected to the forearm structure at the wrist measurement joint,
• wherein the operation instructions are the shoulder rotation measurement angle, the upper arm inclination measurement angle, the upper arm rotation measurement angle, the forearm inclination measurement angle, and the wrist joint measurement angle.