Steering module, master device posture testing device and master-slave posture testing system

Abstract

The application belongs to the technical field of remote ultrasonic robots, and particularly relates to a steering module, a master device posture testing device and a master-slave posture testing system. The steering module comprises a first rotary table and a positioning frame, and the positioning frame is rotationally matched with a second rotary table; a connecting frame is arranged at the rotating end of the second rotary table, and a third rotary table is installed on the connecting frame; the rotating end of the third rotary table is coaxially arranged with a detection member for measuring the inclination and / or rotation angle of the master device; and the front end of the connecting frame is installed with the master device, and the length direction of the master device is parallel to the rotation axis of the third rotary table. The application can realize the posture adjustment function of a specific axis for a specific object, thereby providing a basic guarantee for the normal testing of the master device and even the master-slave device in the later stage. The application further provides a master device posture testing device and a master-slave posture testing system, which can realize the posture collection accuracy testing of the master device and the accuracy and repeatability testing functions of the master-slave operation posture.

Description

Technical Field

[0001] This invention belongs to the field of remote ultrasonic robot technology, specifically relating to a steering module, a master-end device attitude testing device, and a master-slave attitude testing system. Background Technology

[0002] A remote ultrasound robot generally consists of two parts: a master device and a slave device. Through master-slave teleoperation, the movements of the ultrasound technician's hand at the master device are mapped to the slave device to complete the ultrasound scan. The performance of the remote ultrasound robot directly determines the effectiveness of the ultrasound scan; therefore, efficient and accurate testing of its performance is crucial. The performance of a remote ultrasound robot mainly includes the performance of the master device and the master-slave operation performance. Master-slave operation performance includes the accuracy and repeatability of the master-slave operation distance, the accuracy and repeatability of the master-slave operation posture, the accuracy of the master-slave operation contact force control, and the master-slave operation delay time. Currently, laser trackers are mainly used to test the position and posture-related performance of remote ultrasound robots. This testing method is costly, and there are no effective methods for even aspects such as the accuracy of the master-slave operation contact force control and the master-slave operation delay. Therefore, testing the performance of remote ultrasound robots remains a challenging problem that urgently needs to be solved. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a steering module that can achieve attitude adjustment along a specific axis for a specific object, thereby providing a fundamental guarantee for the normal testing of the master device and even the master-slave device. This invention also provides a master device attitude testing device and a master-slave attitude testing system, both based on the steering module, which can correspondingly realize the accuracy testing of master device attitude acquisition and the accuracy and repeatability testing of master-slave operation attitude, ultimately providing a basic framework for the overall performance testing of remote ultrasonic robots, with significant results.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A steering module, characterized in that: it includes a first turntable and a positioning frame fixed to the rotating end of the first turntable; a second turntable is rotatably fitted on the positioning frame, and the axes of the first and second turntables are perpendicular to each other; a horizontally extending connecting frame is provided at the rotating end of the second turntable, and a third turntable is mounted on the connecting frame, with the rotation axis of the third turntable perpendicular to the rotation axis of the second turntable; a detection element for measuring the tilt angle and / or rotation angle of the main end device is coaxially provided at the rotating end of the third turntable; the main end device is mounted at the front end of the connecting frame, and the length direction of the main end device is parallel to the rotation axis of the third turntable.

[0006] Preferably, the steering module further includes a mounting fixture, which includes the horizontal rod-shaped connecting frame; the front end of the connecting frame is coaxially provided with a slot-shaped clamp for clamping the main end device, the slot of which is oriented on a vertical line.

[0007] Preferably, the clamp and the connecting frame are connected to each other by a universal joint; the first turntable and the third turntable are equipped with a level for level calibration.

[0008] Preferably, the positioning frame is L-shaped and includes a lower rod and an upper rod arranged perpendicularly to each other, and the plane on which the positioning frame is located is on the same plane as the rotation axis of the first turntable and the rotation axis of the second turntable; the outer side of the lower rod is fixed to the rotating end of the first turntable, and the inner side of the upper rod is fixed to the base end of the second turntable.

[0009] Preferably, the attitude testing device for the main end equipment of the steering module is characterized in that: the device includes a mounting platform serving as a horizontal reference plane, a reference plate serving as a vertical reference plane is set on the mounting platform, the base end of the first turntable is mounted on the reference plate, and the rotation axis of the first turntable is perpendicular to the surface of the reference plate, such that the rotation axis of the first turntable is parallel to the X-axis of the coordinate system of the mounting platform, and the rotation axes of the second turntable and the third turntable are parallel to the Y-axis and Z-axis of the coordinate system of the mounting platform, respectively; the detection component is a main end inclinometer, which is arranged on the rotating end of the third turntable;

[0010] The operating steps for using the above-mentioned master-end device attitude testing device are as follows:

[0011] 1) Level the installation platform, align the attitude sensor of the main device with the zero position of the main inclinometer, adjust the first turntable and the second turntable so that the main device rotates around the X-axis and Y-axis of the installation platform coordinate system respectively, and finally make the X-axis and Y-axis rotation angles of the attitude sensor of the main device zero, and then set the X-axis and Y-axis angles of the main inclinometer to zero.

[0012] 2) After step 1) is completed, rotate the rotating end of the first turntable. If the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the inclinometer, then the Y-axis reading of the attitude sensor of the main device and the Y-axis reading of the inclinometer are the same. If not, it means that the X-axis and Y-axis directions of the attitude sensor of the main device are not aligned with the X-axis and Y-axis directions of the inclinometer. At this time, adjust the rotating end of the third turntable until the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the inclinometer.

[0013] 3) Rotate the rotating end of the first turntable, and simultaneously record the X-axis reading of the attitude sensor and the X-axis reading of the inclinometer of the main device; rotate the rotating end of the second turntable, and simultaneously record the Y-axis reading of the attitude sensor and the Y-axis reading of the inclinometer of the main device. Use the following formula to calculate the accuracy of the X-axis and Y-axis acquisition of the attitude sensor:

[0014]

[0015]

[0016] In the formula, ZP a ZP b These refer to the accuracy of X-axis and Y-axis attitude acquisition of the main device, respectively.

[0017] a M b M These are the X-axis and Y-axis readings of the main end inclinometer, respectively.

[0018] a i b i These are the X-axis and Y-axis readings of the attitude sensor on the main device, respectively.

[0019] n is the number of tests.

[0020] Preferably, the master-slave attitude testing system using the master device attitude testing device is characterized in that: the system includes a positioning plate fixed to the slave device, a fourth turntable with its axis vertically set on the positioning plate, and a level for horizontal calibration also set on the fourth turntable; a slave tilt meter is installed on the fourth turntable; the operation steps of the master-slave attitude testing system are as follows:

[0021] 4) Align the attitude sensor of the main device with the zero position of the main inclinometer, adjust the first turntable and the second turntable, that is, make the main device rotate around the X-axis and Y-axis of the installation platform coordinate system respectively, so that the X-axis and Y-axis rotation angles of the attitude sensor of the main device are zero, and then set the X-axis and Y-axis angles of the main inclinometer to zero.

[0022] 5) After step 4) is completed, rotate the rotating end of the first turntable. If the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the inclinometer, then the Y-axis reading of the attitude sensor of the main device and the Y-axis reading of the inclinometer are the same. If not, it means that the X-axis and Y-axis directions of the attitude sensor of the main device are not aligned with the X-axis and Y-axis directions of the inclinometer. At this time, adjust the rotating end of the third turntable until the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the inclinometer.

[0023] 6) Align the initial X-axis and Y-axis positions of the slave device with the zero position of the slave inclinometer; zero the X-axis and Y-axis angles of the slave device, and then zero the X-axis and Y-axis angles of the slave inclinometer.

[0024] 7) Control the slave device to rotate around its own X-axis by a fixed angle. If the X-axis and Y-axis directions of the slave device are aligned with the X-axis and Y-axis directions of the slave inclinometer, then the Y-axis reading of the slave device is the same as the Y-axis reading of the slave inclinometer. If not, it means that the X-axis and Y-axis directions of the slave device are not aligned with the X-axis and Y-axis directions of the slave inclinometer. Rotate the fourth turntable until the Y-axis reading of the slave inclinometer is the same as the Y-axis reading of the end coordinate system of the slave device.

[0025] 8) Rotate the first turntable to different angles and record the X-axis readings of the master inclinometer and the slave inclinometer respectively; rotate the second turntable to different angles and record the Y-axis readings of the master inclinometer and the slave inclinometer simultaneously. Use the following formula to calculate the attitude accuracy of the master-slave operation on the X and Y axes:

[0026]

[0027]

[0028] Where: AP a AP b These refer to the X-axis and Y-axis attitude accuracy of master-slave operations, respectively.

[0029] a M b M Read the X and Y axis readings of the main end inclinometer;

[0030] a S b S Readings are taken from the X and Y axes of the end inclinometer;

[0031] n is the number of tests;

[0032] The master device sends a command to rotate around the X-axis by a fixed angle, repeating this process n times, and records the X-axis reading of the slave inclinometer. Similarly, the master device sends a command to rotate around the Y-axis by a fixed angle, repeating this process n times, and records the Y-axis reading of the slave inclinometer. The attitude repeatability of the master-slave operation on the X and Y axes is calculated using the following formula:

[0033]

[0034]

[0035] Where: RP a RP b The repeatability of master-slave operation postures on the X and Y axes, respectively;

[0036] This represents the average of the X-axis and Y-axis readings from the end inclinometer.

[0037] a j b j This represents the j-th reading from the X and Y axes of the end inclinometer;

[0038] n is the number of tests.

[0039] Preferably, the attitude testing device for the main end equipment of the steering module is characterized in that: the device includes a mounting platform serving as a horizontal reference plane, the base end of a first turntable is mounted on the mounting platform, and the rotation axes of the first and third turntables are perpendicular to the mounting platform surface, such that the rotation axes of the first and third turntables are parallel to the Z-axis of the coordinate system of the mounting platform; the detection component is a main end tilt meter, which is coaxially arranged on the rotating end of the third turntable; its operation steps are as follows:

[0040] 9) Align the Z-axis direction of the attitude sensor of the master device with the Z-axis direction of the rotation meter of the master device, including:

[0041] Adjust the X-axis and Y-axis readings of the attitude sensor of the master device to zero using a universal joint. At this time, the Z-axis direction of the attitude sensor of the master device is parallel to the direction of gravity. Set the master angle meter to zero, and the Z-axis direction of the master angle meter is consistent with the Z-axis direction of the attitude sensor.

[0042] Rotate the first turntable to different angles, record the Z-axis readings of the attitude sensor and the angle meter readings of the main device, and calculate the Z-axis acquisition accuracy ZP of the attitude sensor of the main device using the following formula. c :

[0043]

[0044] In the formula: c M The reading of the main end angle meter;

[0045] c i Z-axis reading of the attitude sensor of the main device;

[0046] n is the number of tests.

[0047] Preferably, the master-slave attitude testing system using the master device attitude testing device is characterized in that: the system includes a positioning plate fixed to the slave device, a fourth turntable with its axis vertically set on the positioning plate, and a level for horizontal calibration also set on the fourth turntable 70; a slave angle meter is installed on the fourth turntable; the operation steps of the master-slave attitude testing system are as follows:

[0048] 10) After executing step 9), align the Z-axis direction of the slave device with the Z-axis direction of the slave angle measuring instrument. The specific operation method is as follows:

[0049] Control the slave device to rotate, and ensure that the fourth turntable is in a horizontal state by using the level instrument on the fourth turntable. At this time, the Z-axis direction of the slave device is parallel to the direction of gravity. Set the slave angle instrument to zero, and then the Z-axis direction of the slave angle instrument is consistent with the Z-axis direction of the end coordinate system of the slave device.

[0050] Rotate the first turntable to different angles, and simultaneously record the readings from the master-end and slave-end angle meters. Calculate the master-slave operation Z-axis attitude accuracy (AP) using the following formula. c :

[0051]

[0052] In the formula: c M The reading of the main end angle meter;

[0053] c S The reading is from the end angle meter;

[0054] n is the number of tests;

[0055] The master device sends a command to the slave device to rotate a fixed angle around the Z-axis, repeating this process n times. The Z-axis readings of the slave angle meter are recorded, and the master-slave operation Z-axis attitude repeatability RP is calculated using the following formula. c :

[0056]

[0057] In the formula: This represents the average value of the readings from the end angle meter;

[0058] c j This is the j-th reading from the end angle meter;

[0059] n is the number of tests.

[0060] The beneficial effects of this invention are as follows:

[0061] 1. Through the above scheme, by relying on the arrangement of the corner module, the present invention achieves the precise definition of each axis of the master device; during subsequent testing, the corner module can provide the accurate calibration function of the specified axis of the master device, namely the X-axis and / or Y-axis and / or Z-axis, thereby assisting the test component, namely the corresponding inclinometer or angular meter, to achieve the purpose of testing the accuracy of the master device's attitude acquisition, the accuracy of the master-slave operation attitude, and the repeatability of the master-slave operation attitude, and finally provide a basic guarantee for the normal testing of the master device and even the master-slave device in the later stage.

[0062] 2. In actual operation, by setting a horizontal reference plane, i.e., the installation platform, precise positioning of the first turntable at the corner assembly can be achieved. Simultaneously, by using the corresponding master-end inclinometer and master-end rotation meter, the accuracy of attitude acquisition along the three axes of the master-end device can be tested. Similarly, by adding slave-end devices and slave-end inclinometers or slave-end rotation meters, the accuracy and repeatability of master-slave operation attitudes can also be tested, offering advantages such as low cost, high efficiency, and simple and stable operation. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the steering module structure;

[0064] Figure 2 and Figure 4 Schematic diagrams of two embodiments of the attitude testing device for the main terminal equipment;

[0065] Figure 3 for Figure 2 A schematic diagram of the master-slave attitude testing system derived from the structure shown;

[0066] Figure 5 for Figure 4 The diagram shows the structure of the master-slave attitude testing system derived from the structure shown.

[0067] The actual correspondence between the reference numerals and component names in this invention is as follows:

[0068] a-Master device; b-Slave device;

[0069] 11-First turntable; 12-Second turntable; 13-Third turntable;

[0070] 14-Positioning frame; 14a-Lower rod; 14b-Upper rod;

[0071] 20-Mounting clamp; 21-Connecting bracket; 22-Clamping jaw; 23-Universal joint;

[0072] 30 - Mounting platform; 40 - Baseboard;

[0073] 51-Master inclinometer; 52-Slave inclinometer;

[0074] 53-Master-end angle measuring instrument; 54-Slave-end angle measuring instrument;

[0075] 60 - Positioning plate; 70 - Fourth turntable. Detailed Implementation

[0076] For ease of understanding, this section combines... Figure 1-5 The specific structure and operation of the present invention are further described below:

[0077] The specific embodiments of the present invention include the following structures: Figure 1 The steering module shown applies... Figure 1 The diagram shows two master-end device attitude testing devices for the steering module, and two master-slave attitude testing systems using these two master-end device attitude testing devices. Among them, Figure 2 The master device attitude testing device shown is used to test the accuracy of attitude sensor acquisition on the X-axis and Y-axis of master device a. Figure 4 The master device attitude testing device shown is used to test the accuracy of the attitude sensor data acquisition on the Z-axis of the master device a. All of these require the use of… Figure 1 The steering module shown. Meanwhile... Figure 3 for Figure 2 The diagram shows a master-slave attitude testing system derived from the structure shown, which is used to test the accuracy and repeatability of master-slave operation attitudes on the X and Y axes during master-slave attitude testing. Figure 5 for Figure 4 The diagram shows a schematic of a master-slave attitude testing system derived from the shown structure, designed to test the accuracy and repeatability of master-slave operation attitude along the Z-axis. Each axis can be defined using the coordinate system of the master device a or the slave device b, or the coordinate system of the mounting platform 30 constructed from an optical flat plate; there is no difference between the two.

[0078] In actual operation, the steering module of the present invention is as follows: Figure 1 As shown, the assembly includes a first turntable 11, a positioning frame 14, a second turntable 12, a connecting frame 21, and a third turntable 13 arranged in sequence. The third turntable 13 houses the corresponding testing components, namely the main end inclinometer 51 or the main end rotation meter 53. The front end of the connecting frame 21, which mounts the fixture 20, is connected to the clamp 22 via a universal joint 23. The clamp 22 itself has a specific groove shape; a standard dovetail groove can be used, and the groove contour is preferably adapted to the curved surface contour of the main end device a for secure clamping of the main end device a; alternatively, an adjustable groove or an elastic slot can be used, depending on the specific situation.

[0079] Based on the steering module described above, the present invention provides the following further construction:

[0080] I. Testing system for the accuracy of attitude acquisition of master devices on the X and Y axes, and testing system for the accuracy and repeatability of master-slave operation attitude:

[0081] like Figure 2 As shown, the accuracy testing system for the attitude sensor data acquisition of the main device along the X and Y axes includes an optical flat plate constituting the mounting platform 30. The optical flat plate can be adjusted horizontally via adjustable supports at its four bottom corners. In actual operation, it is first necessary to... Figure 2The above-described test system for the accuracy of attitude sensor acquisition on the main device along the X and Y axes is shown in the diagram.

[0082] The mounting platform 30 is placed on a horizontal table and leveled using adjustable supports. The reference plate 40 is vertically fixed to the mounting platform 30 via a right-angle adapter. The first turntable 11 is fixed to the reference plate 40. The fourth turntable 70 can rotate around its axis of rotation, which is parallel to the X-axis of the coordinate system O of the mounting platform 30. Subsequently, the positioning frame 14 is fixed to the rotating end of the first turntable 11 via a standard dovetail groove. The upper rod 14b and lower rod 14a of the positioning frame 14 are perpendicular to each other. During assembly, the outer surface of the lower rod 14a is fixed to the rotating end of the first turntable 11, and the inner surface of the upper rod 14b is fixed to the base end of the second turntable 12 via a standard dovetail groove. The second turntable 12 can rotate around its axis of rotation, which is parallel to the Y-axis of the coordinate system O of the mounting platform 30. The third turntable 13 is fixed to the mounting fixture 20 by the third positioning rod. The third turntable 13 can rotate around its rotation axis, which is parallel to the Z-axis of the coordinate system O of the mounting platform 30. The clamping jaws 22 of the mounting fixture 20 hold the main end device a. The level on the first turntable 11 ensures that the rotation axis of the first turntable 11 is perpendicular to the surface of the mounting platform 10. The level on the third turntable 13 ensures that the axis of the third turntable 13 is perpendicular to the surface of the mounting platform 10. Similarly, the level on the fourth turntable 70 ensures that the fourth turntable 70 is in a horizontal state.

[0083] like Figure 2 As shown, a high-precision master inclinometer 51, serving as a testing component, is mounted on the third turntable 13. The master inclinometer 51 can measure the rotation angles of the X and Y axes. The master device a has a built-in attitude sensor that can measure the rotation angles of the master device a around the X and Y axes.

[0084] The test steps for the accuracy of X-axis and Y-axis data acquisition by the attitude sensor of the master device are as follows:

[0085] 1) Level the mounting platform 30, align the attitude sensor of the main device a with the zero position of the main inclinometer 51, adjust the first turntable 11 and the second turntable 12, so that the main device a rotates around the X-axis and Y-axis of the coordinate system of the mounting platform 30 respectively, and finally make the X-axis and Y-axis rotation angles of the attitude sensor of the main device a zero, and set the X-axis and Y-axis angles of the main inclinometer 51 to zero at this time.

[0086] 2) After step 1) is completed, rotate the rotating end of the first turntable 11. If the X-axis and Y-axis directions of the attitude sensor of the main device a are aligned with the X-axis and Y-axis directions of the main inclinometer 51, then the Y-axis reading of the attitude sensor of the main device a and the Y-axis reading of the main inclinometer 51 are the same. If not, it means that the X-axis and Y-axis directions of the attitude sensor of the main device a are not aligned with the X-axis and Y-axis directions of the main inclinometer 51. At this time, adjust the rotating end of the third turntable 13 until the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the main inclinometer 51.

[0087] 3) Rotate the rotating end of the first turntable 11, and simultaneously record the X-axis reading of the attitude sensor of the main device a and the X-axis reading of the main inclinometer 51; rotate the rotating end of the second turntable 12, and simultaneously record the Y-axis reading of the attitude sensor of the main device and the Y-axis reading of the main inclinometer 51. Calculate the X-axis and Y-axis acquisition accuracy of the attitude sensor using the following formula:

[0088]

[0089]

[0090] In the formula, ZP a ZP b These refer to the accuracy of X-axis and Y-axis attitude acquisition of the main device, respectively.

[0091] a M b M These are the X-axis and Y-axis readings of the main end inclinometer 51, respectively.

[0092] a i b i These are the X-axis and Y-axis readings of the attitude sensor of the main device a, respectively;

[0093] n is the number of tests.

[0094] The master-slave operation attitude mapping includes X, Y, and Z axis attitude mapping. To improve testing accuracy, this application uses an inclinometer and a rotation meter to test the X-axis and Y-axis attitude accuracy and Z-axis attitude accuracy of the master-slave operation, respectively. In addition to the components of the above-mentioned testing system, the master-slave operation attitude accuracy and repeatability testing system for the X-axis and Y-axis also includes a C-shaped clamp-shaped positioning plate 60, on which a slave inclinometer 52 is mounted.

[0095] In actual operation, such as Figure 3As shown, in addition to the aforementioned installation process of the testing device, it is also necessary to fix the C-shaped clamp-shaped positioning plate 60 to the end of the robotic arm of the slave device b, fix the fourth turntable 70 to the positioning plate 60, and fix the slave inclinometer 52 to the fourth turntable 70 through the inclinometer mounting plate. The fourth turntable 70 can rotate around its rotation axis.

[0096] The following are the test steps for the X-axis and Y-axis attitude accuracy and repeatability of master-slave operation:

[0097] 4) Align the attitude sensor of the main device a with the zero position of the main inclinometer 51, adjust the first turntable 11 and the second turntable 12, so that the main device a rotates around the X-axis and Y-axis of the coordinate system of the mounting platform 30 respectively, and finally make the X-axis and Y-axis rotation angles of the attitude sensor of the main device a zero, and set the X-axis and Y-axis angles of the main inclinometer 51 to zero at this time.

[0098] 5) After step 4) is completed, rotate the rotating end of the first turntable 11. If the X-axis and Y-axis directions of the attitude sensor of the main device a are aligned with the X-axis and Y-axis directions of the main inclinometer 51, then the Y-axis reading of the attitude sensor of the main device a and the Y-axis reading of the main inclinometer 51 are the same. If not, it means that the X-axis and Y-axis directions of the attitude sensor of the main device a are not aligned with the X-axis and Y-axis directions of the main inclinometer 51. At this time, adjust the rotating end of the third turntable 13 until the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the main inclinometer 51.

[0099] 6) Align the initial X-axis and Y-axis positions of slave device b with the zero position of slave inclinometer 52; zero the X-axis and Y-axis angles of slave device b, and then zero the X-axis and Y-axis angles of slave inclinometer 52.

[0100] 7) Control the slave device b to rotate around its own X-axis by a fixed angle. If the X-axis and Y-axis directions of the slave device b are aligned with the X-axis and Y-axis directions of the slave inclinometer 52, then the Y-axis reading of the slave device b is the same as the Y-axis reading of the slave inclinometer 52. If not, it means that the X-axis and Y-axis directions of the slave device b are not aligned with the X-axis and Y-axis directions of the slave inclinometer 52. Rotate the fourth turntable 70 until the Y-axis reading of the slave inclinometer 52 is the same as the Y-axis reading of the end coordinate system of the slave device b.

[0101] 8) Rotate the first turntable 11 to different angles, and record the X-axis readings of the master inclinometer 51 and the slave inclinometer 52 respectively; rotate the second turntable 12 to different angles, and simultaneously record the Y-axis readings of the master inclinometer 51 and the slave inclinometer 52. Use the following formula to calculate the attitude accuracy of the master-slave operation on the X and Y axes:

[0102]

[0103]

[0104] Where: AP a AP b These refer to the X-axis and Y-axis attitude accuracy of master-slave operations, respectively.

[0105] a M b M Read the X and Y axis readings of the main end inclinometer 51;

[0106] a S b S Readings from the X and Y axes of the end inclinometer 52;

[0107] n is the number of tests;

[0108] The master device a sends a command to rotate around the X-axis by a fixed angle, repeating this n times, and records the X-axis reading of the slave inclinometer 52; the master device a also sends a command to rotate around the Y-axis by a fixed angle, repeating this n times, and records the Y-axis reading of the slave inclinometer 52. The attitude repeatability of the master-slave operation on the X and Y axes is calculated using the following formula:

[0109]

[0110]

[0111] Where: RP a RP b These refer to the attitude repeatability of the master-slave operation on the X and Y axes, respectively.

[0112] This represents the average of the X-axis and Y-axis readings from the end tilt meter 52;

[0113] a j b j This refers to the j-th reading of the X and Y axes from the end inclinometer 52.

[0114] n is the number of tests.

[0115] II. Testing system for the attitude set accuracy of the master-end device on the Z-axis and testing system for the attitude accuracy and repeatability of master-slave operation:

[0116] For the Z-axis master device attitude sensor acquisition accuracy test system, such as Figure 4 As shown, it also includes an optical plate constituting the mounting platform 30, which can be leveled via adjustable supports at its four bottom corners. In actual operation, it is first necessary to... Figure 4 The above-described test system for the accuracy of attitude sensor acquisition on the Z-axis master device is shown, namely:

[0117] The mounting platform 30 is placed on a horizontal table and leveled using adjustable supports. The first turntable 11 is fixed to the mounting platform 30; the first turntable 11 can rotate about its own axis of rotation, which is parallel to the Z-axis of the coordinate system O of the mounting platform 30. Then, the positioning frame 14 is fixed to the rotating end of the first turntable 11 via a standard dovetail groove. The upper rod 14b and lower rod 14a of the positioning frame 14 are perpendicular to each other. During assembly, the outer surface of the lower rod 14a is fixed to the rotating end of the first turntable 11, and the inner surface of the upper rod 14b is fixed to the base end of the second turntable 12 via a standard dovetail groove. The second turntable 12 can rotate about its axis of rotation, which is parallel to the Y-axis of the coordinate system O of the mounting platform 30. The third turntable 13 is fixed to the mounting fixture 20 via the third positioning rod. The third turntable 13 can rotate around its rotation axis, which is parallel to the Z-axis of the coordinate system O of the mounting platform 30. The clamping jaw 22 of the mounting fixture 20 holds the main end device a. To ensure clamping accuracy, the connecting frame 21 of the mounting fixture 20 is connected to the clamping jaw 22 via a universal joint 23, so that the clamping jaw 22 can be adjusted by rotating around the universal joint 23.

[0118] like Figure 4 As shown, a high-precision master-end rotation meter 53, serving as a testing component, is mounted on the third turntable 13. The master-end rotation meter 53 can test the Z-axis rotation angle. The master-end device a has a built-in attitude sensor that can measure the angle of rotation of the master-end device a around the Z-axis.

[0119] The test steps for the accuracy of Z-axis data acquisition by the attitude sensor of the master device are as follows:

[0120] 9) Align the Z-axis direction of the attitude sensor of the main device a with the Z-axis direction of the main angle measuring instrument 53, including:

[0121] By adjusting the X-axis and Y-axis readings of the attitude sensor of the main device a to zero through the universal joint 23, the Z-axis direction of the attitude sensor of the main device a is parallel to the direction of gravity. When the main angle meter 53 is set to zero, the Z-axis direction of the main angle meter 53 is consistent with the Z-axis direction of the attitude sensor.

[0122] Rotate the first turntable 11 to different angles, record the Z-axis readings of the attitude sensor of the main device a and the readings of the main angle meter 53, and calculate the Z-axis acquisition accuracy ZP of the attitude sensor of the main device a using the following formula. c :

[0123]

[0124] In the formula: c M The reading of the main end angle meter 53;

[0125] ci Z-axis reading of the attitude sensor of the master device a;

[0126] n is the number of tests.

[0127] Based on the above structure, Figure 5 for Figure 3 This leads to a derived structure, namely, a testing system for the accuracy and repeatability of master-slave operation postures along the Z-axis; its... Figure 3 Based on the structure shown, a slave device b with a positioning plate 60 and a corresponding slave angle meter 54 are added.

[0128] In actual operation, such as Figure 5 As shown, in addition to the aforementioned installation process of the testing device, it is also necessary to fix the C-shaped clamp-shaped positioning plate 60 to the end of the robotic arm of the slave device b, fix the fourth turntable 70 to the positioning plate 60, and fix the slave angle meter 54 to the fourth turntable 70 through the mounting plate. The fourth turntable 70 can rotate around its rotation axis.

[0129] The operation steps of this master-slave attitude testing system, that is, the master-slave operation attitude accuracy and repeatability testing system for the Z-axis, are as follows:

[0130] 10) After executing step 9), align the Z-axis direction of the slave device b with the Z-axis direction of the slave angle measuring instrument 54. The specific operation method is as follows:

[0131] Control the slave device b to make the X-axis and Y-axis angles of the slave device b zero. At this time, the Z-axis direction of the slave device b is parallel to the direction of gravity. Set the slave angle meter 54 to zero, and then the Z-axis direction of the slave angle meter 54 is consistent with the Z-axis direction of the end coordinate system of the slave device b.

[0132] Rotate the first turntable 11 to different angles, and simultaneously record the readings of the master-end angle meter 53 and the slave-end angle meter 54. Calculate the master-slave operation Z-axis attitude accuracy AP using the following formula. c :

[0133]

[0134] In the formula: c M The reading of the main end angle meter 53;

[0135] c S This is the reading from end angle meter 54;

[0136] n is the number of tests;

[0137] The master device a sends a command to the slave device b to rotate a fixed angle around the Z-axis, repeating this process n times. The Z-axis readings of the slave angle meter 54 are continuously recorded. The master-slave operation Z-axis attitude repeatability RP is calculated using the following formula.c :

[0138]

[0139] In the formula: This represents the average value of the readings from end angle meter 54;

[0140] c j This is the j-th reading from the end angle meter 54;

[0141] n is the number of tests.

[0142] Of course, those skilled in the art will recognize that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0143] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0144] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A steering module, characterized in that: The system includes a first turntable (11) and a positioning frame (14) fixed to the rotating end of the first turntable (11). A second turntable (12) is rotatably fitted on the positioning frame (14), and the first turntable (11) and the second turntable (12) are perpendicular to each other. A horizontally extending connecting frame (21) is provided at the rotating end of the second turntable (12). A third turntable (13) is installed on the connecting frame (21), and the rotation axis of the third turntable (13) is perpendicular to the rotation axis of the second turntable (12). A detection element for measuring the tilt angle and / or rotation angle of the main end device is coaxially provided at the rotating end of the third turntable (13). The main end device is installed at the front end of the connecting frame (21), and the length direction of the main end device is parallel to the rotation axis of the third turntable (13). The steering module also includes a mounting fixture (20), which includes a horizontal rod-shaped connecting frame (21); the front end of the connecting frame (21) is coaxially provided with a slot-shaped clamp (22) for clamping the main end device, the slot of the clamp (22) being located on a vertical line.

2. A steering module according to claim 1, characterized in that: The clamp (22) and the connecting frame (21) are connected to each other by a universal joint (23); the first turntable (11) and the third turntable (13) are equipped with a level for level calibration.

3. A steering module according to claim 2, characterized in that: The positioning frame (14) is L-shaped and includes a lower rod (14a) and an upper rod (14b) arranged perpendicularly to each other. The plane of the positioning frame (14) is located on the same plane as the rotation axis of the first turntable (11) and the rotation axis of the second turntable (12). The outer side of the lower rod (14a) is fixed to the rotating end of the first turntable (11), and the inner side of the upper rod (14b) is fixed to the base end of the second turntable (12).

4. The attitude testing device for the main end equipment of the steering module as described in claim 2 or 3, characterized in that: The device includes a mounting platform (30) serving as a horizontal reference plane, on which a reference plate (40) serving as a vertical reference plane is mounted. The base end of a first turntable (11) is mounted on the reference plate (40), and the rotation axis of the first turntable (11) is perpendicular to the surface of the reference plate (40), such that the rotation axis of the first turntable (11) is parallel to the X-axis of the coordinate system of the mounting platform (30), and the rotation axes of the second turntable (12) and the third turntable (13) are parallel to the Y-axis and Z-axis of the coordinate system of the mounting platform (30), respectively. The detection component is a main end inclinometer (51), which is arranged on the rotating end of the third turntable (13).

5. The attitude testing device for the master-end equipment using the steering module according to claim 4, characterized in that... The operation steps are as follows: 1) Level the mounting platform (30), align the attitude sensor of the main device with the zero position of the main inclinometer (51), adjust the first turntable (11) and the second turntable (12), so that the main device will rotate around the X-axis and Y-axis of the coordinate system of the mounting platform (30) respectively, and finally make the X-axis and Y-axis rotation angles of the attitude sensor of the main device zero, and set the X-axis and Y-axis angles of the main inclinometer (51) to zero at this time; 2) After step 1) is completed, rotate the rotating end of the first turntable (11). If the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the main inclinometer (51), then the Y-axis reading of the attitude sensor of the main device is the same as the Y-axis reading of the main inclinometer (51). If not, it means that the X-axis and Y-axis directions of the attitude sensor of the main device are not aligned with the X-axis and Y-axis directions of the main inclinometer (51). At this time, adjust the rotating end of the third turntable (13) until the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the main inclinometer (51). 3) Rotate the rotating end of the first turntable (11) and simultaneously record the X-axis reading of the attitude sensor of the main device and the X-axis reading of the main inclinometer (51); rotate the rotating end of the second turntable (12) and simultaneously record the Y-axis reading of the attitude sensor of the main device and the Y-axis reading of the main inclinometer (51), and use the following formula to calculate the accuracy of the X-axis and Y-axis acquisition of the attitude sensor: In the formula, , These refer to the attitude acquisition accuracy of the main device along the X and Y axes, respectively. , The readings are the X-axis and Y-axis readings of the main end inclinometer (51), respectively. , These are the X-axis and Y-axis readings of the attitude sensor on the main device, respectively. n is the number of tests.

6. A master-slave attitude testing system using the master-end device attitude testing device as described in claim 4, characterized in that: The system includes a positioning plate (60) fixed to the slave device, a fourth turntable (70) with its axis vertically set on the positioning plate (60), and a level for horizontal calibration also set on the fourth turntable (70); a slave tilt meter (52) is installed on the fourth turntable (70); the operation steps of this master-slave attitude testing system are as follows: 4) Align the attitude sensor of the main device with the zero position of the main inclinometer (51), adjust the first turntable (11) and the second turntable (12), so that the main device will rotate around the X-axis and Y-axis of the coordinate system of the mounting platform (30) respectively, and finally make the X-axis and Y-axis rotation angles of the attitude sensor of the main device zero, and set the X-axis and Y-axis angles of the main inclinometer (51) to zero at this time. 5) After step 4) is completed, rotate the rotating end of the first turntable (11). If the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the main inclinometer (51), then the Y-axis reading of the attitude sensor of the main device is the same as the Y-axis reading of the main inclinometer (51). If not, it means that the X-axis and Y-axis directions of the attitude sensor of the main device are not aligned with the X-axis and Y-axis directions of the main inclinometer (51). At this time, adjust the rotating end of the third turntable (13) until the X-axis and Y-axis directions of the attitude sensor of the main device are aligned with the X-axis and Y-axis directions of the main inclinometer (51). 6) Align the initial X-axis and Y-axis positions of the slave device with the zero position of the slave inclinometer (52); The X-axis and Y-axis angles of the slave device are zeroed, and then the X-axis and Y-axis angles of the slave inclinometer (52) are zeroed; 7) Control the slave device to rotate around its own X-axis by a fixed angle. If the X-axis and Y-axis directions of the slave device are aligned with the X-axis and Y-axis directions of the slave inclinometer (52), then the Y-axis reading of the slave device is the same as the Y-axis reading of the slave inclinometer (52). If not, it means that the X-axis and Y-axis directions of the slave device are not aligned with the X-axis and Y-axis directions of the slave inclinometer (52). Rotate the fourth turntable (70) until the Y-axis reading of the slave inclinometer (52) is the same as the Y-axis reading of the end coordinate system of the slave device. 8) Rotate the first turntable (11) to different angles and record the X-axis readings of the master inclinometer (51) and the slave inclinometer (52) respectively; rotate the second turntable (12) to different angles and record the Y-axis readings of the master inclinometer (51) and the slave inclinometer (52) at the same time. Use the following formula to calculate the attitude accuracy of the master and slave operation X-axis and Y-axis: In the formula: , These refer to the X-axis and Y-axis attitude accuracy of master-slave operations, respectively. , Read the X-axis and Y-axis values ​​of the main end inclinometer (51); , Readings are taken from the X and Y axes of the end tilt meter (52); n is the number of tests; The master device sends a command to rotate around the X-axis by a fixed angle, repeats this n times, and records the X-axis reading of the slave inclinometer (52); the master device sends a command to rotate around the Y-axis by a fixed angle, repeats this n times, and records the Y-axis reading of the slave inclinometer (52). The attitude repeatability of the master-slave operation on the X-axis and Y-axis is calculated using the following formula: In the formula: , The repeatability of master-slave operation postures on the X and Y axes, respectively; , The average value of the X-axis and Y-axis readings from the end tilt meter (52); b j This refers to the j-th reading of the X-axis and Y-axis from the end inclinometer (52); n is the number of tests.

7. The attitude testing device for the main end equipment of the steering module as described in claim 4, characterized in that: The device includes a mounting platform (30) serving as a horizontal reference plane. The base end of the first turntable (11) is mounted on the mounting platform (30), and the rotation axes of the first turntable (11) and the third turntable (13) are perpendicular to the plate surface of the mounting platform (30), so that the rotation axes of the first turntable (11) and the third turntable (13) are parallel to the Z-axis of the coordinate system of the mounting platform (30). The detection component is a main end angle meter (53), which is coaxially arranged on the rotating end of the third turntable (13).

8. The attitude testing device for the master-end equipment using the steering module according to claim 7, characterized in that... The operation steps are as follows: 9) Align the Z-axis direction of the attitude sensor of the master device with the Z-axis direction of the master angle meter (53), including: Adjust the X-axis and Y-axis readings of the attitude sensor of the main device to zero by using the universal joint (23). At this time, the Z-axis direction of the attitude sensor of the main device is parallel to the direction of gravity. Set the main end angle meter (53) to zero, and the Z-axis direction of the main end angle meter (53) is consistent with the Z-axis direction of the attitude sensor. Rotate the first turntable (11) to different angles, record the Z-axis reading of the attitude sensor of the main device and the reading of the main device angle meter (53), and calculate the Z-axis acquisition accuracy of the attitude sensor of the main device using the following formula. : In the formula: The reading of the main end angle meter (53); Z-axis reading of the attitude sensor of the main device; n is the number of tests.

9. A master-slave attitude testing system using the master-end device attitude testing apparatus as described in claim 7, characterized in that: The system includes a positioning plate (60) fixed to the slave device, a fourth turntable (70) with its axis vertically set on the positioning plate (60), and a slave angle meter (54) mounted on the fourth turntable (70); the operation steps of the master-slave attitude testing system are as follows: 10) After executing step 9), align the Z-axis direction of the slave device with the Z-axis direction of the slave angle measuring instrument (54). The specific operation method is as follows: Control the slave device to rotate, and ensure that the fourth turntable (70) is in a horizontal state by using the level on the fourth turntable (70). At this time, the Z-axis direction of the slave device is parallel to the direction of gravity. Set the slave angle meter (54) to zero, and the Z-axis direction of the slave angle meter (54) is consistent with the Z-axis direction of the end coordinate system of the slave device. Rotate the first turntable (11) to different angles, and simultaneously record the readings of the master-end angle meter (53) and the slave-end angle meter (54). Calculate the Z-axis attitude accuracy of the master-slave operation using the following formula. : In the formula: The reading of the main end angle meter (53); The reading is from the end angle meter (54); n is the number of tests; The master device sends a command to the slave device to rotate a fixed angle around the Z-axis, repeating this process n times. The Z-axis readings of the slave angle meter (54) are continuously recorded. The Z-axis attitude repeatability of the master-slave operation is calculated using the following formula. : In the formula: The average value of the readings from the end angle meter (54); This is the j-th reading from the end angle meter (54); n is the number of tests.

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