A position adjustment mechanism for a remote-controlled master hand

Abstract

The present invention provides a position adjustment mechanism for a remote-controlled main hand, comprising a chassis, a first arm, a second arm, a balancing elastic member, a first drive member, and a second drive member. A first mounting post and a second mounting post are connected to the chassis. One end of the first arm is used to mount a load, and the two ends of the second arm are rotatably connected to the first arm and the second mounting post, respectively. The first turntable is rotatably connected to the first mounting post. The two ends of the auxiliary arm are rotatably connected to the first arm and the first turntable, respectively. One end of the balancing elastic member is connected to the chassis, and the other end is connected to one end of a connecting rope, and the other end of the connecting rope is fixedly connected to the first turntable after passing around a rope post on the first turntable. When the balancing elastic member is in a rope-pulling state, the direction of the torque applied to the first turntable by the connecting rope is a first direction, and the direction of the torque applied to the first turntable by the auxiliary arm due to the weight of the load is a second direction, and the first and second directions are opposite. The first and second directions are both mounted on the chassis.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to a position adjustment mechanism for a remote-controlled master hand. Background Art

[0002] Surgical procedures are characterized by small objects, complex shapes, and sometimes prolonged procedures. These long, delicate manipulations can easily fatigue surgeons, leading to hand tremors and reduced precision. Using robotic manipulators can significantly mitigate these safety risks and accurately complete complex, time-consuming surgeries. Therefore, replacing traditional manual procedures with robotic-assisted surgery is a major future trend. The teleoperated master manipulator is a crucial component of the master-slave system in robotic-assisted surgery.

[0003] The main challenge facing the current teleoperation arm position adjustment mechanisms on the market is balance. A teleoperation arm is essentially a serially connected robotic arm. Due to the cumulative load, the torque required to balance gravity increases as the joints near the base become larger. This, in turn, results in larger drive motors for these base joints, which in turn occupy a larger volume.

[0004] However, because medical robots are highly sensitive to size, their design needs to be minimized, leaving relatively little space for the teleoperated master hand. Some medical robots address this issue by using a passive master hand. Specifically, instead of drive motors, the joints are equipped with position sensors, allowing the master hand's movement to be manually actuated by the operator. This significantly reduces the master hand's overall mass and size, and allows for a balancing mechanism within the limited space to replace the motor's ability to balance gravity, making the operator's hand feel lighter. However, this passive master hand lacks autonomous positioning capabilities, requiring the operator to spend time pre-positioning the hand before use and manually repositioning it after use. Some medical robots also incorporate complex balancing mechanisms, using multiple elastic elements (primarily springs) to balance the joint loads of the active master hand. The drawback of this design is that the balancing mechanism occupies a large volume. Furthermore, the multiple elastic elements and the large variations in the balancing force provided by the elastic elements complicate the control algorithm, resulting in poor performance. Summary of the Invention

[0005] In view of the above situation, the present invention provides a remote control master hand position adjustment mechanism, comprising:

[0006] a chassis, wherein a first mounting post and a second mounting post are connected to the chassis;

[0007] a first arm and a second arm, wherein one end of the first arm is used to mount a load, and one end of the second arm is rotatably connected to the first arm and the other end is rotatably connected to the second mounting post;

[0008] A first turntable and an auxiliary arm, wherein the first turntable is rotatably connected to the first mounting post, and the rotation axis coincides with or is parallel to the rotation axis of the second arm and the second mounting post; one end of the auxiliary arm is rotatably connected to the first arm, and the other end is rotatably connected to the first turntable;

[0009] A balancing elastic member, wherein a rope column is provided on the first turntable, and the rope column is provided on the rotation axis of the first turntable and the first mounting column; one end of the balancing elastic member is connected to the chassis, and the other end is connected to one end of a connecting rope, and the other end of the connecting rope is passed around the rope column and fixedly connected to the first turntable;

[0010] The balancing elastic member is in a rope-pulling state, the direction of the torque applied to the first turntable by the connecting rope is a first direction, and the direction of the torque applied to the first turntable by the auxiliary arm due to the load gravity is a second direction, and the first direction and the second direction are opposite;

[0011] The first driving member and the second driving member are both installed on the chassis. The output end of the first driving member is connected to the first turntable, and is used to cooperate with the balancing elastic member to balance the gravity torque at the rotation connection between the first turntable and the first mounting column; the output end of the second driving member is connected to the second arm, and is used to balance the gravity torque at the rotation connection between the second arm and the second mounting column.

[0012] In a position adjustment mechanism for a teleoperated master hand provided in one embodiment, a rotation axis of the first turntable and the first mounting post coincides with a rotation axis of the second arm and the second mounting post;

[0013] On the first arm, a position for mounting a load and a position for rotationally connecting with the auxiliary arm are respectively arranged on both sides of the position for rotationally connecting with the second arm.

[0014] In a position adjustment mechanism for a teleoperated master hand provided in one embodiment, the position on the first rotating disk connected to the connecting rope and the position rotatably connected to the auxiliary arm are symmetrical with each other; and a line connecting the two positions divides the first rotating disk into two sides, one of which is the first side;

[0015] The first turntable is provided with a first reversing portion on a first side. The connecting rope is reversed by the first reversing portion after passing around the rope column and then fixedly connected to the first turntable. The auxiliary arm is provided on the first side of the first turntable.

[0016] In a position adjustment mechanism for a remote-controlled master hand provided in a certain embodiment, a second reversing portion is provided on the chassis, and the connecting rope passes around the rope column to reverse the direction of the first reversing portion and is then connected to the balancing elastic member.

[0017] In a position adjustment mechanism of a remote-controlled master hand provided in a certain embodiment, the first reversing part is one or more fixed pulleys, or / and the second reversing part is one or more fixed pulleys.

[0018] In a position adjustment mechanism of a remote control master hand provided in a certain embodiment, the balancing elastic member is a spring.

[0019] In a certain embodiment, the position adjustment mechanism of the remote-controlled master hand further includes a braking structure for locking the relative position of the second arm and the second mounting column after the second driving member is powered off.

[0020] In a position adjustment mechanism for a teleoperated master hand provided in one embodiment, the second arm and the second mounting post are rotationally connected via a second turntable, the second turntable is rotationally connected to the second mounting post, the second arm is fixedly connected to the second turntable, and the fixed connection is located on a rotation axis between the second turntable and the second mounting post;

[0021] The braking structure is arranged between the second rotating disk and the chassis.

[0022] In a position adjustment mechanism for a teleoperated master hand provided in one embodiment, the braking structure includes:

[0023] A holding brake is installed on the chassis, and a gear is connected to the holding brake;

[0024] a rack mounted on the second turntable and arranged along the circumference of the rotation axis of the second turntable and the second mounting column;

[0025] The gear is meshed with the rack. When the brake is powered on, the gear rotates along with the rack. When the brake is powered off, the brake outputs a braking torque to prevent the gear from rotating.

[0026] In a position adjustment mechanism for a teleoperated master hand provided in one embodiment, the first driving member is a first motor, at least a portion of a body of the first motor is in contact with a chassis, and a thermally conductive coating is provided between the contacting portions for conducting heat generated by the first motor to the chassis;

[0027] And / or, the second driving member is a second motor, the body of the second motor is at least partially in contact with the chassis, and a thermal conductive coating is provided between the contacting parts for conducting heat generated by the second motor to the chassis.

[0028] In a position adjustment mechanism for a remote-controlled master hand provided in a certain embodiment, the thermally conductive coating is a thermally conductive silicone grease layer.

[0029] In a certain embodiment, the position adjustment mechanism of the remote-controlled master hand further includes a base, the chassis is rotatably connected to the base, and the rotation axis is perpendicular to the rotation axis of the second arm and the second mounting column, and the rotation axis of the first arm and the second arm respectively.

[0030] Due to the adoption of the above technical solution, the present invention has at least one of the following advantages or positive effects compared with the prior art:

[0031] (1) The present invention forms a quadrilateral-like configuration through the first arm, the second arm, the auxiliary arm and the first turntable, which transfers the driving torque required to be provided by the position adjustment mechanism at the rotational connection between the first arm and the second arm to the rotational connection between the first turntable and the first mounting column. The required driving torque transferred to the first turntable remains unchanged, but the driving torque required to be provided by the mechanism (the mechanism mentioned here and below refers to the position adjustment mechanism) at the rotational connection between the second arm and the second mounting column is greatly reduced, so that a small-sized second driving member can be selected, thereby reducing the volume and weight of the mechanism.

[0032] At the same time, the driving torque required at the rotational connection between the first arm and the second arm is transferred to the rotational connection between the first turntable and the first mounting column, making the balancing structure (such as the balancing elastic member and the first driving member) easier to design and install.

[0033] (2) The present invention can balance most of the gravitational torque at the first turntable and the first mounting column through the reasonable design of the balancing elastic member, so that the driving torque that needs to be balanced by the first driving member is greatly reduced, so that a small-sized first driving member can be selected, thereby reducing the volume and gravity of the remote control main hand.

[0034] (3) The present invention cleverly arranges the connecting rope so that the direction of the torque applied by the balancing elastic member to the first turntable through the connecting rope is always opposite to the direction of the torque applied by the auxiliary arm to the first turntable. Therefore, the direction of the balancing torque at the first turntable is always opposite to the direction of the gravity torque, and the balancing torque does not need to be reversed.

[0035] (4) In the present invention, assuming the diameter of the rope column is d and the angle of rotation of the first turntable is α, the expansion and contraction amount of the balancing elastic member t = 0.5*α*d. Through reasonable design, the expansion and contraction amount t is equivalent to less than one-tenth of the arc length of the first turntable, or even less. Therefore, in the present invention, the expansion and contraction of the balancing elastic member does not require much additional space, thereby reducing the volume of the parallelogram-like configuration. At the same time, the small length of the expansion and contraction change of the balancing elastic member leads to a small change in elastic force, which can greatly improve the stability of the algorithm design.

[0036] (5) In the present invention, when the power is off and no operation is being performed, the balancing elastic member can be stretched to balance the weight of the load at a suitable position, eliminating the need to worry about the load falling and being damaged under the action of gravity. At the same time, when the power is off and no operation is being performed, the brake will lock the second turntable by engaging the gear rack, thereby preventing the second turntable from rotating freely.

[0037] (6) In the present invention, at least a portion of the body of the first motor / second motor is in contact with the chassis, and a thermal conductive coating is applied at the contact point, so that the heat generated by the first motor / second motor can be conducted to the chassis and quickly dissipated through the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Various other advantages and benefits will become apparent to those skilled in the art by reading the following detailed description of the preferred embodiment.The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0039] Figure 1 This is a schematic structural diagram of a position adjustment mechanism for a remote-controlled master hand according to the present invention;

[0040] Figure 2 A schematic structural diagram of a remote control master hand position adjustment mechanism according to the present invention from another perspective;

[0041] Figure 3 This is a schematic structural diagram of a position adjustment mechanism of a remote-controlled master hand according to the present invention from a third perspective;

[0042] Figure 4 This is a schematic structural diagram of a brake and rack according to the present invention;

[0043] Figure 5 This is a force analysis diagram of the second joint in the position adjustment mechanism of the teleoperated master hand of the present invention.

[0044] Description of reference numerals:

[0045] 1: Chassis; 2: First mounting post; 3: Second mounting post; 4: First turntable; 5: Second turntable; 6: First arm; 7: Second arm; 8: Auxiliary arm; 9: First driving member; 10: Second driving member; 11: Balancing elastic member; 12: Connecting rope; 13: Rope post; 14: First reversing part; 15: Second reversing part; 16: Mounting pin; 17: Load; 18: Arc guide groove; 19: Rack; 20: Brake; 21: Gear mounting seat; 22: Gear. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0047] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure. They do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. As used herein, "one" not only means "only one" but also "more than one."

[0048] Example 1

[0049] See Figures 1 to 5 This embodiment provides a remote control master hand position adjustment mechanism, including a chassis 1, a first arm 6, a second arm 7, a balancing elastic member 11, a first driving member 9 and a second driving member 10.

[0050] A first mounting post 2 and a second mounting post 3 are connected to the chassis 1. A first arm 6 is used to mount a load 17 at one end. A second arm 7 is pivotally connected to the first arm 6 at one end and pivotally connected to the second mounting post 3 at the other end. A first turntable 4 is pivotally connected to the first mounting post 2, with its axis of rotation coinciding with or parallel to the axes of rotation of the second arm 7 and the second mounting post 3. An auxiliary arm 8 is pivotally connected to the first arm 6 at one end and pivotally connected to the first turntable 4 at the other end.

[0051] When the rotation axis of the first turntable 4 and the first mounting column 2 coincides with the rotation axis of the second arm 7 and the second mounting column 3, the first arm 6, the second arm 7, the auxiliary arm 8 and the first turntable 4 form a quadrilateral-like configuration; when the two rotation axes are parallel, a pentagon-like configuration is formed; in this embodiment, it is preferred to form a parallelogram-like configuration.

[0052] The first turntable 4 is equipped with a rope post 13, located on the rotation axis between the first turntable 4 and the first mounting post 2. One end of a balancing elastic member 11 is connected to the chassis 1, and the other end is connected to one end of a connecting rope 12. The other end of the connecting rope 12 passes through the rope post 13 and is fixedly connected to the first turntable 4. When the balancing elastic member 11 is in the rope-pulling state, the torque applied to the first turntable 4 via the connecting rope 12 is in a first direction, while the torque applied to the first turntable 4 by the auxiliary arm 8 due to the load's gravity is in a second direction, with the first and second directions being opposite.

[0053] Both the first and second drive members 9 and 10 are mounted on the chassis 1. The output end of the first drive member 9 is connected to the first turntable 4, and is used in conjunction with the balancing elastic member 11 to balance the gravitational torque at the rotational connection between the first turntable 4 and the first mounting post 2. The output end of the second drive member 10 is connected to the second arm 7, and is used to balance the gravitational torque at the rotational connection between the second arm 7 and the second mounting post 3.

[0054] The structure of this embodiment will now be described.

[0055] The position adjustment mechanism of this embodiment primarily comprises two joints: a first joint and a second joint. The first joint includes a first mounting post 2, a first turntable 4, a first arm 6, an auxiliary arm 8, a balancing elastic member 11, a connecting rope 12, and a first drive member 9. The second joint includes a second mounting post 3, a second arm 7, and a second drive member 10. These two joints work together to enable forward and backward and vertical movement of the load 17 relative to the chassis 1.

[0056] In essence, the position adjustment of the load 17 is achieved by the serially connected mechanical arm structure (first arm 6, second arm 7, chassis 1), but such a structure (without the corresponding auxiliary arm 8 and first turntable 4 and other structures) requires a larger torque (used to resist the load 17 and the gravity torque generated by the mechanism itself) as it gets closer to the root joint, and the volume is also larger, and the torque at the second joint is generally more than twice that at the first joint. In this embodiment, a parallelogram-like configuration is formed by the design of the first turntable 4, auxiliary arm 8 and other structures, and the driving torque required by the mechanism at the first arm 6 and the second arm 7 is transferred to the first turntable 4 and the first mounting column 2. The driving torque required to be transferred to the first turntable 4 remains unchanged, but doing so will, on the one hand, facilitate the design and installation of the balancing structure (balancing elastic member 11 and first drive member 9 and other structures) there, and on the other hand, greatly reduce the driving torque at the second joint, which can be reduced to about a quarter of that without the parallelogram-like configuration, so that a small-sized second drive member 10 can be used, thereby reducing the volume and weight of the mechanism. The reason for the reduction in the driving torque required at the second joint is: see Figure 5, the length of the first arm 6 is L1+L3, the length of the second arm 7 is L2, F3 is the tension on the auxiliary arm 8 at its connection with the first arm 6, M2 is the gravitational torque on the second joint, and θ is the angle between the second arm 7 and the horizontal plane. If there is no parallelogram-like configuration (i.e., there is no L3 and F3, only the first arm 6 corresponding to L1 and the second arm 7 corresponding to L2 are connected in series, and the driving torque M2 required at the second joint acts directly on the joint where the first arm 6 corresponding to L1 and the second arm 7 corresponding to L2 are rotationally connected), assuming that all centers of mass are concentrated at G, mechanical analysis shows that M2 = -G*(L1+L2*cosθ). However, after setting a parallelogram-like configuration as shown in this embodiment, mechanical analysis shows that M2 = -G*L2*cosθ. It can be seen that M2 subtracts the term G*L1. According to the design scheme, L1 is much larger than L2*cosθ, so the driving torque of M2 is greatly reduced.

[0057] Main reference Figure 1 and Figure 2 In the first joint, the position for mounting the load 17 and the position for rotationally connecting the auxiliary arm 8 are located on either side of the rotationally connected position of the first arm 6 with the second arm 7. One end of the connecting rope 12 is fixedly connected to the first turntable 4 via a mounting pin 16. After being redirected by the first reversing portion 14 provided on the first turntable 4, it passes around the rope post 13 and then, after being redirected by the second reversing portion 15 provided on the chassis 1, is fixedly connected to the balancing elastic member 11.

[0058] On the first turntable 4, the position connected to the connecting rope 12 and the position connected to the auxiliary arm 8 are centrally symmetrical, and the line connecting these two positions divides the first turntable 4 into two sides, of which the side relatively far away from the chassis 1 is the first side.

[0059] The auxiliary arm 8 is provided on the first side of the first rotating disk 4. The first reversing portion 14 is provided on the first side. The first reversing portion 14 is provided to adjust the direction of the connecting rope 12 so that the direction of the torque applied by the connecting rope 12 to the first rotating disk 4 is always opposite to the direction of the torque applied by the auxiliary arm 8 to the first rotating disk 4. Figure 2 For example, during the normal operation of the entire mechanism, the torque direction applied by the auxiliary arm 8 is always clockwise, while the torque direction applied by the connecting rope 12 is always counterclockwise. In this way, there is no reversal of the balancing torque provided by the balancing elastic member 11.

[0060] To save space, the balancing elastic member 11 is installed as Figure 2At the position shown, the function of the second reversing portion 15 is to position the balancing elastic member 11 at the predetermined installation position after the connecting rope 12 undergoes a proper redirection. The first reversing portion 14 includes one fixed pulley, and the second reversing portion 15 includes two fixed pulleys. Of course, in other embodiments, the number and installation positions of the fixed pulleys in the first and second reversing portions 14, 15 can be adjusted based on actual needs. Alternatively, the first and second reversing portions 14, 15 may utilize other components capable of reversing the connecting rope 12, such as cylinders, instead of fixed pulleys. These are not limiting.

[0061] The design of the balancing structure (balancing elastic member 11 and first driving member 9, etc.) in this embodiment has a great advantage: during the rotation of the first turntable 4, the expansion and contraction change and elastic force change of the balancing elastic member 11 are small, thereby greatly improving the stability of the algorithm design. Figure 2 As shown, assuming that the diameter of the rope column 13 is d (in some embodiments, the rope column 13 is connected to a component such as a fixed pulley, and the connecting rope 12 is wound around the fixed pulley, d here is the diameter corresponding to the arc formed when the connecting rope 12 is wound around these components), and the angle of rotation of the first turntable 4 is α, then the expansion and contraction amount t of the balancing elastic member 11 is 0.5*α*d. Through reasonable design, the expansion and contraction amount t is equivalent to less than one-tenth of the length of the arc rotated by the first turntable 4, or even smaller. In this embodiment, the connecting rope 12 is a steel wire rope, and the diameter d of the rope column 13 can be designed according to the minimum bending radius of the steel wire rope. At the same time, since in this solution, the expansion and contraction of the balancing elastic member 11 does not require too much additional space, the volume of the parallelogram-like configuration can basically be designed to be minimized. In addition, through the reasonable design of the balancing elastic member 11, more than 90 percent of the gravitational torque at the first turntable 4 during the movement of the mechanism can be balanced, so that with the assistance of the first driving member 9 for balancing, the resistance encountered by the operator at the first joint during the operation is almost zero, that is, the operator can drive the first joint with close to zero force, and the hand feels very easy.

[0062] At the same time, when the power is off and no operation is performed, the balancing elastic member 11 can be stretched to balance the weight of the load at a suitable position, and there is no need to worry about the load 17 falling and being damaged under the action of gravity. In this embodiment, the balancing elastic member 11 is preferably a spring. Of course, other elastic elements, such as a cylinder made of elastic material, can also be used in other embodiments.

[0063] The first driving member 9 can be a first motor, which is mounted on the chassis 1. An arc-shaped guide groove 18 is provided on the first turntable 4. One end of the first steel wire rope is fixedly connected to the first turntable 4. After being guided by part of the arc-shaped guide groove 18, it is wound around the output shaft of the first motor, and then fixed to the first turntable 4 after being guided by another part of the arc-shaped guide groove 18. When the output shaft of the first motor rotates, due to the friction between the first steel wire rope and the output shaft, a rotational torque is applied to the first turntable 4 through the first steel wire rope. In order to increase the friction between the first steel wire rope and the output shaft, a motor sleeve can be provided on the output shaft, and the first steel wire rope is wound around the motor sleeve. Here, the diameter of the first turntable 4 needs to be much larger than the diameter of the motor sleeve, so as to amplify the torque output by the first motor, so that a small-sized first motor can be selected. Among them, if Figure 2 As shown, there is a portion of the arc-shaped guide groove 18 where no first steel wire rope passes.

[0064] The second driving member 10 can optionally be a second motor, which is mounted on the chassis 1. The second arm 7 is rotationally connected to the second mounting post 3 via the second turntable 5, which is rotationally connected to the second mounting post 3. The second arm 7 is fixedly connected to the second turntable 5, and the fixed connection is located on the rotation axis of the second turntable 5 and the second mounting post 3. The connection method between the second motor and the second turntable 5 is similar to the connection method between the first motor and the first turntable 4. Similarly, the diameter of the second turntable 5 needs to be much larger than the motor sleeve on the output shaft of the second motor to amplify the output torque of the second motor, thereby allowing the selection of a small-sized second motor.

[0065] At the second turntable 5, when the rotational connection between the first arm 6 and the second arm 7 is on both sides of the length direction of the second mounting column 3, the direction of the torque applied by the second arm 7 to the second turntable 5 is opposite, so a balancing structure similar to that at the first joint cannot be used here. If a spring balance is to be designed, the sudden change at the reversing point will make the algorithm unstable, thereby affecting the smoothness of the entire mechanism. Taking into account that the driving torque required at the second joint is greatly reduced after using a parallelogram-like configuration, an unbalanced motor drive method is adopted here (that is, no elastic component is designed and only the second motor is relied upon to balance the gravity torque).

[0066] Due to the unbalanced design, in order to prevent the second joint from rotating freely under the action of gravity and falling and being damaged when the power is off and there is no operation, a braking structure is designed here to lock the relative position of the second arm 7 and the second mounting column 3 when the power is off. The second turntable 5 cannot rotate.

[0067] Specifically, such as Figure 3 and Figure 4As shown, the brake structure includes a brake 20, a rack 19, and a gear 22. A gear mounting base 21 is fixedly connected to the chassis 1. Gear 22 is sleeved and fixedly connected to a rotating shaft, which is rotatably connected to the gear mounting base 21 via a bearing. The brake 20 is mounted on the chassis 1. Specifically, the brake stator in the brake 20 is fixedly connected to the second mounting post 3, and the brake rotor in the brake 20 is coaxially fixedly connected to the rotating shaft. The rack 19 is mounted on the second rotating disk 5 and arranged circumferentially along the rotation axis of the second rotating disk 5 and the second mounting post 3. Gear 22 meshes with the rack 19. When the brake 20 is energized, it opens, allowing the brake rotor to rotate freely. Therefore, when the second rotating disk 5 rotates with the rack 19, the gear 22 rotates with the rack 19. When the brake 20 is de-energized, it engages, preventing the brake rotor from rotating. This prevents the gear 22 from rotating, which in turn blocks the rack 19, preventing the second rotating disk 5 from rotating. The parameters of rack 19 are designed based on the structural dimensions of the second joint, and a suitable brake 20 is selected to connect to gear 22. Through the torque amplification effect of gear 22 and rack 19, a smaller brake 20 can be used to generate a larger braking torque. This prevents free rotation of second turntable 5 and, in other words, the second joint from rotating freely in the event of a power outage. Furthermore, with the second motor assisting in the operation, the operator experiences almost zero resistance at the second joint, meaning they can actuate the second joint with near-zero force, providing a very effortless feel.

[0068] Mounting locations for the first motor / second motor are distributed on chassis 1 so that at least a portion of the first motor body is in close contact with first chassis 1. A thermally conductive coating is provided between the contacting portions. Specifically, during installation of the first motor / second motor, the thermally conductive coating is applied to the contact surface of at least one of the motors. This allows heat generated by the first motor / second motor to be rapidly dissipated through chassis 1, thereby improving the output efficiency of the first motor / second motor. In this embodiment, the thermally conductive coating is preferably a layer of thermally conductive silicone grease.

[0069] Example 2

[0070] This embodiment provides a position adjustment mechanism for a teleoperated master hand based on the embodiment 1, with an additional base provided on the basis of the embodiment 1.

[0071] Chassis 1 is rotatably connected to the base, with its rotation axis perpendicular to the rotation axes of second arm 7 and second mounting post 3, and first arm 6 and second arm 7, respectively. Rotation of chassis 1 and base enables movement of load 17 in the left-right plane. Combined with the first and second joints, the position adjustment mechanism provided in this embodiment enables three-dimensional positional adjustment of load 17.

[0072] Specifically, the chassis 1 can be rotatably connected to the base through a rotating shaft or the like, which is not limited here.

[0073] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the scope of protection of the present invention.

Claims

1. A remote control master hand position adjustment mechanism, characterized in that: include: a chassis, wherein a first mounting post and a second mounting post are connected to the chassis; a first arm and a second arm, wherein one end of the first arm is used to mount a load, and one end of the second arm is rotatably connected to the first arm and the other end is rotatably connected to the second mounting post; A first turntable and an auxiliary arm, wherein the first turntable is rotatably connected to the first mounting post, and the rotation axis coincides with or is parallel to the rotation axis of the second arm and the second mounting post; one end of the auxiliary arm is rotatably connected to the first arm, and the other end is rotatably connected to the first turntable; A balancing elastic member, wherein a rope column is provided on the first turntable, and the rope column is provided on the rotation axis of the first turntable and the first mounting column; one end of the balancing elastic member is connected to the chassis, and the other end is connected to one end of a connecting rope, and the other end of the connecting rope is passed around the rope column and fixedly connected to the first turntable; The balancing elastic member is in a rope-pulling state, the direction of the torque applied to the first turntable by the connecting rope is a first direction, and the direction of the torque applied to the first turntable by the auxiliary arm due to the load gravity is a second direction, and the first direction and the second direction are opposite; The first driving member and the second driving member are both installed on the chassis. The output end of the first driving member is connected to the first turntable, and is used to cooperate with the balancing elastic member to balance the gravity torque at the rotation connection between the first turntable and the first mounting column; the output end of the second driving member is connected to the second arm, and is used to balance the gravity torque at the rotation connection between the second arm and the second mounting column.

2. The remote control master hand position adjustment mechanism according to claim 1, characterized in that: The rotation axis of the first turntable and the first mounting post coincides with the rotation axis of the second arm and the second mounting post; On the first arm, a position for mounting a load and a position for rotationally connecting with the auxiliary arm are respectively arranged on both sides of the position for rotationally connecting with the second arm.

3. The position adjustment mechanism of the remote control master hand according to claim 2, characterized in that: On the first rotating disk, the position connected to the connecting rope and the position connected to the auxiliary arm for rotation are symmetrical; and the line connecting the two positions divides the first rotating disk into two sides, one of which is the first side; The first turntable is provided with a first reversing portion on a first side. The connecting rope is reversed by the first reversing portion after passing around the rope column and then fixedly connected to the first turntable. The auxiliary arm is provided on the first side of the first turntable.

4. The position adjustment mechanism of the remote control master hand according to claim 3, characterized in that: The chassis is provided with a second reversing portion, and the connecting rope passes around the rope column to reverse the direction of the first reversing portion and is then connected to the balancing elastic member.

5. The position adjustment mechanism of the remote control master hand according to claim 4, characterized in that: The first reversing part is one or more fixed pulleys, or / and the second reversing part is one or more fixed pulleys.

6. The position adjustment mechanism of the remote control master hand according to claim 1, characterized in that: The balancing elastic member is a spring.

7. The position adjustment mechanism of the remote control master hand according to claim 1, characterized in that: It also includes a braking structure for locking the relative position of the second arm and the second mounting column after the second driving member is powered off.

8. The position adjustment mechanism of the remote control master hand according to claim 7, characterized in that: The second arm and the second mounting post are rotatably connected via a second turntable, the second turntable is rotatably connected to the second mounting post, the second arm is fixedly connected to the second turntable, and the fixed connection is located on a rotation axis of the second turntable and the second mounting post; The braking structure is arranged between the second rotating disk and the chassis.

9. The remote control master hand position adjustment mechanism according to claim 8, characterized in that: The braking structure comprises: A holding brake is installed on the chassis, and a gear is connected to the holding brake; a rack mounted on the second turntable and arranged along the circumference of the rotation axis of the second turntable and the second mounting column; The gear is meshed with the rack. When the brake is powered on, the gear rotates along with the rack. When the brake is powered off, the brake outputs a braking torque to prevent the gear from rotating.

10. The position adjustment mechanism of the remote control master hand according to claim 1, characterized in that: The first driving member is a first motor, at least a portion of the body of the first motor is in contact with the chassis, and a thermal conductive coating is provided between the contacting portions for conducting heat generated by the first motor to the chassis; And / or, the second driving member is a second motor, the body of the second motor is at least partially in contact with the chassis, and a thermal conductive coating is provided between the contacting parts for conducting heat generated by the second motor to the chassis.

11. The remote control master hand position adjustment mechanism according to claim 10, characterized in that: The thermal conductive coating is a thermal conductive silicone grease layer.

12. The remote control master hand position adjustment mechanism according to any one of claims 1 to 11, characterized in that: The chassis is rotatably connected to the base, and the rotation axis is perpendicular to the rotation axes of the second arm and the second mounting column, and the rotation axes of the first arm and the second arm.

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