A six-degree-of-freedom cable-driven teleoperation master hand

Abstract

The present invention discloses a six-degree-of-freedom soft cable driven remote control master hand, which is composed of a frame, a driving module, a guide porcelain hole module, a pulley module, an operating clamp, a rope, and a fixed card. The driving, pulley, and guide porcelain hole modules are all installed in the frame. The six ropes driven by the driving module pass through the pulley and the guide porcelain hole module, are led out from the guide porcelain hole of the inner ring of the frame, and are staggered to the front and rear triangular clamps of the operating clamp to constrain the five-degree-of-freedom movement of the operating clamp. The operating clamp is equipped with a motor, and its handle part is connected to the motor shaft to realize rotation around the motor shaft, and the motor provides resistance to constrain the rotation of the operating clamp around the axis. The slot of the inner ring of the frame and the slot of the base are used to locate the initial position of the operating clamp. The present invention drives the motor of the connecting rope and the motor in the operating clamp through the driver to realize the six-degree-of-freedom movement and force feedback of the operating clamp. Its soft cable is lightweight, reduces the inertia of the operating master hand, and improves the flexibility of manipulation.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a six-degree-of-freedom cable-driven teleoperation master hand. Background Art

[0002] The master-slave teleoperation force-feedback robot is a system composed of a master part and a slave part, which can achieve high-precision remote operation in a dangerous environment. The operator controls the master actuator, and transmits the pose information of the master actuator to the slave end through the control system to remotely control the movement of the slave actuator. The slave end is equipped with a force sensor, which can feedback the real-time environment information to the master end through the control system to provide a more realistic operation experience. This system is widely used in various fields such as manufacturing, healthcare, and military to perform high-difficulty, high-precision, and high-risk operations.

[0003] This force-feedback teleoperation master hand uses cable drive. Compared with the link mechanism, the cable drive has the following advantages:

[0004] The cable drive uses lightweight elastic cables or wires to transmit force and motion, which makes the robot have higher flexibility and adaptability; fewer sensors and actuators need to be installed when using cable drive, which can reduce the complexity of the entire system; using cable drive can more simply and accurately simulate the force of the slave end contacting the environment, providing a more realistic operation experience for the operator.

[0005] At the same time, it should be noted that: the cable can only bear tensile force and cannot bear compressive force, so at least n + 1 cables are required for an n-degree-of-freedom cable-driven robot to accurately control the pose of the end effector. Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a six-degree-of-freedom force-feedback teleoperation master hand with cable drive, which can realize the function of the operator outputting the six-degree-of-freedom pose information of the master hand to the slave end and feedbacking the information of the slave end contacting the environment to the operator.

[0007] A six-degree-of-freedom cable-driven teleoperation master hand mentioned in the present invention includes a frame (1), a drive module (2), a guiding porcelain hole module (3), a pulley module (4), an operating clamp (5), a cable (6), and a fixing card (7).

[0008] The frame (1) is assembled by two parts: an annular platform and a base. The annular platform is composed of a front upper end plate (11), a rear upper end plate (12), an inner ring (13), and an outer cover (14). The upper end of the front upper end plate (11) is a circular hollow semi-circle, and the lower end is a rectangle with multiple additional mounting holes, which are used to fix the six motors (21) of the drive module (2). The front upper end plate (11) and the rear upper end plate (12) are placed vertically and parallel to each other, and the middle is used to install the pulley module (4) and six flexible cables for routing. Mounting holes are drilled at the upper ends of both plates for installing the pulley module (4). The inner ring (13) and the outer cover (14) are clamped on the inner and outer sides of the two plates respectively. Six mounting holes are evenly distributed at the inner ring for installing the guiding porcelain hole module (3). The base is composed of a base (15) and a bottom cover (16). The annular platform is vertically inserted into the rectangular installation groove of the base (15), and the bottom cover (16) is installed at the lower end of the base. Finally, a fixing card (7) is used to fix the entire frame. The designed inner ring (13) and the base (15) are respectively provided with a semi-cylindrical positioning groove and a rectangular positioning groove. The square base of the handle (55) of the operating pliers (5) can be inserted into the positioning groove of the base (15), and the pliers tube (52) can be placed in the positioning groove of the inner ring (13).

[0009] The drive module (2) installs the motor (21) through the motor mounting holes at the lower end of the front upper end plate (11). The output shaft passes through the mounting hole of the front upper end plate (11), and then the rope output wheel (22) is installed on the motor output shaft to realize the output of the flexible cable (6) by the drive module (2).

[0010] The six flexible cables output by the drive module (2) are routed through the specific paths set by the pulley module (4). The flexible cables are symmetrically distributed around the center axis in the vertical plane. The flexible cable one (61) and the flexible cable six (66) are the outermost ones, farthest from the center. The flexible cable three (63) and the flexible cable four (64) are the flexible cables output by the middle two motors. The six flexible cables pass through the pulley module (4) and are output to the guiding porcelain hole module (3). The flexible cable one (61) and the flexible cable six (66) pass through two pulley modules (4), reach the upper end of the upper end plate, and then are output from the guiding porcelain hole module (3). The remaining four flexible cables only pass through one pulley module (4), and the directions of the six flexible cables finally output to the guiding porcelain hole module (3) through the pulley module are all coincident with the central axis direction of the guiding porcelain hole.

[0011] Six mounting holes are evenly distributed on the inner ring (13) for installing the guiding porcelain hole module (3). The central axes of the six guiding porcelain holes all point to the center of the inner ring (13), and the central axes of the guiding porcelain hole five (35) and the guiding porcelain hole two (32) on the left and right sides are horizontally distributed, and the remaining four guiding porcelain holes are located on the upper and lower sides of the inner ring (13).

[0012] The flexible cables (6) output by the above-mentioned guiding porcelain hole module (3) are connected to the triangular snap ring (51) in two groups, adopting an alternating grouping form, that is, flexible cable one (61), flexible cable three (63), and flexible cable five (65) are in one group, and flexible cable two (62), flexible cable four (64), and flexible cable six (66) are in one group.

[0013] The six flexible cables (6) output by the above-mentioned guiding porcelain hole module (3) respectively pass through the three top mounting holes of the triangular snap ring (51), and the ends of the flexible cables are fixed at the mounting holes. The front end and the rear end of the clamp tube (52) are respectively provided with mounting grooves. The elastic triangular snap ring (51) can be embedded into the grooves, and the side opening of the triangular snap ring (51) is closed. The threaded end of the clamp tube (52) can be fixed to the mouth of the motor cylinder (53), and an additional hole is opened at the bottom of the motor cylinder (53), and the small motor (54) can be fixed to the bottom of the motor cylinder (53). The motor data cable is led out from the side of the motor cylinder, and the motor output shaft extends out from the hole and is cooperatively connected with the handle (55) to realize the rotation of the handle (55) around the central axis of the fixed clamp tube (52), and then the motor provides resistance to restrict the rotation of the operating clamp around the axis.

[0014] Compared with the prior art, the beneficial effects of the present invention are specifically as follows:

[0015] The frame structure of the present invention is compact and convenient to install. Compared with the general mechanical link type remote operation master hand as a whole, it occupies a small volume, is light in weight, and is convenient to move and transfer.

[0016] The internal flexible cables of the present invention are routed along a specific path, and the contact times and areas between the flexible cables and the pulley module and the guiding porcelain hole module are extremely small, which maximally reduces the influence of the frame on the tensile force of the flexible cables and realizes precise operation control of the tensile force and the feedback force.

[0017] Through the alternating grouping of the flexible cables and the specific layout of the guiding porcelain hole module, the present invention reduces the pressure of the two flexible cables at the top outlet in the gravity direction, increases the maximum load force that each flexible cable can bear, and prolongs the service life of the flexible cables.

[0018] In order to solve the problem that the six-flexible-cable parallel robot can only restrict five degrees of freedom of the end effector, a motor is fixed at the threaded end of the clamp tube. The motor provides resistance to restrict the rotation of the operating clamp around the axis, and realizes the six-degree-of-freedom constraint of the end effector.

[0019] The present invention reads the information of seven motors through an encoder and transmits the six-degree-of-freedom pose information of the operating clamp to the slave end to realize the remote operation function.

[0020] The present invention restricts the six-degree-of-freedom movement of the operating clamp (5) through the resistance provided by seven motors, simulates the force of the slave end in contact with the environment and feeds it back to the operator to realize the force feedback function. Description of the Drawings

[0021] Figure 1 It is a cross-sectional view of the overall structure of a six-degree-of-freedom cable-driven teleoperation master hand;

[0022] Figure 2 It is an exploded view of the frame structure of a six-degree-of-freedom cable-driven teleoperation master hand;

[0023] Figure 3 It is a schematic diagram of the ring table structure of the frame of a six-degree-of-freedom cable-driven teleoperation master hand

[0024] Figure 4 It is a schematic diagram of the installation of the drive module of a six-degree-of-freedom cable-driven teleoperation master hand;

[0025] Figure 5 It is a schematic diagram of the internal cable routing of the frame of a six-degree-of-freedom cable-driven teleoperation master hand;

[0026] Figure 6 It is a schematic diagram of the connection between the external cable and the operating pliers of a six-degree-of-freedom cable-driven teleoperation master hand;

[0027] Figure 7 It is a schematic diagram of the installation of the handle of the operating pliers of a six-degree-of-freedom cable-driven teleoperation master hand;

[0028] Figure 8 It is an exploded view of the structure of the operating pliers of a six-degree-of-freedom cable-driven teleoperation master hand;

[0029] Figure 9 It is a schematic diagram of the installation of the fixing card of a six-degree-of-freedom cable-driven teleoperation master hand;

[0030] Figure 10 It is a schematic diagram of the master-slave control principle of a six-degree-of-freedom cable-driven teleoperation master hand;

[0031] Figure 11 It is a schematic diagram of the overall structure of a six-degree-of-freedom cable-driven teleoperation master hand;

[0032] Reference numerals:

[0033] 1. Frame, 2. Driving module; 3. Guide porcelain hole module; 4. Pulley module; 5. Operating pliers; 6. Flexible cable; 7. Fixed card; 11. Front upper end plate; 12. Rear upper end plate; 13. Inner ring; 14. Outer cover; 15. Base; 16. Bottom cover; 21. Motor; 22. Rope outlet pulley; 31. Guide porcelain hole 1; 32. Guide porcelain hole 2; 33. Guide porcelain hole 3; 34. Guide porcelain hole 4; 35. Guide porcelain hole 5; 36. Guide porcelain hole 6; 41. Pulley 1; 42. Pulley 2; 43. Pulley 3; 44. Pulley 4; 45. Pulley 5; 46. Pulley 6; 47. Pulley 7; 48. Pulley 8; 51. Triangular snap ring; 511. Front triangular snap ring; 512. Rear triangular snap ring; 52. Plier tube; 53. Motor cylinder; 54. Small motor; 55. Handle; 61. Flexible cable 1; 62. Flexible cable 2; 63. Flexible cable 3; 64. Flexible cable 4; 65. Flexible cable 5; 66. Flexible cable 6; 71. L-shaped fixed card 1; 72. L-shaped fixed card 2; 73. L-shaped fixed card 3; 74. Z-shaped fixed card 1; 75. Z-shaped fixed card 2. Detailed implementation mode

[0034] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further introduced in detail below with reference to the accompanying drawings.

[0035] Combined with Figure 1 As can be seen from the structure shown, a six-degree-of-freedom flexible cable-driven teleoperation master hand mentioned in the present invention is composed of a frame (1), a driving module (2), a guide porcelain hole module (3), a pulley module (4), an operating pliers (5), a flexible cable (6), and a fixed card (7).

[0036] Combined with Figure 2 , the frame (1) is composed of two parts, an annular platform and a base. The annular platform is further divided into a front upper end plate (11), a rear upper end plate (12), an inner ring (13), and an outer cover (14). Combined with Figure 3 As shown, the upper end of the front upper end plate (11) is an annular hollow semi-circular ring with eight mounting holes for installing the pulley module, and the lower end is a rectangular plate with thirty mounting holes, and its mounting holes are used to fix the six motors (21) of the driving module (2). The structure of the rear upper end plate (12) is similar to that of the front upper end plate, but its lower end is shorter and there are no additional motor holes. When installing, the distance between the two plates is slightly larger than the length of the pulley, and the upper edges are aligned. The pulley module (4) is installed through multiple mounting holes added at the upper ends of the two plates; the inner ring (13) and the outer cover (14) are stuck on the inner and outer sides of the two plates, and there are six circumferential arrays evenly distributed at the inner ring, with mounting holes that are 60° apart from each other in pairs, for installing the guide porcelain hole module (3).

[0037] Combined with Figure 2 , the base of the frame (1) is composed of a base (15) and a bottom cover (16). Combined with Figure 4Description: Its base structure is placed horizontally on the tabletop. The annular platform is vertically inserted into the rectangular positioning groove of the base (15), and the bottom cover (16) is installed at the lower end of the base. The overall framework is built, and finally combined with Figure 9 Description: Use the L-shaped fixing card two (72), L-shaped fixing card three (73), Z-shaped fixing card one (74), and Z-shaped fixing card two (75) to fix the two parts of the annular platform of the framework and the base, and then use the L-shaped fixing card one (71) to fix the front upper end plate (11) and the inner ring (13).

[0038] Combined with Figure 1 、 2 Description: The initial position of the operating pliers (5) is determined by the positioning grooves opened on the inner ring (13) and the base (15), which is used to restrict the initial position of the operating pliers (5). The square base at the lower end of the handle (55) can be inserted into the rectangular positioning groove of the base (15), and the plier tube (52) is placed in the semi-cylindrical positioning groove of the inner ring (13). The user can grasp the handle (55) to control the movement of the operating pliers (5) within the space defined by the framework (1).

[0039] Combined with Figure 2 、 3 Description: The drive module (2) consists of a motor (21) and a rope output pulley (22). The motor (21) is installed through the thirty additional holes at the lower end of the front upper end plate (11). The thirty holes are divided into six groups, with five holes in each group. The large hole in the middle installs the motor output shaft, and the four small holes are used to install the motor (21). The rope output pulley (22) is fixed on the motor output shaft, and the flexible cable (6) is wound around the rope output pulley (22). Finally, the flexible cable is driven by the output of the drive module (2).

[0040] Combined with Figure 5 Description: The six flexible cables (6) output by the above drive module (2) are arranged in order from left to right and named flexible cable one (61), flexible cable two (62), flexible cable three (63), flexible cable four (64), flexible cable five (65), and flexible cable six (66). The six flexible cables are in a vertical plane and are output to the guide porcelain hole module (3) through the pulley module (4). Flexible cable one (61) and flexible cable six (66) need to pass through the transition pulley seven (47) and transition pulley eight (48) respectively for mid-course turning, reach the upper end of the upper end plate, and then are output through the pulley one (41) and pulley six (46), and finally pass through the guide porcelain hole one (31) and guide porcelain hole six (36); flexible cable two (62) and flexible cable five (65) are output along the horizontal plane through the pulley two (42) and pulley five (45) respectively, and pass through the guide porcelain hole two (32) and guide porcelain hole five (35); flexible cable three (63) and flexible cable four (64) are output through the pulley three (43) and pulley four (44), and pass through the guide porcelain hole three (33) and guide porcelain hole four (34);

[0041] The above eight pulleys are installed at eight additional holes at the upper ends of the front upper end plate (11) and the rear upper end plate (12). Except for the over pulley seven (47) and the pulley eight (48), the wire outlet directions of the other six output pulleys coincide with the central axis of the guiding porcelain hole.

[0042] Combined with Figure 6 the description, the flexible cables (6) output by the guiding porcelain hole module (3) are grouped in an interleaved manner and connected to the front and rear triangular snap rings (51) of the operating pliers. The flexible cable one (61), the flexible cable three (63), and the flexible cable five (65) are grouped together and connected to the front triangular snap ring (511), and the flexible cable two (62), the flexible cable four (64), and the flexible cable six (66) are grouped together and connected to the rear triangular snap ring (512). Flexible cable connection holes are respectively added at the triangular top ends of the triangular snap rings (51), and the ends of the flexible cables can be fixed to the connection holes.

[0043] Combined with Figure 7 、 8 the description, the structure of the operating pliers is composed of a triangular snap ring (51), a plier tube (52), a motor cylinder (53), a small motor (54), and a handle (55). The made triangular snap ring (51) has elasticity, so that the triangular snap ring (51) connected to the flexible cable (6) can slightly open the side opening. As Figure 7 shown, they are respectively installed in the front and rear mounting grooves of the plier tube (52), and their shapes match the internal triangular structure of the triangular snap ring (51). Then, the side opening of the triangular snap ring (51) is closed by screwing, so that the triangular snap ring (51) completely fixes the plier tube (52). Finally, the five-degree-of-freedom movement of the plier tube (52) of the operating pliers is restricted by the pulling force of the flexible cable (6).

[0044] Combined with Figure 8 the description, for the above plier tube (52), its threaded end is a disk with threads, which can be threadedly connected to the mouth of the motor cylinder (53). There are five additional holes at the bottom of the motor cylinder (53), and the small motor (54) can be fixed to the bottom of the motor cylinder (53) by screwing. And the main motor output shaft extends out from the central hole, so that the motor output shaft is fitted and connected to the additional groove at the upper end of the handle (55), so as to realize the rotation of the handle (55) around the central axis of the plier tube (52), and the motor provides resistance to restrict the rotation of the operating pliers around the axis. And the data cable of the motor is led out from the side slot of the motor cylinder (53), which does not affect the rotation of the handle (55) around the central axis of the plier tube (52).

[0045] Combined with Figure 10It is described that the information of the motors connected to the six flexible cables and the motor in the operating pliers is read by the encoder, and the six-degree-of-freedom pose information of the operating pliers is transmitted to the slave end to realize the teleoperation function. Then, the resistance provided by the motors connected to the six flexible cables and the motor in the operating pliers is used to constrain the six-degree-of-freedom movement of the operating pliers (6), simulate the force of the slave end contacting the environment and feedback it to the operator to realize the force feedback function.

[0046] Those skilled in the art can understand that other similar connection methods can also implement the present invention. For example, methods such as welding, bonding or screwing.

[0047] Only some exemplary embodiments of the present invention have been described by way of illustration above. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A six-degree-of-freedom flexible cable-driven teleoperation master hand, characterized in that It is composed of a frame (1), a driving module (2), a guiding porcelain hole module (3), a pulley module (4), an operating clamp (5), a flexible cable (6), and a fixing card (7). The driving module (2) is installed in the base of the frame (1). The six flexible cables (6) output by the driving module (2) respectively pass through the pulley module (4), pass through the guiding porcelain hole module (3), and are connected to the operating clamp (5). The frame (1) is composed of a front upper end plate (11), a rear upper end plate (12), an inner ring (13), an outer cover (14), a base (15), and a bottom cover (16). The front upper end plate (11) and the rear upper end plate (12) are placed vertically and parallel to each other, and the middle is used to install the pulley module (4). The lower end of the front upper end plate installs six motors (21) of the driving module (2). Six mounting holes are evenly distributed at the inner ring for installing the guiding porcelain hole module (3). The base of the frame (1) is placed horizontally on the table. The inner ring (13) and the base (15) of the frame are provided with positioning grooves for restricting the initial position of the operating clamp (5). Six guiding porcelain holes are evenly distributed at the inner ring (13) of the frame. The six flexible cables passing through the guiding porcelain holes are staggered and divided into two groups and connected to the front and rear triangular snap rings (51) on the clamp tube (52) of the operating clamp. The first flexible cable (61), the third flexible cable (63), and the fifth flexible cable (65) are connected to the front triangular snap ring (511) as a group, and the second flexible cable (62), the fourth flexible cable (64), and the sixth flexible cable (66) are connected to the rear triangular snap ring (512) as a group to restrict the five-degree-of-freedom movement of the operating clamp (5). The operating clamp (5) is composed of a triangular snap ring (51), a clamp tube (52), a motor cylinder (53), a small motor (54), and a handle (55). The two triangular snap rings (51) are connected to the six flexible cables (6), and then embedded and fixed at the front and rear ends of the clamp tube (52). The five-degree-of-freedom movement of the operating clamp (5) is restricted by the tension of the flexible cable (6). The threaded end of the clamp tube (52) is connected to the mouth of the motor cylinder (53). The small motor (54) is fixed at the bottom of the motor cylinder (53). The output shaft of the small motor (54) is connected in cooperation with the upper end of the handle (55). The six-degree-of-freedom movement of the operating clamp (5) is restricted by the resistance provided by the motors (21) connecting the six flexible cables and the small motor (54) in the operating clamp. The six flexible cables (6) output by the driving module (2) are routed along the path set by the pulley module (4) and finally output to the guiding porcelain hole module (3).

2. The six-degree-of-freedom flexible cable-driven teleoperation master hand according to claim 1, characterized in that, To achieve the purpose of restricting the initial position of the operating clamp (5), a semi-cylindrical positioning groove and a rectangular positioning groove are respectively added to the designed inner ring (13) and the base (15). The square base of the handle (55) of the operating clamp (5) can be inserted into the positioning groove of the base (15), and the clamp tube (52) can be placed in the positioning groove of the inner ring (13).

3. The six-degree-of-freedom flexible cable-driven teleoperation master hand according to claim 1, characterized in that, The threaded end of the clamp tube (52) of the operating clamp is connected to the motor cylinder (53). The small motor (54) is fixed at the bottom of the motor cylinder (53). The handle (55) is connected in cooperation with the output shaft of the small motor (54), so that the handle (55) can rotate around the central axis of the clamp tube (52), and the rotation around the axis of the operating clamp is restricted by the resistance provided by the motor.

4. A six-degree-of-freedom cable-driven teleoperation master hand according to claim 1, characterized in that, At the triangular tips of the triangular snap ring (51), flexible cable connection holes are respectively attached, and the ends of the flexible cables can be fixed to the connection holes. At the front and rear ends of the pliers tube (52), two mounting grooves are attached, and their shapes match the inner ring structure of the triangular snap ring (51). The triangular snap ring (51) can be embedded in the additional mounting grooves of the pliers tube (52).

5. A six-degree-of-freedom flexible cable-driven teleoperation master hand according to claim 1, characterized in that, By reading the information of seven motors through an encoder, the operation clamping pose information is transmitted to the slave end to realize the teleoperation function. Then, through the resistance provided by the seven motors, the six-degree-of-freedom movement of the operation clamp (5) is restricted, and the force of the slave end contacting the environment is simulated and fed back to the operator to realize the force feedback function.

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