Parallel type force feedback master manipulator

Abstract

The application relates to a parallel force feedback master manipulator, which comprises a master manipulator holder, three groups of branch chain assemblies arranged on the master manipulator holder and a terminal handheld assembly, the branch chain assembly is composed of a base self-rotation transmission mechanism, a branch chain rotation transmission mechanism and a connecting rod transmission mechanism, the base self-rotation transmission mechanism can drive the branch chain rotation transmission mechanism to rotate as a whole; the branch chain rotation transmission mechanism can transmit the rotation torque to the connecting rod transmission mechanism, and the connecting rod transmission mechanism is connected with the terminal handheld assembly respectively. The parallel force feedback master manipulator can effectively reduce the mechanism singularity and increase the working space by introducing the redundant freedom degree into the branch chain assembly, meanwhile, the near-end driving of the clamping freedom degree can be realized, and the terminal mechanism is greatly simplified; in addition, all the force feedback driving motors are fixed near the master manipulator holder, the terminal operation inertia is effectively reduced, and the fatigue feeling of long-term operation of a user is reduced.

Description

Technical Field

[0001] This invention relates to the field of master-slave teleoperated robots, and more specifically to a parallel master manipulator with force feedback function. Background Technology

[0002] Force feedback devices are a new type of human-computer interaction device that allows users to touch and collect information about their hand movements. Simultaneously, users can manipulate objects in a computer-generated virtual environment and perceive their motion and corresponding force feedback information, achieving human-computer interaction in terms of position and force. Therefore, force feedback devices are widely used in fields such as simulation training, skills assessment, virtual assembly, creative design, and computer-aided surgical control.

[0003] A typical master-slave operating system consists of two main parts: a master operator and a slave operator. It enables remote operation, human-machine collaboration, and high-precision operation, allowing it to better replace humans in challenging tasks. The master operator, as a crucial component of the master-slave system, serves as the medium through which the operator controls the slave operator. Master operators can be classified structurally into series master operators, parallel master operators, and hybrid series-parallel master operators. Furthermore, installing drive motors at each joint of the master operator provides force feedback functionality.

[0004] The characteristics of a series force feedback master manipulator are simple structure, large workspace, and relatively flexible operation; however, such devices generally have low structural rigidity, small feedback force, and poor positioning accuracy. In addition, because a drive motor needs to be installed at each joint, the overall weight of the device is relatively large. Without a gravity compensation mechanism, the operator will bear the entire weight of the series robotic arm, resulting in a heavy operating burden. At the same time, even if a gravity compensation mechanism is designed, the overall operating inertia will still be large, resulting in a large operating force.

[0005] Parallel force feedback main manipulators employ a parallel structure, characterized by high structural rigidity and high motion accuracy. Furthermore, the drive motor for force feedback can be mounted near the base. Compared to series main manipulators, they exhibit lower operating inertia and higher output force. Therefore, parallel structures are more suitable for force feedback main manipulators. However, parallel main manipulators also suffer from drawbacks such as smaller workspace, lower flexibility, and less intuitive operation compared to series main manipulators due to their unique mechanism.

[0006] The series-parallel hybrid force feedback master hand combines series and parallel structures. It has the advantages of series master hand hand, such as large working space, pose decoupling, and flexible operation, as well as the advantages of parallel master hand hand, such as high rigidity and large output force. However, the structure is more complex and the end effector has a large inertia.

[0007] Therefore, there is an urgent need to provide a force feedback master manipulator with a large workspace, decoupling of position and orientation, flexible operation, low end-effector inertia, simple structure, and high rigidity, so as to effectively control the slave manipulator and complete the precise operation of the target object. Summary of the Invention

[0008] To address the problem that existing force feedback master operators cannot achieve a good balance between workspace, end effector inertia, and structural stiffness, the technical problem to be solved by this invention is to provide a parallel force feedback master operator that combines the characteristics of large workspace, high structural stiffness, low end effector inertia, and high motion accuracy.

[0009] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a parallel force feedback main operator, including a main handpiece frame, three sets of branch chain assemblies disposed on the main handpiece frame, and an end-hand hand assembly. The branch chain assembly consists of a base rotation transmission mechanism, a branch chain rotation transmission mechanism, and a linkage transmission mechanism, wherein:

[0010] The base rotation transmission mechanism is equipped with a drive motor and a transmission component, and can drive the entire branch rotation transmission mechanism to rotate through the drive motor and the transmission component.

[0011] The branch rotary transmission mechanism includes a rotating base rotatably connected to the main mobile phone frame, and a first motor drive assembly and a second motor drive assembly disposed on the rotating base. The first motor drive assembly and the second motor drive assembly each include a drive motor, a transmission component two and a rotating shaft. The drive motor drives the rotating shaft to rotate through the transmission component two. The rotating shaft in the second motor drive assembly is assembled inside the rotating shaft of the first motor drive assembly through a bearing.

[0012] The linkage transmission mechanism includes a first active link, a second active link, a passive link, and a drive link. The first active link is fixedly connected to the rotating shaft in the first motor drive assembly, the second active link is fixedly connected to the rotating shaft in the second motor drive assembly, the passive link is hinged to the second active link, and the drive link is hinged to both the first active link and the passive link. The passive link is parallel to the first active link, and the second active link is parallel to the drive link.

[0013] The end-hand component is rotatably connected to the drive rod in each branch component.

[0014] Preferably, in the base rotation transmission mechanism, the drive motor is a third drive motor, and the output shaft of the third drive motor is connected to the motor flange; the transmission component is two long connecting rods, one end of which is rotatably mounted on the motor flange, and the other end is rotatably connected to the rotating base, and the lines connecting the four endpoints of the two long connecting rods can form a parallelogram.

[0015] Preferably, in the branch chain rotary transmission mechanism, the transmission component two includes an active winding wheel connected to a drive motor and a passive winding wheel connected to the active winding wheel via a drive wire, and the rotating shaft is connected to the passive winding wheel.

[0016] Preferably, in the base rotation transmission mechanism, the third drive motor is fixed to the main mobile phone frame via a motor mounting bracket.

[0017] Preferably, the end-hand assembly includes a handle, a clamp hinged to the handle, and an end platform fixed to the handle. The end platform is provided with a slide rail and a return spring. A slider is fitted on the slide rail. One end of the return spring is connected to the slider and can keep the clamp and the slider in contact under the action of the spring's restoring force. In the three sets of branch assemblies, the drive rod in one of the branch assemblies is connected to the slider.

[0018] Preferably, in the linkage transmission mechanism, the end of the drive rod is provided with a first cylindrical protrusion, and an equivalent ball joint bearing is rotatably connected to the first cylindrical protrusion to form a first revolute joint; the equivalent ball joint bearing is connected to an equivalent ball joint connecting column through a rotating pin to form a second revolute joint; the end of the equivalent ball joint connecting column is provided with a second cylindrical protrusion, and the second cylindrical protrusion is rotatably connected to the end handheld assembly to form a third revolute joint; the rotation axes of the first, second, and third revolute joints intersect at a point.

[0019] Preferably, the three sets of branch components are evenly distributed on the main mobile phone frame along the circumferential direction.

[0020] Preferably, the main mobile phone frame includes a motor cover, a support bracket fixed on the motor cover, and a support frame for supporting the motor cover; the rotating base in the support bracket assembly is rotatably connected to the rotating support column, and the rotating support column is disposed on the support bracket; the third drive motor in the base rotation transmission mechanism is fixed on the inner wall of the motor cover.

[0021] Compared with the prior art, the present invention has the following advantages and effects:

[0022] 1. In the parallel force feedback main operator hand described in this application, the base rotation transmission mechanism in the branch assembly enables the end-hand component to have translational degrees of freedom; simultaneously, the branch rotation transmission mechanism and the linkage transmission mechanism enable the end-hand component to have rotational degrees of freedom; the parallel arrangement of the three branch assemblies enables the main operator end to have six spatial degrees of freedom (including three translational degrees of freedom and three rotational degrees of freedom); at the same time, the drive motors at each rotation joint in the branch assembly enable the end-hand component to provide six-dimensional spatial force feedback force to the operator's palm; compared with the existing parallel configuration force feedback main operator hand, this application integrates the parallel mechanism that enables the end-hand component to obtain rotational and translational degrees of freedom in the branch assembly, reducing the singularity of the mechanism and thus greatly increasing the rotational workspace.

[0023] 2. In the parallel force feedback main operator described in this application, the branch rotary transmission mechanism is provided with two sets of motor drive components, and the rotating shaft of the second motor drive component is assembled inside the rotating shaft of the first motor drive component through bearings. This arrangement avoids the rotational coupling problem between the two rotating shafts. At the same time, the arrangement of the two sets of motor drive components and the parallelogram linkage transmission mechanism makes the overall structure of the branch rotary transmission mechanism have high rigidity and large load-bearing capacity, thereby ensuring that the mechanism still has high motion accuracy while outputting feedback force.

[0024] 3. In existing parallel or series force feedback master operators, a separate drive motor needs to be set on the end-effector to provide feedback on the end-effector clamping force. However, the additional setting of the clamping force feedback motor results in a large end weight of the master operator, which in turn leads to a large operating inertia and a large operating burden on the operator. This application sets a slide rail, a slider, a return spring and a clamp on the end-effector, and connects the drive rod in any branch assembly to the slider of the end-effector. This allows the drive motor in the branch assembly to not only provide six-dimensional spatial feedback force to the end-effector, but also to provide clamping feedback force for the clamping degree of freedom. This reduces the number of motors and further reduces the end-effector inertia.

[0025] 4. The main operator described in this application has nine drive motors. To prevent the overall size and end-effector mass from becoming excessive due to the large number of motors, this application drives the third drive motor and the branch chain rotary transmission mechanism via a transmission method, and fixes the third drive motor to the main operator frame. In addition, the first and second drive motors in the branch chain rotary transmission mechanism are both mounted on a rotating base, and the rotating base is connected to the motor flange of the third drive motor through two parallel connecting rods. Therefore, the first and second drive motors are close to the main operator frame, so that all nine drive motors of the main operator are located near the frame. This arrangement makes the overall size of the main operator small and compact, and reduces the overall mass and operating inertia of the end-effector, which helps to improve operating comfort and reduce operator fatigue during long-term operation.

[0026] 5. In the parallel force feedback main operator described in this application, the branch chain rotary transmission mechanism rotates at an angle of less than 90° within the working space. The parallelogram-like linkage transmission structure, consisting of two parallel links, a motor flange, and a rotating base, is more suitable for small-angle transmission. Compared to belt transmission, the linkage transmission structure does not require a tensioning structure, making it simpler. Compared to gear transmission, the linkage transmission structure has no backlash and no return error, resulting in higher transmission accuracy than gear structures. Furthermore, this transmission connection method allows the motor and the rotary joint to be closer together, which is beneficial for reducing the overall size of the main operator. Therefore, using a parallelogram linkage transmission structure to connect the drive motor and the branch chain rotary transmission mechanism has the advantages of simple structural design, high transmission accuracy, and small overall size of the main operator.

[0027] 6. In the parallel force feedback main operator described in this application, the first drive motor and the second drive motor in the branch chain rotary transmission mechanism are close to the two rotary joints, and the rotation angle of the rotary joints in the workspace is greater than 90 degrees. Therefore, the rotary joints are driven by wire transmission. This transmission method is similar to belt transmission or gear transmission. However, the deformation of the wire rope is less than that of the belt during transmission. The accuracy of wire transmission is better than that of belt transmission, and the return error is less than that of gear transmission mechanism. The improvement of transmission accuracy is conducive to improving the positioning accuracy of the main operator. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1This is a schematic diagram of the overall structure of the parallel force feedback main operator as described in an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the structure of the parallel force feedback main operating hand motor cover side removal according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the overall structure of the main mobile phone frame according to an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the overall structure of the branch component described in an embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of the split structure of the base rotation transmission mechanism described in an embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the split structure of the branch chain rotary transmission mechanism according to an embodiment of the present invention.

[0035] Figure 7 This is a schematic diagram of the split structure of the linkage transmission mechanism according to an embodiment of the present invention.

[0036] Figure 8 This is a three-dimensional structural diagram of the end-hand handheld component described in an embodiment of the present invention.

[0037] Figure 9 This is a schematic diagram of the connection between the rotating joints in the branch assembly described in an embodiment of the present invention.

[0038] Figure 10 Force analysis diagram of the end effector of the force feedback main operator according to the embodiment of the present invention; a) Force diagram of the end effector component of the main operator; b) Simplified force diagram of the end effector component.

[0039] Figure 11 The force feedback main operating hand clamping force diagram described in the embodiment of the present invention.

[0040] Labeling Explanation: 1. Main Unit Frame; 11. Motor Cover; 12. Support Frame; 1201. Base Plate; 1202. Support Vertical Plate; 13. Branch Chain Mounting Base; 14. Recessed Slot; 2. Branch Chain Assembly; 21. Branch Chain Rotation Transmission Mechanism; 2101. First Drive Motor; 2102. Rotating Base; 2103. Second Drive Motor; 2104. First Active Winding Wheel; 2105. First Passive Winding Wheel; 2106. First Rotating Shaft; 2107. First Rotating Shaft Bearing; 2108. Inner Bearing; 2109. Second Rotating Shaft; 2110. Second Passive Winding Wheel; 2111. Second Active Winding Wheel; 22. Linkage Transmission Mechanism; 2201. Second Main... 2202. Moving link; 2203. Passive link; 2204. First active link; 2205. Drive rod; 2206. First cylindrical protrusion; 2207. Equivalent ball joint bearing; 2208. Rotating pin; 23. Equivalent ball joint connecting column; 24. Base rotation transmission mechanism; 25. Third drive motor; 26. Motor mounting base; 27. Motor flange; 28. Long link; 28. Assembly base; 29. ​​Rotating support column; 2000. Rotating bearing; 2001. End-effector assembly; 201. Handle; 202. Clamp; 303. End platform; 31. Drive rod connecting part; 32. Return spring; 33. Slide rail; 34. Slider. Detailed Implementation

[0041] The present invention will be further described in detail below with reference to the embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0042] Example 1: As Figures 1 to 8 As shown, this embodiment provides a parallel force feedback master operator.

[0043] like Figure 1 , Figure 2 As shown, it includes a main phone frame 1, three sets of branch chain assemblies 2 mounted on the main phone frame, and an end-hand grip assembly 3; wherein: the branch chain assembly 2 is composed of a base rotation transmission mechanism 23, a branch chain rotation transmission mechanism 21, and a linkage transmission mechanism 22, specifically:

[0044] like Figure 2 , 4 As shown in Figure 5, the base rotation transmission mechanism 23 is rotatably connected to the branch rotation transmission mechanism 21; specifically, the base rotation transmission mechanism 23 is provided with a drive motor and a transmission component, and can drive the branch rotation transmission mechanism 21 to rotate as a whole through the drive motor and the transmission component.

[0045] like Figure 2 , 4As shown in Figure 6, the branch rotation transmission mechanism 21 includes a rotating base 2102 rotatably connected to the main mobile phone frame 1, and a first motor drive assembly and a second motor drive assembly disposed on the rotating base 2102. The first motor drive assembly and the second motor drive assembly respectively include a drive motor, a transmission component two and a rotating shaft. The drive motor drives the rotating shaft to rotate through the transmission component two. The rotating shaft in the second motor drive assembly is assembled inside the rotating shaft of the first motor drive assembly through a bearing.

[0046] like Figure 2 , 4 As shown in Figure 7, the linkage transmission mechanism 22 includes a first active link 2203, a second active link 2201, a passive link 2202, and a drive link 2204. The first active link 2203 is fixedly connected to the rotating shaft in the first motor drive assembly, the second active link 2201 is fixedly connected to the rotating shaft in the second motor drive assembly, the passive link 2202 is hinged to the second active link 2201, and the drive link 2204 is hinged to both the first active link 2203 and the passive link 2202. The passive link 2202 is arranged parallel to the first active link 2203, and the second active link 2201 is arranged parallel to the drive link 2204.

[0047] like Figure 1 , 2 As shown, the end-hand handheld component 3 is rotatably connected to the drive rod 2204 in each branch component.

[0048] like Figure 4 , 9 As shown in Embodiment 1, the parallel force feedback main operator has a total of 6 rotary joints and 9 drive motors. To prevent the main operator from becoming too large in size and end-effector mass due to the large number of motors, the arrangement of the motors needs to be considered during the design. Specifically, directly connecting all motors to the rotary joints would inevitably result in an excessively large overall size of the main operator and a large end-effector inertia. Therefore, this application first considers the motor arrangement that minimizes the overall size of the main operator, namely, using drive motors and rotary joints for transmission; specifically:

[0049] As a preferred option, such as Figure 5 As shown, the base rotation transmission mechanism 23 is equipped with a third drive motor 2301, the output shaft of which is connected to the motor flange 2303; the transmission component consists of two long connecting rods 2304, one end of which is rotatably mounted on the motor flange 2303, and the other end is rotatably connected to the rotating base 2102, and the lines connecting the four endpoints of the two long connecting rods 2304 can form a parallelogram.

[0050] In this embodiment, the working principle of the base rotation transmission mechanism 23 is as follows:

[0051] The two long connecting rods 2304 can form a parallelogram connecting rod transmission mechanism with the motor flange 2303 and the rotating base 2102 in the branch rotary transmission mechanism 21. When the third drive motor 2301 starts, the motor flange 2303 rotates, which drives the two long connecting rods 2304 to push the branch rotary transmission mechanism 21, which is mounted on the main hand frame 1, to rotate as a whole, thereby giving the main hand end moving platform connected to the branch rotary transmission mechanism 21 translational freedom.

[0052] The specific reasons for the base rotation transmission mechanism 23 described in Embodiment 1 of the present invention are as follows:

[0053] like Figure 1 , 2 As shown, the branch-chain rotary transmission mechanism 21 rotates at an angle of less than 90° within the working space. The parallelogram-shaped linkage transmission structure, composed of two long connecting rods 2304, a motor flange 2303, and a rotating base 2102, is more suitable for small-angle transmission. This linkage mechanism, besides avoiding direct connection between the drive motor and the rotary joint, thus reducing the overall size of the main operator's hand, also eliminates the need for a tensioning structure compared to belt drives, resulting in a simpler structure. Compared to gear drives, it has no backlash, no hysteresis error, and high transmission accuracy. In summary, using a parallelogram-shaped linkage mechanism to connect the third drive motor 2301 to the branch-chain rotary transmission mechanism 21 offers advantages such as simple structural design, high transmission accuracy, and a small overall size of the main operator's hand.

[0054] Furthermore, such as Figure 5 , 6 As shown in Figure 7, in the branch chain rotary transmission mechanism 21, the rotating base 2102 is mounted on the rotating support column 2306 via a rotating bearing 2307, the rotating support column 2306 is disposed on the mounting base 2305, and the mounting base 2305 is disposed on the main unit frame 1; the transmission component two includes an active winding wheel connected to the drive motor and a passive winding wheel connected to the active winding wheel via a drive wire, and the rotating shaft is connected to the passive winding wheel, specifically:

[0055] like Figure 6 As shown, the first motor drive assembly includes a first drive motor 2101, a first rotating shaft 2106, a first active winding wheel 2104, and a first passive winding wheel 2105. The first active winding wheel 2104 is connected to the output shaft of the first drive motor 2101, and the first passive winding wheel 2105 is connected to the first rotating shaft 2106. The first rotating shaft 2106 is mounted on the rotating base 2102 through a first rotating shaft bearing 2107.

[0056] The second motor drive assembly includes a second drive motor 2103, a second rotating shaft 2109, a second active winding wheel 2111, and a second passive winding wheel 2110. The second active winding wheel 2111 is connected to the output shaft of the second drive motor 2103, and the second passive winding wheel 2110 is connected to the second rotating shaft 2109. One end of the second rotating shaft 2109 is mounted on the rotating base 2102 through a second rotating shaft bearing 2108, and the other end is connected to the inside of the first rotating shaft 2106 through a bearing.

[0057] When the first drive motor 2101 and the second drive motor 2103 are started, the first active winding wheel 2104 and the second active winding wheel 2111 rotate, thereby driving the first rotating shaft 2106 connected to the first passive winding wheel 2105 and the second rotating shaft 2109 connected to the second passive winding wheel 2110 to rotate, and transmitting the torque to the parallelogram linkage mechanism composed of the first active connecting rod 2203, the second active connecting rod 2201, the passive connecting rod 2202 and the drive rod 2204, thereby enabling the end-hand handheld component 3 to obtain rotational freedom.

[0058] like Figure 9 As shown, in the branch assembly 2 of this embodiment: the branch rotation transmission mechanism 21 can rotate relative to the rotating base 2102, forming a rotation joint 1; the first rotating shaft 2106 drives the first active connecting rod 2203 to rotate, forming a rotation joint 2; the second rotating shaft 2109 drives the second active connecting rod 2201 to rotate, forming a rotation joint 3; the second active rod 2201 is hinged to the passive connecting rod 2202, forming a rotation joint 4; the passive connecting rod 2202 is hinged to the drive rod 2204, forming a rotation joint 5; the drive rod 2204 is hinged to the first active connecting rod 2203, forming a rotation joint 6.

[0059] In the branch assembly 2 described in this embodiment, the drive motor and the rotating shaft can be driven by wire, belt, or gear. However, in the branch rotary transmission mechanism 21, the first drive motor 2101 and the second drive motor 2103 are close to the two rotating joints (joints 2 and 3), and the rotation angle of the rotating joints (joints 2 and 3) in the working space is greater than 90°. Therefore, the rotating joints are driven by wire. In this transmission method, the deformation of the wire (steel wire rope) is less than that of the belt, and the return error is less than that of the gear transmission mechanism. Therefore, the transmission accuracy is higher, which is beneficial to improving the positioning accuracy of the main operator.

[0060] In summary, in the parallel force feedback main operator hand described in this embodiment, the base rotation transmission mechanism 23 in the branch assembly 2 enables the end-hand component 3 to have translational degrees of freedom; simultaneously, the branch rotation transmission mechanism 21 and the linkage transmission mechanism 22 enable the end-hand component 3 to have rotational degrees of freedom; the arrangement of the three branches 2 enables the main operator end to have six spatial degrees of freedom (including three translational degrees of freedom and three rotational degrees of freedom); at the same time, the drive motors at each rotation joint in the branch assembly enable the end-hand component 3 to provide six-dimensional spatial force feedback force to the operator's palm; compared with the existing parallel configuration force feedback main operator hand, this embodiment integrates the parallel mechanism that enables the end-hand component to obtain rotational and translational degrees of freedom in the three branches 2, which increases multiple redundant degrees of freedom while reducing the singularity of the mechanism and thus greatly increases the rotational working space of the parallel mechanism.

[0061] In addition, in the parallel force feedback main operator described in this embodiment, the branch rotary transmission mechanism 21 is equipped with two sets of motor drive components, and the rotating shaft in the second motor drive component is assembled inside the rotating shaft of the first motor drive component through a bearing. This arrangement avoids the rotational coupling problem between the two rotating shafts. At the same time, the arrangement of the two sets of motor drive components and the parallelogram linkage transmission mechanism makes the branch component as a whole have the characteristics of high structural rigidity and large load-bearing capacity, thereby ensuring that the mechanism still has high motion accuracy while outputting feedback force.

[0062] Example 2: Figure 1 , 2 As shown, this embodiment, based on the parallel force feedback main operator described in Embodiment 1, further defines the following:

[0063] The three sets of branch components 2 are evenly distributed along the circumference on the main mobile phone frame 1; wherein, the three sets of branch components 2 are evenly distributed along the circumference at 120°, which can effectively avoid mutual interference between the self-rotation and rotational transmission of the three sets of branch components 2.

[0064] In addition, such as Figure 2 , 3As shown in Figure 5, in the base rotation transmission mechanism 23 of this embodiment, the third drive motor 2301 is fixed to the main mobile phone frame 1 through the motor fixing seat 2302. Specifically, as one embodiment, the main mobile phone frame 1 includes a motor cover 11, a support chain mounting seat 13 fixed on the motor cover 11, and a support frame 12 for supporting the motor cover 11. The mounting base 2305 is disposed on the support chain mounting seat 13. The support frame 12 includes a base plate 1201 and a support vertical plate 1202 fixed to the base plate 1201 and the motor cover 11. In the base rotation transmission mechanism 23, the third drive motor 2301 is fixed to the inner wall of the motor cover 11. The long connecting rods 2304 extend out of the motor cover through the recesses 14 disposed on the motor cover 11 and are connected to the rotating base 2102.

[0065] In this embodiment, the third drive motor 2301 is mounted on the main handpiece frame 1 in the base rotation transmission mechanism 23. In the branch rotation transmission mechanism 21, the first drive motor 2101 and the second drive motor 2103 are mounted on the rotating base 2102, which is connected to the motor flange of the third drive motor via two long connecting rods. Therefore, the first drive motor 2101 and the second drive motor 2103 are both located close to the main handpiece frame 1. This allows all nine drive motors of the main handpiece to be located near the main handpiece frame. This structural arrangement helps to further reduce the mass of the end effector and the overall operating inertia of the end effector, and effectively reduces operator fatigue when the operator performs long-term operations.

[0066] Example 3: In a master-slave teleoperation system, the master operator can transmit the operator's intentions to the slave operator via a host computer, thereby controlling the movement of the slave operator. To accurately reach the target position and manipulate the target sample, such as through gripping, the slave operator typically requires seven degrees of freedom: three-dimensional translational and three-dimensional rotational degrees of freedom, plus a one-dimensional end-effector opening / closing degree of freedom. Correspondingly, the master operator also needs six spatial degrees of freedom and one gripping degree of freedom located at its end. Furthermore, the end of the master operator needs to have a gripping force feedback function. However, typically, the gripping force feedback at the end of the master operator requires a separate drive motor on the handheld component. This additional force feedback motor results in a heavier end of the master operator, leading to greater inertia and a heavier workload.

[0067] Based on this, such as Figure 8 As shown, this embodiment provides a parallel force feedback main operator, which differs from Embodiments 1 and 2 in that the end-hand gripping component 3 of the main operator is provided with a gripping mechanism that can provide force feedback for the gripping degree of freedom of the main operator; the specific structure is as follows:

[0068] The end-hand component 3 includes a handle 31, a clamp 32 hinged to the handle 31, and an end platform 33 fixed to the handle 31. The end platform 33 is provided with a slide rail 36 and a return spring 35. A slider 37 is provided on the slide rail 36. One end of the return spring 35 is connected to the slider 37 and can keep the clamp 32 and the slider 37 in contact under the action of the spring's restoring force. In the three sets of branch components 2, the drive rod 2204 in one branch component 2 is connected to the slider 37.

[0069] In this embodiment, the end-hand grip component 3 provides a gripping part for the operator to operate the main operating hand, and also has a clamping mechanism that provides force feedback for the clamping degree of freedom of the main operating hand; among the three sets of branch components 2, the end of the drive rod in one branch component is connected to the gripping component through a slide rail 36 and a slider 37; wherein: the slide rail and slider ensure that the end of the drive rod and the hand-hand platform have only one degree of linear relative displacement, and the operator drives the clamping degree of freedom through the clamp; at the same time, there is a return spring between the drive rod and the end platform, which ensures that the clamping mechanism can automatically reset when the operator does not drive the clamping degree of freedom, without the need for manual reset by the operator; when the operator operates the main operating hand, the user's palm can grip the handle, and the handle provides six-dimensional spatial feedback force to the operator's palm, and the fingers are placed on the clamp, and the clamp provides one-dimensional clamping feedback force to the operator's fingers. In summary, the main operating hand in this embodiment has seven-dimensional motion capabilities, including the clamping degree of freedom.

[0070] Compared to existing main operators that additionally set a clamping force feedback motor on the end-hand component, this embodiment sets a slider, slide rail and return spring on the hand-hand component; and connects the drive rod in one of the chain components to the slider of the hand-hand component, so that the drive motor in the chain component can not only provide six-dimensional spatial feedback force to the end-hand component, but also provide clamping feedback force for the clamping degree of freedom. Moreover, the drive motor is located near the main mobile phone frame, thereby reducing the number of motors and further reducing the operating inertia of the end-hand component.

[0071] Furthermore, in the main operating hand described in embodiments 1 to 3, the drive rod 2204 is connected to the end-hand assembly 3 through the following structural arrangement:

[0072] like Figure 7As shown, the drive rod 2204 has a first cylindrical protrusion 2205 at its end, and an equivalent ball joint bearing 2206 is rotatably connected to the first cylindrical protrusion 2205 to form a first revolute joint; the equivalent ball joint bearing 2206 is connected to an equivalent ball joint connecting post 2208 via a rotating pin 2207 to form a second revolute joint; the equivalent ball joint connecting post 2208 has a second cylindrical protrusion at its end, and the second cylindrical protrusion is rotatably connected to the end handheld assembly 3 (specifically, rotatably connected to the drive rod connecting part 34 on the end platform 33 and the slider 37) to form a third revolute joint; the rotation axes of the first, second, and third revolute joints intersect at a point.

[0073] Specifically, a connecting bearing is provided on the first cylindrical protrusion 2205. The inner ring of the connecting bearing is fixed on the first cylindrical protrusion, and the outer ring of the connecting bearing is fixed on the equivalent ball joint pivot seat 2206, forming the first revolute joint. Two rotating pins 22207 pass through the bearing, the circular hole of the equivalent ball joint pivot seat 2206, and the circular hole of the equivalent ball joint connecting post 2208 in sequence, forming the second revolute joint. The inner ring of the bearing on the end hand assembly 3 is fixed to the end face of the second cylindrical protrusion, forming the third revolute joint. The rotation axes of the three revolute joints intersect at one point, thus forming an equivalent ball joint with a larger rotation range and higher flexibility, thereby effectively ensuring the operational flexibility of the main operator.

[0074] The parallel force feedback master hand provided in the above embodiments of the present invention is a six-degree-of-freedom redundant parallel mechanism. One of the three redundant degrees of freedom at the end of the parallel mechanism is used as the clamping degree of freedom. Simultaneously, to bring the joint motors closer to the master hand frame and reduce end-effector inertia, a parallelogram transmission mechanism connects the rotary joints to the drive motors, so that nine drive motors are respectively installed at the rotary joints near the master hand frame of the parallel mechanism. Furthermore, the motors of the parallel mechanism can provide six-dimensional feedback force to the end-effector handheld component and clamping feedback force to the clamping degree of freedom. Compared with existing serial mechanisms and series-parallel structures, this design places all the drive motors for the end-effector's rotation, translation, and clamping degrees of freedom near the frame, effectively reducing the end-effector's mass and overall operating inertia, thus effectively reducing operator fatigue during prolonged operation.

[0075] Example 4: Decoupling Analysis of Six-Dimensional Spatial Feedback Force and One-Dimensional Clamping Feedback Force of the Handheld Component at the End of the Main Operator

[0076] The main operating hand end effector described in this invention has seven degrees of freedom, and can simultaneously provide the operator with six-dimensional spatial feedback force and one-dimensional clamping feedback force. For example... Figure 10As shown, the six-dimensional spatial feedback force and one-dimensional clamping feedback force of the main operator's hand-held part are both provided by three drive rods. Whether the six-dimensional spatial feedback force and one-dimensional clamping feedback force provided by the drive rods to the hand-held part will affect each other will be demonstrated below. When the drive rods provide feedback force and feedback torque to the end hand-held platform, they can also provide clamping feedback force to the clamping part, thus achieving decoupling of the six-dimensional spatial feedback force and the one-dimensional clamping feedback force.

[0077] like Figure 10 As shown, a static analysis of the end-effector assembly is performed. When the main operator feeds back the six-dimensional spatial force, the end platform is mainly subjected to the driving forces f1, f2, and f3 of the three drive rods and the reaction force F and torque M of the hand on the end platform.

[0078] When the end-effector is stationary, it is in a state of force equilibrium. The forces acting on the end-effector in the x, y, and z directions at the origin of the {o} coordinate system are:

[0079] -F x =f 1x +f 2x +f 3x (1-1)

[0080] -F y =f 1y +f 2y +f 3y

[0081] -F z =f 1z +f 2z +f 3z

[0082] When the end effector is stationary, all torques should be in equilibrium. Taking moments about points O, 1, 2, and 3 respectively, and taking moments about point O for the component of the force in the z-direction:

[0083] f 2z ×y2+f 1z ×y1+f 3z ×y3+M x =0

[0084] -f 1z ×x1-f 3z ×x3-f 2z ×x2+M y =0 (1-2)

[0085] -f 1x ×y1+f 1y ×x1-f 2x ×y2+f 2y ×x2-f 3x×y3+f 3y ×x3+M z =0

[0086] The components of f1, f2, f3, F, and torque M on the end effector assembly, taken about points 1, 2, and 3 respectively, are:

[0087] -f 2x ×(y2-y1)+f 2y ×(x2-x1)-F x ×(-y1) (1-3)+F y ×(-x1)+f 3y ×(x3-x1)+M z =0

[0088] f 1x ×(y2-y1)+f 1y ×(x1-x2)+F x ×y2-F y ×x² (1-4)+f 3y ×(x³-x²)+f 3x ×(y2-y3)+ M z = 0

[0089] f 1y ×(x1-x3)+f 2y ×(x2-x3)+f 2x ×(y3-y2) (1-5)+F x ×y3-F y ×x3+M z =0

[0090] Solving equation (1-1) yields:

[0091]

[0092] Solving equations (1-4) and (1-5) yields:

[0093]

[0094] The augmented matrix of (1-7) is:

[0095]

[0096] Further simplification:

[0097]

[0098] Observing equation (1-9), we can see that the matrix corresponding to the system of force equations is not of full rank, and we can let one particular solution be:

[0099] f1x =0,f 1y =0,f 2y =f 3y (1-10)

[0100] Finally, the magnitudes of all forces can be obtained as follows:

[0101] f 1x =0 (1-11)

[0102] f 1y =0 (1-12)

[0103]

[0104]

[0105] f 3x =-F x -f 2x (1-15)

[0106]

[0107]

[0108] From the above calculations, it can be seen that when f1, f2, and f3 provide six-dimensional spatial feedback forces to the end-effector, the force f1... 1x It can be 0, while O x The direction is the direction of the clamping feedback force, at which point f can be used. 1x Provide feedback force for clamping force, such as Figure 11 As shown, when f 1x When providing feedback force for clamping force, it does not affect other forces of the drive rod, and provides six-dimensional spatial feedback force to the end, thereby achieving decoupling of six-dimensional spatial feedback force from one-dimensional clamping feedback force.

[0109] Furthermore, it should be noted that the shapes and names of the parts and components described in the specific embodiments described in this specification may differ. All equivalent or simple variations made to the structure, features, and principles described in this patent concept are included within the protection scope of this patent. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the structure of this invention or exceed the scope defined in these claims, they should all fall within the protection scope of this invention.

Claims

1. A parallel force feedback master operator, characterized in that, The device includes a main phone frame, three sets of branch chain assemblies mounted on the main phone frame, and an end-effector handheld assembly. Each branch chain assembly comprises a base rotation transmission mechanism, a branch chain rotation transmission mechanism, and a linkage transmission mechanism, wherein: The base rotation transmission mechanism is equipped with a drive motor and a transmission component, and can drive the entire branch rotation transmission mechanism to rotate through the drive motor and the transmission component. The branch rotary transmission mechanism includes a rotating base rotatably connected to the main mobile phone frame, and a first motor drive assembly and a second motor drive assembly disposed on the rotating base. The first motor drive assembly and the second motor drive assembly each include a drive motor, a transmission component two, and a rotating shaft. The drive motor in the first motor drive assembly and the second motor drive assembly drives the rotating shaft to rotate through the transmission component two. The rotating shaft in the second motor drive assembly is assembled inside the rotating shaft of the first motor drive assembly through a bearing. The linkage transmission mechanism includes a first active link, a second active link, a passive link, and a drive link. The first active link is fixedly connected to the rotating shaft in the first motor drive assembly, the second active link is fixedly connected to the rotating shaft in the second motor drive assembly, the passive link is hinged to the second active link, and the drive link is hinged to both the first active link and the passive link. The passive link is parallel to the first active link, and the second active link is parallel to the drive link. The end-hand component is rotatably connected to the drive rod in each branch component.

2. The parallel force feedback master operator according to claim 1, characterized in that, In the base rotation transmission mechanism, the drive motor is a third drive motor, and the output shaft of the third drive motor is connected to the motor flange; the transmission component is two long connecting rods, one end of which is rotatably mounted on the motor flange, and the other end is rotatably connected to the rotating base, and the lines connecting the four endpoints of the two long connecting rods form a parallelogram.

3. The parallel force feedback main operator according to claim 2, characterized in that, In the branch chain rotary transmission mechanism, the transmission component two includes an active winding wheel connected to a drive motor and a passive winding wheel connected to the active winding wheel via a drive wire, and the rotating shaft is connected to the passive winding wheel.

4. The parallel force feedback main operator according to claim 2 or 3, characterized in that, In the base rotation transmission mechanism, the third drive motor is fixed to the main mobile phone frame through a motor mounting bracket.

5. The parallel force feedback master operator according to claim 4, characterized in that, The end-hand assembly includes a handle, a clamp hinged to the handle, and an end platform fixed to the handle. The end platform is provided with a slide rail and a return spring. A slider is fitted on the slide rail. One end of the return spring is connected to the slider and can keep the clamp and the slider in contact under the action of the spring's restoring force. In the three sets of branch assemblies, the drive rod in one of the branch assemblies is connected to the slider.

6. The parallel force feedback master operator according to claim 5, characterized in that, In the linkage transmission mechanism, the end of the drive rod is provided with a first cylindrical protrusion, and an equivalent ball joint bearing is rotatably connected to the first cylindrical protrusion to form a first revolute joint; the equivalent ball joint bearing is connected to an equivalent ball joint connecting column through a rotating pin to form a second revolute joint; the end of the equivalent ball joint connecting column is provided with a second cylindrical protrusion, and the second cylindrical protrusion is rotatably connected to the end handheld assembly to form a third revolute joint; the rotation axes of the first, second, and third revolute joints intersect at a point.

7. The parallel force feedback master operator according to claim 6, characterized in that, The three sets of branch components are evenly distributed along the circumferential direction on the main mobile phone frame.

8. The parallel force feedback master operator according to claim 7, characterized in that, The main mobile phone frame includes a motor cover, a support bracket fixed on the motor cover, and a support frame for supporting the motor cover; the rotating base in the support bracket assembly is rotatably connected to the rotating support column, and the rotating support column is disposed on the support bracket; in the base rotation transmission mechanism, the third drive motor is fixed on the inner wall of the motor cover.

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