Rope-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand

Abstract

The application relates to a rope transmission six-freedom-degree force feedback teleoperation master hand, which comprises a base, the base is provided with a first torque motor with a vertical axis, the first torque motor is connected with an output disc through a first rope transmission mechanism, the output disc is fixed with a second torque motor with a horizontal axis, the second torque motor is connected with the bottom end of a first connecting rod assembly through a second rope transmission mechanism, the top end of the first connecting rod assembly is hinged with one end of a second connecting rod assembly, the other end of the second connecting rod assembly is hinged with an output flange, the output flange is installed with a holding component, the output disc is rotationally connected with a third torque motor with a horizontal axis, the third torque motor is connected with the second rope transmission mechanism, the driven rope wheel of the second rope transmission mechanism is hinged with one end of a third connecting rod, the other end of the third connecting rod is hinged with the second connecting rod assembly, a pull rod assembly is arranged between the output flange, the second connecting rod assembly and the output disc, and the master hand overcomes the defects of the existing master hand.

Description

Technical Field

[0001] This invention relates to the field of robot teleoperation technology, specifically to a cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand. Background Technology

[0002] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art.

[0003] With the development of industrial and automation technologies, industrial robots have achieved automated operations in industries such as assembly, welding, and handling. However, in unstable and unsafe environments such as high-voltage live-line, underwater, high-risk rescue, and chemical and radioactive contamination, as well as in diverse tasks, it is difficult to achieve automated robot operations, and human intervention is still required for control. Master-slave remote operation is a control method that ensures both safety and allows for human intervention in control.

[0004] Teleoperation technology is mainly applied to work environments that are inaccessible to humans or where objective safety conditions prevent human entry. Master-slave robot teleoperation systems can perform complex manipulation operations in uncertain environments. Presence technology creates a harmonious, multi-dimensional information interaction environment between humans and robots, and between robots and the environment. Force-sensory presence technology is widely used in more advanced master-slave systems, enabling operators to have a realistic force sensation during the manipulation process.

[0005] A teleoperated master hand is a device for human-computer interaction and position measurement. In recent years, advanced teleoperated masters have incorporated force feedback functionality, providing a high degree of immersive force perception. This has led to the wider application of teleoperated masters in fields such as power, nuclear industry, aerospace, marine exploration, and biomedicine.

[0006] Chinese patent document CN103817682B discloses "a jointed force feedback teleoperation master hand", which includes six rotary joints connected in series. Each joint is equipped with a motor, a reducer, and a potentiometer. The axes of the second, third, and fourth joints of this master hand are arranged in parallel. The movement of the three joints is redundant, making it difficult to accurately control the position and posture of the arm end. Chinese patent document CN108161883A discloses "a force feedback teleoperation master hand", which includes six rotary joints connected in series. The first three joints are equipped with a motor, a reducer, and a potentiometer. Both of these master hands can control jointed robotic arms and provide force feedback to the operator.

[0007] Currently, in serial force feedback teleoperation, the master hand and slave arm are mostly mapped in joint space, meaning that the joint movements between the master hand and slave arm correspond one-to-one. There is coupling between the position and posture of the robotic arm's end effector, making it difficult for the operator to quickly and accurately control the end effector's position and posture. In addition, the master hand joint amplifies the torque generated by the micro motor through a reducer to provide force feedback to the operator. However, when the operator manipulates the master hand, the reducer frequently switches between deceleration and acceleration. The frictional torque is large when the high-ratio reducer is accelerating, resulting in large fluctuations in the feedback force provided to the operator and poor force immersion. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand, which solves the problems existing in existing serial master hands.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0010] An embodiment of the present invention provides a rope-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand, including a base. The base is equipped with a first torque motor with its axis vertically arranged. The first torque motor is connected to an output disk via a first rope transmission mechanism. The output disk is fixed with a second torque motor with its axis horizontally arranged. The second torque motor is connected to the bottom end of a first linkage assembly via a second rope transmission mechanism. The top end of the first linkage assembly is hinged to one end of the second linkage assembly, and the other end of the second linkage assembly is hinged to an output flange. A gripping component is installed on the output flange. A third torque motor with its axis horizontally arranged is rotatably connected to the output disk. The third torque motor is connected to the second rope transmission mechanism. The driven rope wheel of the second rope transmission mechanism is hinged to one end of the active linkage, and the other end of the active linkage is hinged to the second linkage assembly. A pull rod assembly is provided between the output flange, the second linkage assembly, and the output disk so that the gripping component can always remain parallel to the base.

[0011] Optionally, the first torque motor includes a first housing, which is fixed to the base. A first torque motor stator is fixed inside the first housing, and a first torque motor rotor is rotatably connected inside the first torque motor stator. The first torque motor rotor is sleeved and fixed to the outer periphery of the first output shaft, and the first output shaft is connected to the output disc through a first rope transmission mechanism.

[0012] Furthermore, a first encoder is installed between the first housing and the first output shaft.

[0013] Optionally, the second torque motor includes a second housing, which is fixed to the output disk. A second torque motor stator is fixed inside the second housing, and a second torque motor rotor is rotatably connected inside the second torque motor stator. The second torque motor rotor is sleeved and fixed to the outer periphery of the second output shaft. The second output shaft is fixedly connected to one end of the first connecting rod assembly through a second rope transmission mechanism to drive the first connecting rod assembly to swing in the vertical plane.

[0014] Furthermore, a second encoder is installed between the second housing and the second output shaft.

[0015] Optionally, the first link assembly includes a first link and a second link arranged in parallel. The bottom end of the first link is connected to the second torque motor through a second rope transmission mechanism, and its top end is hinged to the second link assembly. The bottom end of the second link is fixed to the housing of the third torque motor, and the top end of the second link is hinged to the second link assembly.

[0016] Optionally, the second linkage assembly includes a third linkage and a fourth linkage arranged in parallel, wherein one end of the third linkage is hinged to the output flange, the third linkage is hinged to the top end of the first linkage, one end of the fourth linkage is hinged to the output flange, and the fourth linkage is hinged to the top end of the second linkage.

[0017] Optionally, the third torque motor includes a third housing, which is rotatably connected to the output disk. A third torque motor stator is fixed inside the third housing, and a third torque motor rotor is rotatably connected inside the third torque motor stator. The third torque motor rotor is sleeved and fixed on the outer periphery of the third output shaft, and the third output shaft is connected to the drive pulley of the third rope transmission mechanism through a synchronous belt mechanism.

[0018] Furthermore, a third encoder is installed between the third output shaft and the third housing;

[0019] Furthermore, the driving pulley of the third rope drive mechanism is connected to the axle, the axle passes through the first link assembly and is rotatably connected to the first link assembly, and the driven pulley of the third rope drive mechanism is rotatably connected to the third housing.

[0020] Optionally, the pull rod assembly includes a first pull rod, the bottom end of which is rotatably connected to the output disc, the top end of which is hinged to the first end of the connecting rod, the second end of the connecting rod is hinged to the second connecting rod assembly, the third end of the connecting rod is hinged to one end of the second pull rod, and the other end of the second pull rod is hinged to the output flange.

[0021] Optionally, the gripping component includes a hollow first rotating shaft, which is rotatably connected to a fourth housing. The fourth housing is fixed to the output flange. A second rotating shaft perpendicular to the first rotating shaft is provided inside the spherical head. The spherical head is rotatably connected to the end of the first rotating shaft through the second rotating shaft.

[0022] Furthermore, a fourth encoder is installed between the first rotating shaft and the fourth housing;

[0023] Furthermore, a first damping element is fitted around the outer periphery of the first rotating shaft, and a first adjusting screw is threadedly connected to the fourth housing. A first adjusting plate is provided between the first damping element and the fourth housing. The first adjusting screw presses the first adjusting plate against the first damping element to generate a damping effect.

[0024] Furthermore, a fifth encoder is provided between the second rotating shaft and the first rotating shaft of the spherical head;

[0025] Furthermore, a second damping element is sleeved on the outer periphery of the second rotating shaft, and the second damping element makes frictional contact with the second adjusting piece located inside the spherical head to generate a damping effect.

[0026] Furthermore, a button mounting panel is installed on the spherical head, and multiple button switches are installed on the button mounting panel to control the operation of the execution device of the slave robotic arm.

[0027] Optionally, the spherical head is rotatably connected to one end of the passive rotating shaft, and the other end of the passive rotating shaft is fixed to an active rotating shaft. The active rotating shaft is perpendicular to the second rotating shaft and the moving rotating shaft. A knob seat is rotatably connected to the outer periphery of the active rotating shaft, and a knob that is rotatably connected to the active rotating shaft is provided on the outer periphery of the knob seat.

[0028] Furthermore, a sixth encoder is installed between the drive shaft and the knob;

[0029] Optionally, a third damping element is sleeved on the outer periphery of the active rotating shaft, a second adjusting screw is threaded onto the knob, and a third adjusting plate is provided between the active rotating shaft and the third damping element. The second adjusting screw presses the third adjusting plate against the third damping element to generate a damping effect.

[0030] The beneficial effects of this invention are as follows:

[0031] 1. The remote control master hand of the present invention is equipped with a first torque motor, a second torque motor and a third torque motor, and applies torque to the three joints through a rope transmission mechanism, thereby providing the operator with force feedback in the three directions of up and down, left and right and forward and backward. The rope transmission structure is simple, has no backlash and good reverse drive performance, which significantly reduces the jerking feeling of gear transmission and the friction torque during reverse drive, and improves the operator's comfort.

[0032] 2. In this invention, the remote-operated master hand, through the first linkage assembly, the second linkage assembly, and the pull rod assembly, enables arbitrary movement of the gripping component in three-dimensional space, while maintaining the axis of the gripping component parallel to the base, i.e., keeping its horizontal posture unchanged. The gripping component is provided with a first rotating shaft, a fourth housing rotatably connected to the first rotating shaft, a second rotating shaft, and a passive rotating shaft. The second rotating shaft is perpendicular to the first rotating shaft, and the passive rotating shaft is perpendicular to both the second and first rotating shafts. The three rotating axes intersect perpendicularly at a point, used to control the attitude (pitch, roll, and yaw) of the end effector. By mapping the intersection point of the axes of the three rear joints of the master hand to the working point of the end effector, the joints in front of the gripping component of the master hand control the position change of the working point of the end effector, while the movement of each joint of the gripping component of the master hand controls the attitude change of the end effector. This achieves decoupled control of the position and attitude of the end effector during remote operation. Compared with joint mapping, this allows the operator to focus more on the operation control of the end effector, enabling the operator to quickly and accurately control the position and posture of the robotic arm end effector.

[0033] 3. The remote control master hand of the present invention has multiple sets of push-button switches installed in the spherical head, which can be used to control the operation of electrical, hydraulic or pneumatic tools and other execution equipment attached to the end of the slave robotic arm, and has diversified operation control capabilities.

[0034] 4. The remote control hand of the present invention adopts a spherical head, which is more in line with the ergonomic design and significantly reduces the hand fatigue of the operator during long-term operation. Attached Figure Description

[0035] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0036] Figure 1 This is a front view of the overall structure of Embodiment 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention. Figure 1 ;

[0038] Figure 3 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention. Figure 2 ;

[0039] Figure 4 This is a cross-sectional view of the first component A1 in Embodiment 1 of the present invention;

[0040] Figure 5 This is a top sectional view of the second component A2 in Embodiment 1 of the present invention;

[0041] Figure 6 This is a cross-sectional view of the first and second connecting rods in Embodiment 1 of the present invention;

[0042] Figure 7 Cross-sectional view of the first tie rod in Embodiment 1 of the present invention;

[0043] Figure 8 This is a top sectional view of the third component A3 in Embodiment 1 of the present invention;

[0044] Figure 9 This is a cross-sectional view of the first tie rod in Embodiment 1 of the present invention;

[0045] Figure 10 This is a cross-sectional view of the second tie rod in Embodiment 1 of the present invention;

[0046] Figure 11 This is a cross-sectional view of the assembly of the third active pulley shaft with the first and second connecting rods in Embodiment 1 of the present invention;

[0047] Figure 12 This is a cross-sectional view of the fourth component, A4, in Embodiment 1 of the present invention;

[0048] Figure 13 This is a cross-sectional view of the fifth component, A5, in Embodiment 1 of the present invention;

[0049] Figure 14 This is a cross-sectional view of the sixth component A6 of Embodiment 1 of the present invention;

[0050] Among them, 101-first encoder, 102-first torque motor bearing, 103-first torque motor side cover, 104-first torque motor housing, 105-first torque motor stator, 106-first torque motor rotor, 107-first torque motor shaft, 108-first torque motor bearing, 109-first drive pulley, 110-first wire rope, 111-first driven pulley, 112-first bearing, 113-control box;

[0051] 201 - Output disk; 202 - Second torque motor stator; 203 - Second torque motor bearing; 204 - Second encoder; 205 - Second output shaft; 206 - Second torque motor bearing; 207 - Second torque motor housing; 208 - Second torque motor rotor; 209 - Second torque motor side cover; 210 - Second positioning pin; 211 - Second drive pulley; 212 - Second wire rope; 213 - Second bearing; 214 - Second shaft Pressure cover, 215-second bearing, 216-second driven pulley, 217-first connecting rod, 218-second bearing, 219-second connecting rod, 220-second connecting rod bearing, 221-second connecting rod bearing, 222-second washer, 223-second connecting rod shaft, 224-second connecting rod bearing, 225-second connecting rod shoulder shaft, 226-second pad, 227-first tie rod, 228-second connecting rod joint shaft, 229-second washer;

[0052] 301-Third encoder, 302-Third output shaft, 303-Third torque motor bearing, 304-Third torque motor side cover, 305-Third torque motor rotor, 306-Third torque motor stator, 307-Third torque motor housing, 308-Third torque motor bearing, 309-Third driven pulley, 310-Third bearing, 311-Third bearing spacer, 312-Third bearing cover, 313-Third torque motor bearing, 314-Synchronous belt pulley, 315-Synchronous belt, 316-Third bearing end cover, 317-Connecting rod 318-Third connecting rod bearing, 319-Third connecting rod shaft end cap, 320-Third connecting rod shaft, 321-Third gasket, 322-Fourth connecting rod, 323-Third connecting rod, 324-Active connecting rod, 325-Third active pulley shaft, 326-Third wire rope, 327-Third connecting rod shaft end cap, 328-Third connecting rod shaft, 329-Third gasket, 330-Third connecting rod shaft, 331-Third gasket, 332-Second tie rod, 333-Output flange, 334-Third connecting rod shaft, 335-Third connecting rod bearing, 336-Third connecting rod shaft;

[0053] 401-Fourth mounting platform, 402-Fourth base, 403-Fourth encoder, 404-Fourth encoder mounting flange, 405-Fourth housing, 406-Fourth bearing, 407-First damping element, 408-First rotating shaft, 409-First adjusting plate;

[0054] 501-Fifth housing A, 502-Fifth bearing, 503-Fifth bushing, 504-Fifth encoder, 505-Fifth encoder mounting plate, 506-Second adjusting plate, 507-Push-button switch, 508-Push-button mounting panel, 509-Fifth bearing, 510-Fifth housing B, 511-Fifth bushing, 512-Second damping element, 513-Fifth baffle;

[0055] 601-Passive rotating shaft, 602-Active rotating shaft, 603-Knob seat, 604-Knob, 605-Sixth bearing, 606-Third adjusting plate, 607-Sixth bushing, 608-Third damping element, 609-Sixth encoder, 610-Sixth encoder mounting plate. Detailed Implementation

[0056] Example 1

[0057] This embodiment provides a cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand, such as Figures 1-3As shown, the device includes a base and a first component A1, a second component A2, a third component A3, a fourth component A4, a fifth component A5, and a sixth component A6. The first component A1, second component A2, third component A3, fourth component A4, fifth component A5, and sixth component A6 are connected sequentially. The fifth component A5 and the sixth component A6 together form a gripping component for the operator's grasp. All the connecting components are connected by rotary joints. A motor is mounted on the rotary joint connecting the first component A1, second component A2, and third component A3. 1. A rope drive structure is installed on the rotary joint connecting the second component A2 and the third component A3. The motors of the first component A1 and the second component A2 are respectively connected to the drive rope wheel. The motor of the third component A3 is connected to the drive rope wheel shaft via a synchronous belt drive. Each rotary joint is equipped with a position detection device, such as an encoder. The encoders of the first component A1, the second component A2, and the third component A3 are connected to the motor shaft. The encoders of the fourth component A4, the fifth component A5, and the sixth component A6 are connected to their respective rotary shafts. The button is installed on the fifth component A5.

[0058] Specifically:

[0059] like Figure 4 As shown, the first component A1 includes a first encoder 101, a first torque motor bearing 102, a first torque motor side cover 103, a first torque motor housing 104, a first torque motor stator 105, a first torque motor rotor 106, a first output shaft 107, a first torque motor bearing 108, a first drive pulley 109, a first wire rope 110, a first driven pulley 111, a first bearing 112, and a control box 113;

[0060] The first torque motor stator 105 and the first torque motor rotor 106 are installed in a first housing formed by the first torque motor housing 104 and the first torque motor side cover 103; the first torque motor stator 105 is fixed to the first torque motor housing 104 by adhesive; the first torque motor rotor 106 is fixed to the first output shaft 107 by adhesive; the magnetic head of the first encoder 101 is fixed to the first output shaft 107 by adhesive; the reading device of the first encoder 101 is installed on the first torque motor side cover 103; the first encoder 101 detects the relative rotation angle between the first torque motor rotor 106 and the first torque motor stator 105;

[0061] Furthermore, the first output shaft 107 is rotatably connected to the first torque motor housing 104 and the first torque motor side cover 103 via the first torque motor bearing 102 and the first torque motor bearing 108; the first torque motor housing 104 is fixed to the control box 113 by screws; the first drive pulley 109 is fixed to the output end of the first torque motor shaft 107 by screws; the first driven pulley 111 is installed in the control box 113 via the first bearing 112; the first drive pulley 109 and the first driven pulley 111 are connected by the first wire rope 110, and the first drive pulley 109, the first driven pulley 111 and the first wire rope 110 together constitute the first rope transmission mechanism.

[0062] like Figures 5-7 As shown, the second component A2 includes: an output disk 201, a second torque motor stator 202, a second torque motor bearing 203, a second encoder 204, a second output shaft 205, a second torque motor bearing 206, a second torque motor housing 207, a second torque motor rotor 208, a second torque motor side cover 209, a second positioning pin 210, a second driving pulley 211, a second wire rope 212, a second bearing 213, a second bearing cover 214, a second bearing 215, a second driven pulley 216, a first connecting rod 217, a second bearing 218, a second connecting rod 219, a second connecting rod bearing 220, a second connecting rod bearing 221, a second gasket 222, a second connecting rod shaft 223, a second connecting rod bearing 224, a second connecting rod shoulder shaft 225, a second pad 226, a first pull rod 227, a second connecting rod joint shaft 228, and a second gasket 229.

[0063] The output disk 201 is positioned to the first driven pulley 111 by the second positioning pin 210 and fixedly connected by screws; the second torque motor stator 202 and the second torque motor rotor 208 are installed in the second housing formed by the second torque motor housing 207 and the second torque motor side cover 209, and are installed on the output disk 201 by screws; the second torque motor stator 202 is fixed to the second torque motor housing 207 by adhesive; the second torque motor rotor 208 is fixed to the second output shaft 205 by adhesive; the magnetic head of the second encoder 204 is fixed to the second output shaft 205 by adhesive; the reading device of the second encoder 204 is installed on the second torque motor housing 207; the relative rotation angle between the second torque motor rotor 208 and the second torque motor stator 202 is detected by the second encoder 204;

[0064] Furthermore, the second output shaft 205 is rotatably connected to the second torque motor housing 207 and the second torque motor side cover 209 via the second torque motor bearing 203 and the second torque motor bearing 206; the second torque motor side cover 209 is connected to the second torque motor housing 207; the second torque motor side cover 209 is fixed inside the output disc 201; the second drive pulley 211 is fixed to the output end of the second output shaft 205 by screws; the second drive pulley 211 is also rotatably connected to the output disc 201 via the second bearing 213; the second driven pulley 216 is connected to the first connecting... The bottom end of the rod 217 is fixedly connected; specifically, the bottom end of the first connecting rod 217 is provided with a fixed ring, which is fixed to the inner end face of the second driven rope wheel 216. The rotation of the second driven rope wheel 216 can drive the first connecting rod 217 to swing in the vertical plane. The second driven rope wheel 216 and the first connecting rod 217 are rotatably connected to the output disc 201 through the second bearing 215. The second driving rope wheel 211 and the second driven rope wheel 216 are driven by the second wire rope 212. The second driving rope wheel 211, the second driven rope wheel 216 and the second wire rope together constitute the second rope transmission mechanism.

[0065] Furthermore, a second connecting rod bearing 220 and a second connecting rod bearing 221 are connected to the second connecting rod shaft 223; the top end of the first connecting rod 217 is rotatably connected to the second connecting rod bearing 220; the top end of the second connecting rod 219 is rotatably connected to the second connecting rod bearing 220; the second washer 222 and the shoulder on the second connecting rod shaft 223 axially limit the second connecting rod bearing 220 and the second connecting rod bearing 221.

[0066] The first link 217 and the second link 219 together constitute the first link assembly. The bottom end of the first link 217 is fixed to the second driven pulley 216. The bottom end of the second link 219 is provided with a fixing ring, which is fixed to the third housing of the third torque motor.

[0067] Furthermore, the second connecting rod shoulder shaft 225 is fixed on the output disk 201; one end of the first pull rod 227 is rotatably connected to the second connecting rod shoulder shaft 225 through the second connecting rod bearing 224; the second pad 226 and the shoulder on the second connecting rod shoulder shaft 225 axially limit the second connecting rod bearing 224; the other end of the first pull rod 227 is rotatably connected to the second connecting rod joint shaft 228 through the second connecting rod bearing 224.

[0068] The second joint shaft 228 is fixed to the connecting rod 317, thereby making the first tie rod hinged to the first end of the connecting rod 317.

[0069] like Figures 8-11As shown, the third component A3 includes a third encoder 301, a third output shaft 302, a third torque motor bearing 303, a third torque motor side cover 304, a third torque motor rotor 305, a third torque motor stator 306, a third torque motor housing 307, a third torque motor bearing 308, a third driven pulley 309, a third bearing 310, a third bearing spacer washer 311, a third bearing cover 312, a third torque motor bearing 313, a synchronous pulley 314, a synchronous belt 315, and a third bearing end cover 316. Third link coupling 317, third link bearing 318, third link shaft end cap 319, third link shaft 320, third gasket 321, fourth link 322, third link 323, driving link 324, third driving pulley shaft 325, third wire rope 326, third link shaft end cap 327, third link shaft 328, third gasket 329, third link shaft 330, third gasket 331, second tie rod 332, output flange 333, third link shaft 334, third link bearing 335, third link shaft 336;

[0070] The third torque motor stator 306 and the third torque motor rotor 305 are installed in a third housing formed by the third torque motor housing 307 and the third torque motor side cover 304; the third torque motor stator 306 is fixed to the third torque motor housing 307 by adhesive; the third torque motor rotor 305 is fixed to the third output shaft 302 by adhesive; the magnetic head of the third encoder 301 is fixed to the third output shaft 302 by adhesive; the reading device of the third encoder 301 is installed on the third torque motor side cover 304; the relative rotation angle between the third torque motor rotor 305 and the third torque motor stator 306 is detected by the third encoder 301.

[0071] Furthermore, the third output shaft 302 is rotatably connected to the third torque motor housing 307 and the third torque motor side cover 304 via the third torque motor bearing 303, the third torque motor bearing 308 and the third torque motor bearing 313, and the axial displacement of the third torque motor bearing 313 is restricted by the third bearing cover 312; the third torque motor side cover 304 is connected to the third torque motor housing 307;

[0072] Furthermore, the third housing, which is composed of the third torque motor side cover 304 and the third torque motor housing 307, is rotatably connected to the output disk 201 through the second bearing 205. The third housing is also fixedly connected to the bottom end of the second connecting rod 219. The axial positioning is achieved through the combined action of the shoulder on the output disk 201, the third torque motor side cover 304, the third torque motor housing 307, and the second bearing cover 214.

[0073] Furthermore, the third driven pulley 309 rotates relative to the third torque motor housing 307 via the third bearing 310, and the third bearing 310 is axially limited by the shoulder of the third torque motor housing 307, the third bearing spacer washer 311, and the third bearing end cover 316.

[0074] Furthermore, the third connecting rod shaft 320 is rotatably connected to the top end of the active connecting rod 324 via the third connecting rod bearing 318; the third connecting rod shaft 320 is fixed on the fourth connecting rod 322, and the fourth connecting rod 322 and the active connecting rod 324 are axially positioned by the third connecting rod shaft end cap 319 and the third gasket 321;

[0075] The third link 323 and the fourth link 322 together constitute the second link assembly.

[0076] Furthermore, one end of the third link 323 is fixedly connected to one end of the second link shaft 223; the non-end position of the fourth link 322 is fixedly connected to the other end of the second link shaft 223; the third drive sheave shaft 325 passes through the second link 219 and the first link 217, and is rotatably connected to the second link 219 and the first link 217 through the second link bearing 220 and the second link bearing 221; the third drive sheave shaft is connected to the third drive sheave.

[0077] Furthermore, the synchronous pulley 314 is installed at the output end of the third output shaft 302; the synchronous pulley 314 is installed at the input end of the third drive rope shaft 325; the synchronous belt 315 connects the two synchronous pulleys 314, and the synchronous pulleys 314 and the synchronous belt together constitute the synchronous belt mechanism between the third output shaft and the third rope transmission mechanism, which is used to transmit the rotation of the third output shaft 302 to the third drive rope shaft 325;

[0078] Furthermore, the third driving sheave connected to the third driving sheave shaft 325 and the third driven sheave 309 are connected by the third wire rope 326; the third driving sheave shaft 325, the second driving sheave, the third driven sheave 309 and the third wire rope 326 together constitute the third rope transmission mechanism.

[0079] Furthermore, the third connecting rod shaft 328 is rotatably connected to the edge of the third driven sheave 309 via the third connecting rod bearing 318; the third connecting rod shaft 328 is fixed to the bottom end of the driving connecting rod 324, and the third driving connecting rod 324 and the third driven sheave 309 are axially positioned by the third washer 329 and the third connecting rod shaft end cap 327; the top end of the driving connecting rod 324 is rotatably connected to the fourth connecting rod 322 via the third connecting rod shaft 320 and the third connecting rod bearing 318.

[0080] Furthermore, the third connecting rod shaft 330 is rotatably connected to one end of the second tie rod 332 via the third connecting rod bearing 318; the third connecting rod shaft 330 is fixed on the third end of the connecting rod 317, and the third connecting rod bearing 318 is axially positioned via the shoulder of the third connecting rod shaft 330 and the third washer 331.

[0081] Furthermore, the third connecting rod shaft 334 is rotatably connected to the other end of the second tie rod 332 via the third connecting rod bearing 318; the third connecting rod shaft 334 is fixed on the output flange 333, and the third connecting rod bearing 318 is axially positioned via the shoulder of the third connecting rod shaft 334 and the third gasket 331.

[0082] Furthermore, the third connecting rod shaft 336 is rotatably connected to the output flange 333 via the third connecting rod bearing 335; one end of the third connecting rod shaft 336 is fixedly connected to the third connecting rod 323, and the other end is fixedly connected to the fourth connecting rod 324; the third connecting rod bearing 335 is axially positioned via the shoulder of the third output flange 333.

[0083] The connecting rod 317 has three ends, wherein the first end is rotatably connected to the top end of the first pull rod 227 via the second connecting rod bearing 224 and the second connecting rod joint shaft 228, the second end is rotatably connected to the second connecting rod shaft 223 via the second connecting rod bearing 221, and the third end is rotatably connected to the second pull rod 332 via the third connecting rod shaft 330 and the third connecting rod bearing 318.

[0084] The connecting rod 317, the first pull rod 227, and the second pull rod 332 together constitute the pull rod assembly, so that the grip assembly can always remain parallel to the base during movement, that is, maintain a horizontal posture, which is more conducive to operation.

[0085] like Figure 12 As shown, the fourth component A4 includes a fourth mounting platform 401, a fourth base 402, a fourth encoder 403, a fourth encoder mounting flange 404, a fourth housing 405, a fourth bearing 406, a fourth damping element 407, a first rotating shaft 408, and a fourth adjusting plate 409.

[0086] The fourth mounting platform 401 is connected to the output flange 333; the fourth base 402 is fixedly connected to the fourth mounting platform 401 and the fourth housing 405; the fourth encoder 403 is inside the fourth base 402, the magnetic head of the fourth encoder 403 is connected to the fourth encoder mounting flange 404, and the reading head of the fourth encoder 403 is connected to the fourth base 402; the fourth encoder mounting flange 404 is connected to the first rotating shaft 408; the relative rotation angle between the fourth encoder mounting flange 404, the first rotating shaft 408, and the fourth base 402 is detected by the fourth encoder 403.

[0087] Furthermore, the first rotating shaft 408 is hollow inside for arranging cables; the first rotating shaft 408 is rotatably connected to the fourth housing 405 through the fourth bearing 406; the first damping element 407 is sleeved on the outer circumference of the first rotating shaft 408 and is between the two sets of fourth bearings 406, serving as a limit; the fourth housing 405 is provided with a threaded hole corresponding to the position of the first damping element 407, into which a first adjusting screw is screwed; a first adjusting piece 409 is provided between the fourth housing 405 and the first damping element 407; by screwing in the first adjusting screw, the first adjusting piece 409 is pressed against the first damping element 407 to generate a damping effect; the magnitude of damping is controlled by adjusting the amount of screwing in the first adjusting screw.

[0088] like Figure 13 As shown, the fifth component A5 includes a fifth housing A501, a fifth bearing 502, a fifth bushing 503, a fifth encoder 504, a fifth encoder mounting plate 505, a second adjusting plate 506, a push-button switch 507, a push-button mounting panel 508, a fifth bearing 509, a fifth housing B510, a fifth bushing 511, a second damping element 512, and a fifth baffle 513;

[0089] The fifth housing A501 and the fifth housing B510 are detachably fixed together by bolts, forming a spherical head. The spherical head is more ergonomic and significantly reduces hand fatigue during long-term operation. The spherical head has a second rotating shaft that is perpendicular to the axis of the first rotating shaft 408. The spherical head is rotatably connected to the end of the first rotating shaft through the second rotating shaft. Specifically, the fifth housing A501 and the fifth housing B510 are rotatably connected to the end of the first rotating shaft 408 through the fifth bearing 502, the fifth bushing 503, and the fifth bushing 511. The magnetic head of the fifth encoder 504 is mounted on the fifth housing A501, and the reading head of the fifth encoder 504 is mounted on the first rotating shaft 408 through the fifth encoder mounting plate 505. The fifth encoder 504 detects the relative rotation angle between the fifth housing A501 and the first rotating shaft 408.

[0090] Furthermore, the second damping element 512 is mounted on the fifth housing B510, and the fifth baffle 513 limits its axial movement; the second adjusting plate 506 is mounted on the end face of the first rotating shaft 408 extending into the spherical head, and a damping effect is generated through the friction between the second adjusting plate 506 and the second damping element 512.

[0091] Furthermore, the button mounting panel 508 is mounted on the fifth housing A501 and the fifth housing B510; the button switch 507 is mounted on the mounting panel 508; the function of the button switch 507 is to control the use of electrical, hydraulic or pneumatic tools and other actuators attached to the end of the robotic arm.

[0092] Furthermore, the fifth outer shell A501 and the fifth outer shell B510 have bearing mounting holes, and their axes are in the same direction as the rotation axis of the fifth component; the fifth bearing 509 is installed in the bearing hole; the spherical head is rotatably connected to the sixth component A6 through the fifth bearing 509.

[0093] like Figure 14 As shown, the sixth component includes: a passive rotating shaft 601, an active rotating shaft 602, a knob seat 603, a knob 604, a sixth bearing 605, a third adjusting plate 606, a sixth bushing 607, a third damping element 608, a sixth encoder 609, and a sixth encoder mounting plate 610.

[0094] The fifth housing A501 and the fifth housing B510 have bearing mounting holes, and their axes are in the same direction as the rotation axis of the fifth component; the fifth bearing 509 is installed in the bearing mounting hole; the fifth bearing 509 is connected to the passive rotating shaft 601; the passive rotating shaft 601 rotates relative to the fifth housing A501 and the fifth housing B510 through the fifth bearing 509; the passive rotating shaft 601 is hollow inside and is used to arrange cables;

[0095] Furthermore, the active rotating shaft 602 is fixedly connected to the passive rotating shaft 601; the active rotating shaft 602 is perpendicular to the first rotating shaft 408 and the second rotating shaft, and the sixth bearing 605 is installed inside the knob seat 603, which is connected to the knob 604; the knob 604 is sleeved on the outer circumference of the knob seat 603, and the active rotating shaft 602 is rotatably connected to the knob seat 603 via the sixth bearing 605; the active rotating shaft 602 rotates relative to the part of the knob 604 inserted inside the active rotating shaft 602 via the sixth bushing 607; the magnetic head of the sixth encoder 609 is installed on the knob 604, and the reading head of the sixth encoder 609 is installed on the active rotating shaft 602 via the sixth encoder mounting plate 610, and the sixth encoder 609 detects the relative rotation angle between the active rotating shaft 602 and the knob 604;

[0096] Furthermore, the third damping element 608 is sleeved and installed on the outer periphery of the active rotating shaft 602; the knob 604 is provided with a threaded hole corresponding to the position of the third damping element 608, into which a second adjusting screw is screwed; a third adjusting plate 606 is provided between the knob 604 and the third damping element 608; by screwing in the second adjusting screw, the third adjusting plate 606 is pressed to rub against the third damping element 608, thereby generating a damping effect; and the magnitude of damping is controlled by adjusting the amount of screwing in the second adjusting screw.

[0097] The working principle of this invention is as follows:

[0098] First, a positional mapping is established within the workspace between the intersection point (master hand reference point) of the three rear joint axes of the master hand (first axis, second axis, and active axis) and the tool working point at the end of the slave arm (slave arm reference point), as well as a mapping between the movement of the three rear joints of the master hand and the change in the posture of the tool at the end of the slave arm. When the operator controls the movement of the master hand, the master hand controller calculates the positional change of the master hand reference point and the change in the posture of the end effector in real time. When only the reference point of the master hand changes position, the slave arm controller calculates the positional change of the slave arm reference point based on the positional mapping relationship, and further calculates the real-time changes of each joint through inverse kinematics of the slave arm, controlling the slave arm to make corresponding movements to always maintain the positional mapping relationship between the slave arm reference point and the master hand reference point, while the posture of the tool at the end of the slave arm remains unchanged. When only the end effector of the master hand changes posture, the slave arm controller calculates the positional change of the slave arm reference point based on the posture mapping relationship. The system calculates the attitude change of the tool at the end of the arm based on the kinematic relationship. Further, it calculates the real-time changes of each joint through inverse kinematics of the arm, controlling the arm to make corresponding movements to maintain the attitude mapping relationship between the end of the arm and the end of the master hand, while the position of the arm's reference point remains unchanged. When the master hand experiences simultaneous changes in both the reference point position and the end-effector attitude, the arm controller calculates the displacement changes of each joint of the arm based on the reference point position mapping relationship and the end-effector attitude mapping relationship, and then controls the arm movement to maintain the position and attitude mapping relationship with the master hand simultaneously. During operation, the arm controller calculates the working load at the end of the arm in real time based on force sensor information, and the master hand controller calculates the force fed back to the operator based on the force mapping relationship. After superimposing the gravity of each component of the master hand, the torque is distributed through a force Jacobian matrix, and the master hand controller controls the torque motor to output the corresponding torque.

[0099] The remote control hand in this embodiment is equipped with a first torque motor, a second torque motor, and a third torque motor. Torque is applied to the three joints via a rope drive mechanism, providing the operator with force feedback in the up-down, left-right, and forward-backward directions. The rope drive structure is simple, backlash-free, and has good reverse drive capability, significantly reducing the jerking sensation of gear drives and the frictional torque during reverse drive, thus improving operator comfort. Furthermore, the first linkage assembly, the second linkage assembly, and the pull rod assembly allow for arbitrary movement of the gripping component in three-dimensional space, while maintaining the gripping component's axis parallel to the base, i.e., a horizontal posture. The gripping component has a first rotating shaft, and a fourth housing is rotatably connected to the first rotating shaft. The second and passive axes are perpendicular to the first axis, and the passive axis is perpendicular to both the second and first axes. The three axes intersect perpendicularly at a single point to control the attitude (pitch, roll, and yaw) of the end effector. By mapping the intersection of the axes of the three joints of the master hand to the working point of the end effector, the joints in front of the master hand gripping component control the position of the working point of the end effector, while the movement of each joint of the master hand gripping component controls the attitude of the end effector. This achieves decoupled control of the position and attitude of the end effector during teleoperation. Compared with joint mapping, this allows the operator to focus more on the operation control of the end effector, enabling the operator to quickly and accurately control the position and attitude of the robotic arm end effector.

[0100] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand, characterized in that, The device includes a base, on which a first torque motor with a vertically oriented axis is mounted. The first torque motor is connected to an output disc via a first rope transmission mechanism. A second torque motor with a horizontally oriented axis is fixed to the output disc. The second torque motor is connected to the bottom end of a first connecting rod assembly via a second rope transmission mechanism. The top end of the first connecting rod assembly is hinged to one end of the second connecting rod assembly, and the other end of the second connecting rod assembly is hinged to an output flange. A gripping component is mounted on the output flange. A third torque motor with a horizontally oriented axis is rotatably connected to the output disc. The third torque motor is connected to a third rope transmission mechanism. The driven pulley of the third rope transmission mechanism is hinged to one end of a third connecting rod, and the other end of the third connecting rod is hinged to the second connecting rod assembly. A pull rod assembly is provided between the output flange, the second connecting rod assembly, and the output disc to ensure that the gripping component remains parallel to the base at all times. The first link assembly includes a first link and a second link arranged in parallel. The bottom end of the first link is connected to the second torque motor through a second rope transmission mechanism, and its top end is hinged to the second link assembly. The bottom end of the second link is fixed to the housing of the third torque motor, and the top end of the second link is hinged to the second link assembly. The second linkage assembly includes a third linkage and a fourth linkage arranged in parallel, wherein one end of the third linkage is hinged to the output flange, the third linkage is hinged to the top end of the first linkage, one end of the fourth linkage is hinged to the output flange, and the fourth linkage is hinged to the top end of the second linkage. The gripping component includes a hollow first rotating shaft, which is rotatably connected to a fourth housing. The fourth housing is fixed to the output flange. A second rotating shaft perpendicular to the first rotating shaft is provided inside the spherical head. The spherical head is rotatably connected to the end of the first rotating shaft through the second rotating shaft.

2. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 1, characterized in that, The first torque motor includes a first housing, which is fixed to a base. A first torque motor stator is fixed inside the first housing, and a first torque motor rotor is rotatably connected inside the first torque motor stator. The first torque motor rotor is sleeved and fixed to the outer circumference of a first output shaft, and the first output shaft is connected to an output disc through a first rope transmission mechanism. A first encoder is installed between the first housing and the first output shaft.

3. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 1, characterized in that, The second torque motor includes a second housing, which is fixed to the output disk. A second torque motor stator is fixed inside the second housing, and a second torque motor rotor is rotatably connected inside the second torque motor stator. The second torque motor rotor is sleeved and fixed to the outer circumference of the second output shaft. The second output shaft is fixedly connected to one end of the first connecting rod assembly through a second rope transmission mechanism to drive the first connecting rod assembly to swing in the vertical plane. A second encoder is installed between the second housing and the second output shaft.

4. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 1, characterized in that, The third torque motor includes a third housing, which is rotatably connected to the output disk. A third torque motor stator is fixed inside the third housing, and a third torque motor rotor is rotatably connected inside the third torque motor stator. The third torque motor rotor is sleeved and fixed on the outer circumference of the third output shaft. The third output shaft is connected to the drive pulley of the third rope transmission mechanism through a synchronous belt mechanism. A third encoder is installed between the third output shaft and the third housing; The driving pulley of the third rope drive mechanism is connected to the axle, the axle passes through the first link assembly and is rotatably connected to the first link assembly, and the driven pulley of the third rope drive mechanism is rotatably connected to the third housing.

5. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 1, characterized in that, The pull rod assembly includes a first pull rod, the bottom end of which is rotatably connected to the output disc, the top end of which is hinged to the first end of the connecting rod, the second end of the connecting rod is hinged to the second connecting rod assembly, the third end of the connecting rod is hinged to one end of the second pull rod, and the other end of the second pull rod is hinged to the output flange.

6. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 1, characterized in that, The gripping component includes a hollow first rotating shaft, which is rotatably connected to a fourth housing. The fourth housing is fixed to the output flange. A second rotating shaft perpendicular to the first rotating shaft is provided inside the spherical head. The spherical head is rotatably connected to the end of the first rotating shaft through the second rotating shaft. A fourth encoder is installed between the first rotating shaft and the fourth housing; The first rotating shaft is fitted with a first damping element on its outer periphery, and the fourth housing is threadedly connected to a first adjusting screw. A first adjusting plate is provided between the first damping element and the fourth housing. The first adjusting screw presses the first adjusting plate against the first damping element to generate a damping effect. A fifth encoder is provided between the second rotating shaft and the first rotating shaft of the spherical head; The second damping element is sleeved on the outer periphery of the second rotating shaft, and the second damping element makes frictional contact with the second adjusting piece located inside the spherical head to generate a damping effect; The spherical head is equipped with a button mounting panel, on which multiple button switches are mounted.

7. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 6, characterized in that, The spherical head is rotatably connected to one end of the passive rotating shaft, and the other end of the passive rotating shaft is fixed to the active rotating shaft. The active rotating shaft is perpendicular to the first rotating shaft and the second rotating shaft. A knob seat is rotatably connected to the outer circumference of the active rotating shaft, and a knob that is rotatably connected to the active rotating shaft is provided on the outer circumference of the knob seat. A sixth encoder is installed between the drive shaft and the knob.

8. The cable-driven six-degree-of-freedom pose decoupling force feedback teleoperation master hand as described in claim 7, characterized in that, A third damping element is sleeved on the outer periphery of the active rotating shaft, and a second adjusting screw is threaded onto the knob. A third adjusting plate is provided between the active rotating shaft and the third damping element. The second adjusting screw presses the third adjusting plate against the third damping element to generate a damping effect.

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