Direct-drive series-parallel six-degree-of-freedom teleoperation master manipulator device

Abstract

The invention relates to the technical field of teleoperation, and discloses a direct-drive series-parallel six-degree-of-freedom teleoperation master manipulator device which is characterized in that a parallel motor mounting seat in a parallel mechanism is mounted on a mounting back plate, a parallel motor is mounted on the parallel motor mounting seat, and a parallel motor rotating shaft is mounted at the output end of the parallel motor; one end of the connecting piece is connected with the parallel motor rotating shaft, and the other end of the connecting piece is connected with the mounting plate; in the series mechanism, a first rotary encoder is mounted on a mounting plate to provide a rolling degree of freedom, one end of a first series arm lever is connected with the first rotary encoder, the other end of the first series arm lever is connected with a second rotary encoder to provide a pitching degree of freedom, and one end of a second series arm lever is connected with the second rotary encoder. The other end is connected with the third rotary encoder to provide deflection degree of freedom; a deflector rod in the clamping mechanism is arranged on a clamping handle, a clamping motor is fixedly connected with the clamping handle, and the output end of the clamping motor is connected with the deflector rod to provide rotational freedom.

Description

Technical Field

[0001] The present invention relates to the technical field of teleoperation, and in particular to a direct-drive serial-parallel hybrid six-degree-of-freedom teleoperation master hand device. Background Art

[0002] Teleoperation is to include human operation in the control loop of the relevant robot control. Any upper-level planning and cognitive decisions are issued by human users, and the robot body is only responsible for the corresponding physical application. So intuitively, there is a certain physical distance between the human user and the controlled robot body, which is also the origin of the name of teleoperation. An excellent teleoperation force feedback device can do: the operator can move freely at will, with low drive inertia and low friction, no action restrictions, and give customers a real sense of immersion. At present, teleoperation is mainly used in nuclear scenes, space scenes, deep-sea scenes, surgical medical treatment, anti-terrorism and explosion prevention, etc.

[0003] Currently, the remote-controlled robotic arms on the market have problems such as high cost, large size and inconvenient use, and decreased accuracy after a period of use. Summary of the invention

[0004] The present invention provides a direct-drive serial-parallel hybrid six-degree-of-freedom teleoperation master hand device, which can solve the technical problems in the prior art.

[0005] The present invention provides a direct-drive serial-parallel hybrid six-degree-of-freedom teleoperation master hand device, wherein the device comprises a parallel mechanism, a serial mechanism and a clamping mechanism.

[0006] The parallel mechanism comprises a mounting back plate, a plurality of parallel motor mounting seats, a plurality of parallel motors, an elastic unit, a parallel motor rotating shaft, a connecting member and a mounting plate, wherein the parallel motor mounting seat is mounted on the mounting back plate, the parallel motor is mounted on the parallel motor mounting seat, the parallel motor rotating shaft is mounted on the output end of the parallel motor, the elastic unit is mounted on the parallel motor rotating shaft, one end of the connecting member is connected to the parallel motor rotating shaft, and the other end is connected to the mounting plate;

[0007] The series mechanism comprises a first rotary encoder, a first series arm, a second rotary encoder, a second series arm and a third rotary encoder, wherein the first rotary encoder is mounted on the mounting plate to provide a rolling degree of freedom, one end of the first series arm is connected to the first rotary encoder, and the other end is connected to the second rotary encoder to provide a pitch degree of freedom, and one end of the second series arm is connected to the second rotary encoder, and the other end is connected to the third rotary encoder to provide a yaw degree of freedom;

[0008] The clamping mechanism comprises a clamping handle, a clamping motor and a lever, wherein the lever is arranged on the clamping handle, the clamping motor is fixedly connected to the clamping handle, and the output end of the clamping motor is connected to the lever to provide rotational freedom.

[0009] Preferably, the elastic unit is a return-to-zero spring.

[0010] Preferably, the connecting member is a rectangular connecting rod assembly.

[0011] Preferably, the mounting plate is a triangular mounting plate.

[0012] Preferably, the number of the parallel motor mounting seats and the number of the parallel motors are both three.

[0013] Through the above technical scheme, a remote-controlled master hand with a series-parallel hybrid structure can be provided. The remote-controlled master hand has lower cost, stable and reliable accuracy, is easy to carry, and has replaceable end tools, which solves the problems of high cost of existing remote-controlled master hands, decreased accuracy after long-term use, and inconvenience in carrying. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 A schematic structural diagram of a direct-drive serial-parallel hybrid six-DOF teleoperation master hand device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0016] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0018] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0019] Figure 1 A schematic structural diagram of a direct-drive serial-parallel hybrid six-DOF teleoperation master hand device according to an embodiment of the present invention is shown.

[0020] The master hand of the present invention can be used to remotely control an underwater robot arm (slave arm) to complete a task. For example, the application scenario is a deep-sea exploration teleoperation device.

[0021] like Figure 1 As shown, an embodiment of the present invention provides a direct-drive serial-parallel hybrid six-DOF teleoperated master hand device, wherein the device includes a parallel mechanism, a serial mechanism and a clamping mechanism.

[0022] The parallel mechanism includes a mounting back plate 1, a plurality of parallel motor mounting seats 2, a plurality of parallel motors 3, an elastic unit 4, a parallel motor rotating shaft 5, a connecting member 6 and a mounting plate 7, wherein the parallel motor mounting seat 2 is mounted on the mounting back plate 1, the parallel motor 3 is mounted on the parallel motor mounting seat 2, the parallel motor rotating shaft 5 is mounted on the output end of the parallel motor 3, the elastic unit 4 is mounted on the parallel motor rotating shaft 5, one end of the connecting member 6 is connected to the parallel motor rotating shaft 5, and the other end is connected to the mounting plate 7;

[0023] The series mechanism comprises a first rotary encoder 8, a first series arm 9, a second rotary encoder 10, a second series arm 11 and a third rotary encoder 12, wherein the first rotary encoder 8 is mounted on the mounting plate 7 to provide a rolling degree of freedom, one end of the first series arm 9 is connected to the first rotary encoder 8, and the other end is connected to the second rotary encoder 10 to provide a pitch degree of freedom, and one end of the second series arm 11 is connected to the second rotary encoder 10, and the other end is connected to the third rotary encoder 12 to provide a yaw degree of freedom;

[0024] The clamping mechanism includes a clamping handle 13, a clamping motor 14 and a lever 15. The lever 15 is arranged on the clamping handle 13, the clamping motor 14 is fixedly connected to the clamping handle 13, and the output end of the clamping motor 14 is connected to the lever 15 to provide rotational freedom.

[0025] Through the above technical scheme, a remote-controlled master hand with a series-parallel hybrid structure can be provided. The remote-controlled master hand has lower cost, stable and reliable accuracy, is easy to carry, and has replaceable end tools, which solves the problems of high cost of existing remote-controlled master hands, decreased accuracy after long-term use, and inconvenience in carrying.

[0026] According to an embodiment of the present invention, the elastic unit 4 is a return-to-zero spring.

[0027] The zero return spring can keep the master hand at the original zero point of the device after the master hand device is powered off, preventing components from being damaged after the device is powered off.

[0028] According to an embodiment of the present invention, the connecting member 6 is a rectangular connecting rod assembly.

[0029] like Figure 1 As shown, the rectangular connecting rod assembly is a rectangular structure assembly composed of multiple connecting rods, which can better realize multiple degrees of freedom.

[0030] According to an embodiment of the present invention, the mounting plate 7 is a triangular mounting plate.

[0031] Using a triangular mounting plate can make it easier to implement.

[0032] According to an embodiment of the present invention, the number of the parallel motor mounting bases 2 and the number of the parallel motors 3 are both three.

[0033] The following describes the working process of a direct-drive serial-parallel hybrid six-degree-of-freedom teleoperation master hand device according to the present invention with reference to examples.

[0034] After the teleoperated master hand is powered on, the three parallel motors 3 and the first rotary encoder 8, the second rotary encoder 10, the third rotary encoder 12, and the clamping motor 14 start the servo working state. The operator holds the clamping handle 13 and drags the entire teleoperated master hand. The three degrees of freedom X, Y, and Z in space are provided by the three parallel motors 3 driving the connecting piece 6 and the parallel motor rotating shaft 5. The three postures of roll, pitch, and swing in space are provided by the three rotary encoders in conjunction with the three series arms. The first rotary encoder 8 and the first series arm 9 provide the roll degree of freedom, the second rotary encoder 10 and the second series arm 11 provide the pitch degree of freedom, and the third rotary encoder and the clamping handle 13 provide the swing degree of freedom. The operator completes the change of the current angle position of the clamping motor 14 by tapping the lever 15 with his fingers.

[0035] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0036] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0037] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A direct-drive serial-parallel hybrid six-degree-of-freedom teleoperation master hand device, characterized in that: The device includes a parallel mechanism, a series mechanism and a clamping mechanism. The parallel mechanism comprises a mounting back plate (1), a plurality of parallel motor mounting seats (2), a plurality of parallel motors (3), an elastic unit (4), a parallel motor rotating shaft (5), a connecting member (6) and a mounting plate (7), wherein the parallel motor mounting seat (2) is mounted on the mounting back plate (1), the parallel motor (3) is mounted on the parallel motor mounting seat (2), the parallel motor rotating shaft (5) is mounted at the output end of the parallel motor (3), the elastic unit (4) is mounted on the parallel motor rotating shaft (5), and one end of the connecting member (6) is connected to the parallel motor rotating shaft (5), and the other end is connected to the mounting plate (7); The series mechanism comprises a first rotary encoder (8), a first series arm (9), a second rotary encoder (10), a second series arm (11) and a third rotary encoder (12); the first rotary encoder (8) is mounted on the mounting plate (7) to provide a rolling degree of freedom; one end of the first series arm (9) is connected to the first rotary encoder (8), and the other end is connected to the second rotary encoder (10) to provide a pitch degree of freedom; one end of the second series arm (11) is connected to the second rotary encoder (10), and the other end is connected to the third rotary encoder (12) to provide a yaw degree of freedom; The clamping mechanism comprises a clamping handle (13), a clamping motor (14) and a lever (15), wherein the lever (15) is arranged on the clamping handle (13), the clamping motor (14) is fixedly connected to the clamping handle (13), and the output end of the clamping motor (14) is connected to the lever (15) to provide rotational freedom.

2. The device according to claim 1, characterized in that The elastic unit (4) is a return-to-zero spring.

3. The device according to claim 2, characterized in that The connecting member (6) is a rectangular connecting rod assembly.

4. The device according to claim 3, characterized in that The mounting plate (7) is a triangular mounting plate.

5. The device according to claim 4, characterized in that The number of the parallel motor mounting seats (2) and the number of the parallel motors (3) are both three.

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