Multi-degree-of-freedom master-slave controller based on man-machine cooperation mechanical arm control system

Abstract

The invention discloses a multi-degree-of-freedom master-slave controller based on a man-machine cooperative mechanical arm control system, and belongs to the technical field of robot control. The controller comprises a base, a control arm support, control arm devices arranged in a bilateral symmetry mode and a displayer. The control arm device adopts a multi-joint bionic structure, integrates a plurality of angle sensors, connecting shafts and reset springs, and can accurately map 14 main motion degrees of freedom of a human arm. Real-time proportional transmission from human hand movement to mechanical arm joint movement is achieved through a mechanical movement coupling mechanism, and independent or cooperative movement of all joints of the mechanical arm can be visually controlled without cognitive conversion of an operator. The problems that an existing master-slave control system is insufficient in freedom degree, low in motion transmission precision and poor in man-machine work efficiency are solved, and the operation precision and efficiency of medical robots and industrial assembly and dangerous environment operation robots are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a multi-degree-of-freedom master-slave robotic arm control system based on human motion mapping. The control system is particularly suitable for medical robots, industrial assembly robots, and robots operating in hazardous environments that require high-precision real-time bionic operations. Background Art

[0002] With the deep penetration of robotic technology in precision manipulation, high-precision dynamic control of multi-degree-of-freedom robotic arms has become a key technical bottleneck hindering the development of humanoid robotic arm teleoperation systems and minimally invasive surgical robots. Currently, there are two main mainstream robotic arm control technologies. In the medical field, master-slave servo systems, exemplified by the da Vinci surgical robot, achieve basic motion mapping, but their control mechanisms are generally limited to 4-6 degrees of freedom, making it difficult to replicate the multi-degree-of-freedom complex motion characteristics of the human hand. This leads to motion decoupling errors during submillimeter operations such as vascular suturing, significantly increasing the risk of tissue perforation. In the field of industrial and service robotics, the discrete joystick control model (single lever corresponding to a single joint) commonly used in traditional engineering machinery suffers from significant ergonomic drawbacks. Operators are required to perform complex motion decomposition and multi-channel coordination at the cognitive level, resulting in excessive human-machine interaction delays during multi-joint collaborative operations, severely limiting operational precision and efficiency. Of particular concern is the lack of freedom in existing control systems for high-risk specialized operations such as nuclear power plant maintenance and earthquake rescue. This inability to fully map the 14 primary degrees of freedom of motion in the operator's arms also results in discrete control, leading to nonlinear deviations between the robotic arm's motion trajectory and the natural movements of the human hand. These technical shortcomings not only hinder the widespread adoption of minimally invasive surgical robots in delicate areas like neurosurgery, but also lead to frequent motion interference and trajectory conflicts among dual-arm collaborative robots during complex tasks, severely limiting their application in areas such as intelligent manufacturing and specialized services. Summary of the Invention

[0003] This invention addresses the technical deficiencies of existing robotic arm control devices in terms of degree of freedom matching, motion transmission accuracy, and ergonomic design. It proposes a dual-arm control device with an innovative mechanical structure. The design achieves the following goals: A multi-degree-of-freedom master-slave controller based on a human-machine collaborative manipulator manipulation system comprises a base, a control arm bracket, a right control arm device, a left control arm device, a display bracket and a display. The base includes an angle sensor detection module and a communication module. The control arm bracket is installed on the base. The right side of the control arm bracket is fixedly connected to the right control arm device, and the left side of the control arm bracket is fixedly connected to the left control arm device. The display bracket and the display are installed in the middle part of the base. The structures of the right control arm device and the left control arm device are mirror-symmetrical. The right control arm device and the left control arm device include a control arm end base, a first angle sensor, a first connecting shaft, a first return spring, a second angle detection mechanism base, a second angle sensor, a second connecting shaft, a second return spring, a third angle detection mechanism base, a third angle sensor, a third connecting shaft, a third return spring, a fourth angle detection mechanism base, a fourth angle sensor, a fourth connecting shaft, a fourth return spring, a first locking screw, a fifth angle detection mechanism base, a fifth angle sensor, a fifth connecting shaft, a fifth return spring, a second locking screw, a detection mechanism base, an "S"-shaped connector, a sixth angle detection mechanism base, a sixth angle sensor, a sixth connecting shaft, a sixth return spring, a seventh angle detection mechanism base, a seventh angle sensor, a finger ring, a seventh return spring, and a multi-functional manipulator module controller.

[0004] The structures of the right control arm device and the left control arm device are mirror-symmetrical. The right side of the control arm bracket and the left side of the control arm bracket are respectively fixed to the control arm end base. The first angle sensor is fixed to the control arm end base. One end of the first connecting shaft is connected to the first angle sensor, and the other end passes through the control arm end base to connect to the second angle detection mechanism base. The first return spring is installed between the control arm end base and the second angle detection mechanism base. The second angle sensor is fixed to the second angle detection mechanism base. One end of the second connecting shaft is connected to the second angle sensor, and the other end passes through the second angle detection mechanism base to connect to the third angle detection mechanism base. The second return spring is installed between the second angle detection mechanism base and the third angle detection mechanism base. The axis of the first connecting shaft and the axis of the second connecting shaft are perpendicular to each other. The third angle sensor is fixed on the base of the third angle detection mechanism, one end of the third connecting shaft is connected to the third angle sensor, and the other end passes through the base of the third angle detection mechanism to connect to the base of the fourth angle detection mechanism, a first locking screw is installed on the base of the third angle detection mechanism, the third return spring is installed between the base of the third angle detection mechanism and the base of the fourth angle detection mechanism, and the axis of the second connecting shaft is perpendicular to the axis of the third connecting shaft. The fourth angle sensor is fixed on the base of the fourth angle detection mechanism, one end of the fourth connecting shaft is connected to the fourth angle sensor, and the other end passes through the base of the fourth angle detection mechanism to connect to the base of the fifth angle detection mechanism, a second locking screw is installed on the base of the fourth angle detection mechanism, the fourth return spring is installed between the base of the fourth angle detection mechanism and the base of the fifth angle detection mechanism, the axis of the third connecting shaft is perpendicular to the axis of the fourth connecting shaft, and the axis of the second connecting shaft is parallel to the axis of the fourth connecting shaft. The fifth angle sensor is fixed on the base of the fifth angle detection mechanism, one end of the fifth connecting shaft is connected to the fifth angle sensor, and the other end passes through the base of the fifth angle detection mechanism and is connected to the base of the detection mechanism, the fifth reset spring is installed between the base of the fifth angle detection mechanism and the base of the detection mechanism, the axis of the fourth connecting shaft and the axis of the fifth connecting shaft are perpendicular to each other, and the axis of the third connecting shaft and the axis of the fifth connecting shaft are parallel to each other.The detection mechanism base is fixedly connected to one end of an S-shaped connector, the other end of which is fixedly connected to the sixth angle detection mechanism base. The sixth angle sensor is fixed to the sixth angle detection mechanism base. The sixth connecting shaft is connected to the sixth angle sensor at one end and connected to the seventh angle detection mechanism base at the other end through the sixth angle detection mechanism base. The sixth return spring is installed between the sixth and seventh angle detection mechanism bases. The axis of the fifth connecting shaft is perpendicular to the axis of the sixth connecting shaft. The seventh and eighth angle sensors are respectively fixed to two adjacent surfaces of the first gimbal rocker base at a 90° angle. The first gimbal rocker base is fixed to the seventh angle detection mechanism base. The rotation axes of the seventh and eighth angle sensors are coplanar and perpendicular to each other. The seventh connecting shaft is connected to the seventh angle detection mechanism base at one end and to the ninth angle sensor in the multifunctional manipulator module controller at the other end. The seventh return spring is installed between the seventh angle detection mechanism base and the multifunctional manipulator module controller. The axis of the sixth and seventh connecting shafts are perpendicular to each other. Finger rings are provided on both sides of the base of the seventh angle detection mechanism. When in use, a person's fingers pass through the finger rings, so that the base of the seventh angle detection mechanism can be fixed on the person's fingers. The multifunctional manipulator module controller includes a module controller base, a ninth angle sensor, a top cover, a knob, a tenth angle sensor, a second universal rocker base, an eleventh angle sensor, and a twelfth angle sensor. The ninth angle sensor is fixed to the module controller base, the seventh connecting shaft is connected to the rotation shaft of the ninth angle sensor, the tenth angle sensor is fixed to the module controller base, the knob is connected to the rotation shaft of the tenth angle sensor, and the axis of the knob is perpendicular to the axis of the seventh connecting shaft. The eleventh angle sensor and the twelfth angle sensor are respectively fixed to two adjacent surfaces of the second universal rocker base at a 90° angle. The axes of the rotation shafts of the eleventh angle sensor and the twelfth angle sensor are in the same plane and perpendicular to each other. The top cover is fixed to the module controller base.

[0005] Therefore, the present invention adopts a multi-degree-of-freedom master-slave controller based on a human-machine collaborative manipulator manipulation system with the above structure, which has the following beneficial effects: (1) The controller accurately maps the 14 main degrees of freedom of motion of the human hand and arms (7 for each arm) through a multi-degree-of-freedom bionic joint mechanical structure. It uses a mechanical motion coupling mechanism to ensure that the motion of the human hand joints and the corresponding robotic arm joints are transmitted proportionally, allowing the operator to accurately control the motion of each joint of the robotic arm without cognitive conversion, thereby improving the intuitiveness of the operation. Through this controller, the human hand can control a joint of the robotic arm individually or simultaneously control all joints of the robotic arm in a coordinated manner. During operation, a finger of the human hand only needs to be inserted into the finger rings set on both sides of the base of the seventh angle detection mechanism to fix the movable end of the controller on the human hand. The human hand only needs to make a small movement to rotate the angle sensor on the controller, thereby controlling the corresponding joint on the robotic arm to follow the movement in real time.

[0006] (2) When the human hand rotates around the axis of the first connecting shaft, the first connecting shaft is driven to rotate, so that the first angle sensor can detect the flexion or extension movement equivalent to the shoulder joint of the human hand, and map the control of the first degree of freedom movement of the robotic arm.

[0007] (3) When the human hand rotates around the axis of the second connecting axis and the fourth connecting axis, the second connecting axis and the fourth connecting axis are driven to rotate, so that the second angle sensor and the fourth angle sensor can detect the adduction or abduction movement equivalent to the human shoulder joint, and map and control the second degree of freedom movement of the robotic arm. Since the second connecting axis and the fourth connecting axis are parallel to each other, the sensitivity of the angle sensor detection in this direction can be reduced or enhanced by changing the algorithm or circuit design to meet the different control requirements of different robotic arms. It can also reduce the disturbance and influence of the angle sensor detection in this direction caused by the human hand controlling the movement of other joints, thereby reducing misoperation. When the second locking screw on the base of the fourth angle detection mechanism is screwed into the base of the fifth angle detection mechanism, the movement of the fourth connecting axis can be locked.

[0008] (4) When the human hand rotates around the axis of the third connecting shaft and the fifth connecting shaft, the third connecting shaft and the fifth connecting shaft are driven to rotate, so that the third angle sensor and the fifth angle sensor can detect the internal rotation or external rotation movement equivalent to the human shoulder joint, and map and control the third degree of freedom movement of the robotic arm. Since the third connecting shaft and the fifth connecting shaft are parallel to each other, the sensitivity of the angle sensor detection in this direction can be reduced or enhanced by changing the algorithm or circuit design to meet the different control requirements of different robotic arms. It can also reduce the disturbance and influence of the angle sensor detection in this direction caused by the human hand controlling the movement of other joints, thereby reducing misoperation. When the first locking screw on the base of the third angle detection mechanism is screwed into the base of the fourth angle detection mechanism, the movement of the third connecting shaft can be locked.

[0009] (5) When the human hand rotates around the axis of the sixth connecting shaft, the sixth connecting shaft is driven to rotate, so that the sixth angle sensor can detect the flexion or extension movement equivalent to the human elbow joint, and map the fourth degree of freedom movement of the control robot arm.

[0010] (6) When a human finger moves the first universal joystick base, the seventh angle sensor and the eighth angle sensor can detect an angle equivalent to the rotation of the human wrist, and map and control the fifth and sixth degrees of freedom of the robot arm. When the human hand rotates the multifunctional robot module controller so that it rotates around the axis of the seventh connecting shaft, the ninth angle sensor connected to the seventh connecting shaft is driven to rotate, so that the ninth angle sensor can detect an angle equivalent to the pronation or supination of the human elbow joint, and map and control the seventh degree of freedom of the robot arm.

[0011] (7) When a human finger rotates the knob, the tenth angle sensor can detect the angle of rotation of the knob and map the eighth degree of freedom motion corresponding to the control robot arm; when a human finger moves the second universal joystick base, the eleventh angle sensor and the twelfth angle sensor can respectively detect the rotation angles of the second universal joystick base in two directions perpendicular to each other and map the ninth and tenth degree of freedom motions corresponding to the control robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structural decomposition of the present invention; Figure 3 It is a schematic diagram of the exploded structure of the right arm control device of the present invention; Figure 4 This is a schematic diagram of the decomposition structure of the multifunctional manipulator module controller of the present invention; In the above drawings: 1. Base; 2. Control arm bracket; 3. Right control arm device; 4. Left control arm device; 5. Monitor bracket and monitor; 6. Control arm end base; 6-1. First angle sensor; 6-2. First connecting shaft; 6-3. First return spring; 6-5. First limiting column; 7. Second angle detection mechanism base; 7-1. Second angle sensor; 7-2. Second connecting shaft; 7-3. Second return spring; 7-4. Second fastening screw; 7-5. Second limiting column; 8. Third angle detection mechanism base; 8-1. Third Angle sensor; 8-2, third connecting shaft; 8-3, third return spring; 8-4, third fastening screw; 8-5, third limiting column; 8-7, first locking screw; 9, fourth angle detection mechanism base; 9-1, fourth angle sensor; 9-2, fourth connecting shaft; 9-3, fourth return spring; 9-4, fourth fastening screw; 9-7, second locking screw; 10, fifth angle detection mechanism base; 10-1, fifth angle sensor; 10-2, fifth connecting shaft; 10-3, fifth return spring; 10-4, fifth fastening screw; 11. Detection mechanism base; 11-4. Sixth fastening screw; 11-5. Sixth limit column; 12. "S"-shaped connector; 13. Sixth angle detection mechanism base; 13-1. Sixth angle sensor; 13-2. Sixth connecting shaft; 13-3. Sixth return spring; 14. Seventh angle detection mechanism base; 14-1. Base cover; 14-2. Finger ring; 14-3. Seventh return spring; 14-4. Seventh fastening screw; 14-5. First universal joystick base Seat; 14-6, seventh angle sensor; 14-7, eighth angle sensor; 14-8, eighth fastening screw; 15, multi-function manipulator module controller; 15-1, ninth angle sensor; 15-2, seventh connecting axis; 15-3, knob; 15-4, tenth angle sensor; 15-5, second universal joystick base; 15-6, eleventh angle sensor; 15-7, twelfth angle sensor; 15-8, module controller base; 15-9, top cover. DETAILED DESCRIPTION

[0013] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0014] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, unless otherwise clearly specified and limited, the terms "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0015] like Figure 1 、 2 The multi-degree-of-freedom master-slave controller for a human-machine collaborative robotic arm manipulation system shown in FIG. includes a base 1, a control arm bracket 2, a right control arm assembly 3, a left control arm assembly 4, a display bracket, and a display 5. The base 1 includes an angle sensor detection module and a communication module. The control arm bracket 2 is mounted on the base 1. The right side of the control arm bracket 2 is fixedly connected to the right control arm assembly 3, and the left side of the control arm bracket 2 is fixedly connected to the left control arm assembly 4. The display bracket and display 5 are mounted in the middle of the base.

[0016] like Figure 2 、 3The multi-degree-of-freedom master-slave controller based on the human-machine collaborative manipulator manipulation system shown in the figure has a mirror-symmetrical structure of the right control arm device 3 and the left control arm device 4. The right control arm device 3 and the left control arm device 4 include a control arm end base 6, a first angle sensor 6-1, a first connecting shaft 6-2, a first return spring 6-3, a first limiting column 6-5, a second angle detection mechanism base 7, a second angle sensor 7-1, a second connecting shaft 7-2, a second return spring 7-3, a second fastening screw 7-4, a second limiting column 7-5, a third angle detection mechanism base 8, a third angle sensor 8-1, a third connecting shaft 8-2, a third return spring 8-3, a third fastening screw 8-4, a third limiting column 8-5, a first locking screw 8-7, a fourth angle detection mechanism base 9, a fourth angle sensor 9-1, a fourth connecting shaft 9-2, a fourth return spring 9-3, a fourth fastening screw 9-4, a second locking screw 9-7, a first Five angle detection mechanism bases 10, fifth angle sensor 10-1, fifth connecting shaft 10-2, fifth return spring 10-3, fifth fastening screw 10-4, detection mechanism base 11, sixth fastening screw 11-4, sixth limiting column 11-5, "S"-shaped connector 12, sixth angle detection mechanism base 13, sixth angle sensor 13-1, sixth connecting shaft 13-2, sixth return spring 13-3, seventh angle detection mechanism base 14, seventh angle sensor 14-6, base cover 14-1, finger ring 14-2, seventh return spring 14-3, seventh fastening screw 14-4, first universal joystick base 14-5, eighth fastening screw 14-8, eighth angle sensor 14-7, multi-function manipulator module controller 15, seventh connecting shaft 15-2.

[0017] like Figure 3As shown: the first angle sensor 6-1 is fixed on the control arm end base 6, one end of the first connecting shaft 6-2 is connected to the rotating component for measuring angle changes in the first angle sensor 6-1, the other end of the first connecting shaft 6-2 passes through the control arm end base 6, and is connected to one end of the second angle detection mechanism base 7, and the connection is fastened with a second fastening screw 7-4, and the first return spring 6-3 is installed between the control arm end base 6 and the second angle detection mechanism base 7, one end of the first return spring 6-3 is fixed to the control arm end base 6, and the other end of the first return spring 6-3 is fixed to the second angle detection mechanism base 7, when the second angle detection mechanism base 7 rotates around the axis of the first connecting shaft 6-2 under the action of external force, it drives the first connecting shaft 6-2 connected to the second angle detection mechanism base 7 to rotate, and the first connecting shaft 6-2 drives the rotating component for measuring angle changes in the first angle sensor 6-1 to rotate, thereby controlling the first degree of freedom movement of the robotic arm. The initial angle of connection between the first connecting shaft 6-2 and one end of the second angle detection mechanism base 7 is adjustable and is fastened by the second fastening screw 7-4. When the external force rotating the second angle detection mechanism base 7 disappears, the first reset spring 6-3 resets the second angle detection mechanism base 7 to its initial relative position with the control arm end base 6.

[0018] like Figure 3As shown: the second angle sensor 7-1 is fixed on the second angle detection mechanism base 7, one end of the second connecting shaft 7-2 is connected to the rotating component for measuring angle changes in the second angle sensor 7-1, the other end of the second connecting shaft 7-2 passes through the second angle detection mechanism base 7, and is connected to one end of the third angle detection mechanism base 8, and the connection is fastened with a third fastening screw 8-4, a second return spring 7-3 is installed between the second angle detection mechanism base 7 and the third angle detection mechanism base 8, one end of the second return spring 7-3 is fixed to the second angle detection mechanism base 7, and the other end of the second return spring 7-3 is fixed to the third angle detection mechanism base 8, the axis of the first connecting shaft 6-2 and the axis of the second connecting shaft 7-2 are perpendicular to each other, when the third angle detection mechanism base 8 rotates around the axis of the second connecting shaft 7-2 under the action of external force, it drives the second connecting shaft 7-2 connected to the third angle detection mechanism base 8 to rotate, and the second connecting shaft 7-2 drives the rotating component for measuring angle changes in the second angle sensor 7-1 to rotate, thereby controlling the second degree of freedom movement of the robotic arm. The initial angle at which the second connecting shaft 7-2 is connected to one end of the third angle detection mechanism base 8 is adjustable and is fastened by the third fastening screw 8-4. When the external force for rotating the third angle detection mechanism base 8 disappears, the second reset spring 7-3 resets the third angle detection mechanism base 8 to its initial relative position with the second angle detection mechanism base 7.

[0019] like Figure 3As shown: the third angle sensor 8-1 is fixed on the third angle detection mechanism base 8, one end of the third connecting shaft 8-2 is connected to the rotating component for measuring angle changes in the third angle sensor 8-1, the other end of the third connecting shaft 8-2 passes through the third angle detection mechanism base 8, and is connected to one end of the fourth angle detection mechanism base 9, and the connection is fastened with a fourth fastening screw 9-4, the third angle detection mechanism base 8 is installed with a locking screw 8-7, the third reset spring 8-3 is installed between the third angle detection mechanism base 8 and the fourth angle detection mechanism base 9, the third One end of the return spring 8-3 is fixedly connected to the third angle detection mechanism base 8, and the other end of the third return spring 8-3 is fixedly connected to the fourth angle detection mechanism base 9. The axis of the second connecting shaft 7-2 and the axis of the third connecting shaft 8-2 are perpendicular to each other. When the fourth angle detection mechanism base 9 rotates around the axis of the third connecting shaft 8-2 under the action of an external force, it drives the third connecting shaft 8-2 connected to the fourth angle detection mechanism base 9 to rotate. The third connecting shaft 8-2 then drives the rotating component in the third angle sensor 8-1 that measures the angle change to rotate, thereby controlling the movement of the third degree of freedom of the robotic arm. The initial angle of the connection between the third connecting shaft 8-2 and one end of the fourth angle detection mechanism base 9 is adjustable and is tightened by the fourth fastening screw 9-4. When the external force rotating the fourth angle detection mechanism base 9 disappears, the third return spring 8-3 resets the fourth angle detection mechanism base 9 to its initial relative position with the third angle detection mechanism base 8. When the locking screw 8 - 7 of the third angle detection mechanism base 8 is screwed into the fourth angle detection mechanism base 9 , the movement of the third connecting shaft 8 - 2 is locked, that is, the third angle detection mechanism base 8 and the fourth angle detection mechanism base 9 are fixedly connected.

[0020] like Figure 3As shown: the fourth angle sensor 9-1 is fixed on the fourth angle detection mechanism base 9, one end of the fourth connecting shaft 9-2 is connected to the rotating component for measuring angle changes in the fourth angle sensor 9-1, the other end of the fourth connecting shaft 9-2 passes through the fourth angle detection mechanism base 9, and is connected to one end of the fifth angle detection mechanism base 10, and the connection is fastened with a fifth fastening screw 10-4, the fourth angle detection mechanism base 9 is installed with a locking screw 9-7, the fourth reset spring 9-3 is installed between the fourth angle detection mechanism base 9 and the fifth angle detection mechanism base 10, the fourth reset spring One end of the positioning spring 9-3 is fixedly connected to the fourth angle detection mechanism base 9, and the other end of the fourth reset spring 9-3 is fixedly connected to the fifth angle detection mechanism base 10. The axis of the third connecting shaft 8-2 is perpendicular to the axis of the fourth connecting shaft 9-2. When the fifth angle detection mechanism base 10 rotates around the axis of the fourth connecting shaft 9-2 under the action of an external force, it drives the fourth connecting shaft 9-2 connected to the fifth angle detection mechanism base 10 to rotate. The fourth connecting shaft 9-2 drives the rotating component measuring the angle change in the fourth angle sensor 9-1 to rotate, thereby collaboratively controlling the second degree of freedom movement of the robotic arm. The initial angle of the connection between the fourth connecting shaft 9-2 and one end of the fifth angle detection mechanism base 10 is adjustable and is fastened by the fifth fastening screw 10-4. When the external force rotating the fifth angle detection mechanism base 10 disappears, the fourth reset spring 9-3 resets the fifth angle detection mechanism base 10 to its initial relative position with the fourth angle detection mechanism base 9. When the locking screw 9 - 7 of the fourth angle detection mechanism base 9 is screwed into the fifth angle detection mechanism base 10 , the movement of the fourth connecting shaft 9 - 2 is locked, that is, the fourth angle detection mechanism base 9 is fixedly connected to the fifth angle detection mechanism base 10 .

[0021] like Figure 3As shown: the fifth angle sensor 10-1 is fixed on the fifth angle detection mechanism base 10, one end of the fifth connecting shaft 10-2 is connected to the rotating component for measuring angle change in the fifth angle sensor 10-1, the other end of the fifth connecting shaft 10-2 passes through the fifth angle detection mechanism base 10, and is connected to one end of the detection mechanism base 11, and the connection is fastened with a sixth fastening screw 11-4, and the fifth reset spring 10-3 is installed between the fifth angle detection mechanism base 10 and the detection mechanism base 11, and one end of the fifth reset spring 10-3 is fixed The fifth angle detection mechanism base 10 is connected to the fifth angle detection mechanism base 10, and the other end of the fifth reset spring 10-3 is fixedly connected to the detection mechanism base 11. The axis of the fourth connecting shaft 9-2 is perpendicular to the axis of the fifth connecting shaft 10-2. When the detection mechanism base 11 rotates around the axis of the fifth connecting shaft 10-2 under the action of an external force, it drives the fifth connecting shaft 10-2 connected to the detection mechanism base 11 to rotate. The fifth connecting shaft 10-2 drives the rotating component measuring the angle change in the fifth angle sensor 10-1 to rotate, thereby collaboratively controlling the third degree of freedom movement of the robotic arm. The initial angle of the connection between the fifth connecting shaft 10-2 and one end of the detection mechanism base 11 is adjustable and is fastened by the sixth fastening screw 11-4. When the external force rotating the detection mechanism base 11 disappears, the fifth reset spring 10-3 resets the detection mechanism base 11 to its initial relative position with the fifth angle detection mechanism base 10.

[0022] like Figure 3As shown: the detection mechanism base 11 is fixedly connected to one end of the "S"-shaped connecting piece 12, and the other end of the "S"-shaped connecting piece 12 is fixedly connected to the sixth angle detection mechanism base 13, and the sixth angle sensor 13-1 is fixed on the sixth angle detection mechanism base 13, and one end of the sixth connecting shaft 13-2 is connected to the rotating component for measuring angle change in the sixth angle sensor 13-1, and the other end of the sixth connecting shaft 13-2 passes through the sixth angle detection mechanism base 13 and is connected to one end of the seventh angle detection mechanism base 14, and the connection is fastened with a seventh fastening screw 14-4, and the sixth angle detection mechanism base 13 and the seventh angle detection mechanism base 14 are installed between the sixth angle detection mechanism base 13 and the seventh angle detection mechanism base 14. Six reset springs 13-3, one end of the sixth reset spring 13-3 is fixedly connected to the sixth angle detection mechanism base 13, and the other end of the sixth reset spring 13-3 is fixedly connected to the seventh angle detection mechanism base 14, the axis of the fifth connecting shaft 10-2 and the axis of the sixth connecting shaft 13-2 are perpendicular to each other, when the seventh angle detection mechanism base 14 rotates around the axis of the sixth connecting shaft 13-2 under the action of external force, it drives the sixth connecting shaft 13-2 connected to the seventh angle detection mechanism base 14 to rotate, and the sixth connecting shaft 13-2 drives the rotating part measuring the angle change in the sixth angle sensor 13-1 to rotate, thereby controlling the fourth degree of freedom movement of the robotic arm. The initial angle of the connection between the sixth connecting shaft 13-2 and one end of the seventh angle detection mechanism base 14 is adjustable and is fastened by the seventh fastening screw 14-4. When the external force rotating the seventh angle detection mechanism base 14 disappears, the sixth reset spring 13-3 resets the seventh angle detection mechanism base 14 to its initial relative position with the sixth angle detection mechanism base 13.

[0023] like Figure 3 、 4As shown: the seventh angle sensor 14-6 and the eighth angle sensor 14-7 are respectively fixed at an angle of 90° on two adjacent surfaces of the first universal joystick base 14-5, and the first universal joystick base 14-5 is fixed on the seventh angle detection mechanism base 14. The axes of rotation of the seventh angle sensor 14-6 and the eighth angle sensor 14-7 are in the same plane and perpendicular to each other. When a human finger moves the first universal joystick base 14-5, the seventh angle sensor 14-6 and the eighth angle sensor 14-7 can detect the rotation angle of their respective positions, which is equivalent to the angle of rotation of the human wrist, and map the control of the fifth and sixth degrees of freedom movement of the robotic arm. One end of the seventh connecting shaft 15-2 is connected to the seventh angle detection mechanism base 14, and the connection is fastened with the eighth fastening screw 14-8, and the initial angle of the connection between the seventh connecting shaft 15-2 and one end of the seventh angle detection mechanism base 14 is adjustable, and the other end of the seventh connecting shaft 15-2 is connected to the rotating component for measuring angle changes in the ninth angle sensor 15-1, and the ninth angle sensor 15-1 is fixed in the multifunctional manipulator module controller 15, and the axis of the sixth connecting shaft 13-2 and the axis of the seventh connecting shaft 15-2 are perpendicular to each other, and the seventh reset spring 14-3 is installed between the seventh angle detection mechanism base 14 and the multifunctional manipulator module controller 15, and one end of the seventh reset spring 14-3 is fixedly connected to the seventh angle detection mechanism base 14, and the other end of the seventh reset spring 14-3 is fixedly connected to the seventh angle detection mechanism base 14. The end is fixedly connected to the multifunctional manipulator module controller 15. When the multifunctional manipulator module controller 15 rotates around the seventh connecting shaft 15-2 under the action of an external force, the seventh connecting shaft 15-2 remains stationary, and the ninth angle sensor 15-1 rotates along with the multifunctional manipulator module controller 15. The rotating component connected to the seventh connecting shaft 15-2 and the ninth angle sensor 15-1 for measuring angle changes rotate relative to each other, so that the ninth angle sensor 15-1 can measure the angle of rotation of the multifunctional manipulator module controller 15, thereby controlling the seventh degree of freedom of the manipulator. When the external force rotating the multifunctional manipulator module controller 15 disappears, the seventh return spring 14-3 returns the multifunctional manipulator module controller 15 to its initial relative position with the seventh angle detection mechanism base 14. Finger rings 14-2 are provided on both sides of the seventh angle detection mechanism base 14. When in use, a person's fingers pass through the finger rings 14-2, so that the seventh angle detection mechanism base 14 can be fixed on the person's fingers.

[0024] like Figure 3 、 4As shown: the multifunctional manipulator module controller 15 includes a module controller base 15-8, a ninth angle sensor 15-1, a top cover 15-9, a knob 15-3, a tenth angle sensor 15-4, a second universal joystick base 15-5, an eleventh angle sensor 15-6 and a twelfth angle sensor 15-7. The tenth angle sensor 15-4 is fixed on the module controller base 15-8, and the knob 15-3 is connected to the rotation axis of the tenth angle sensor 15-4. The axis of the knob 15-3 is perpendicular to the axis of the seventh connecting axis 15-2. When the human finger rotates the knob 15-3, the tenth angle sensor 15-4 can detect the rotation angle of the knob 15-3 and map the eighth degree of freedom movement corresponding to the control robot arm; the eleventh angle sensor 15-6 and the twelfth angle sensor 15-7 are respectively fixed at a 90° angle on two adjacent surfaces of the second universal joystick base 15-5, and the rotation axis of the eleventh angle sensor 15-6 and the twelfth angle sensor 15-7 are in the same plane and perpendicular to each other, and the top cover 15-9 is fixed to the module controller base 15-8. When a person's finger moves the second universal joystick base 15-5, the eleventh angle sensor 15-6 and the twelfth angle sensor 15-7 can respectively detect the rotation angles of the second universal joystick base 15-5 in two directions perpendicular to each other, and map the ninth and tenth degrees of freedom movements corresponding to the control robot arm.

[0025] The above is a preferred embodiment of the present invention. The angle sensor includes a potentiometer, a rotary transformer, a photoelectric encoder, a Hall sensor, etc. Ordinary technicians in this field can also make various changes or improvements based on this structure, such as adding or reducing angle sensors, adding or reducing angle detection mechanism bases, etc., adding a detection mechanism with the same detection direction as the first angle sensor, merging the second angle detection mechanism base and the fourth angle detection mechanism base into one angle detection mechanism base, merging the third angle detection mechanism base and the fifth angle detection mechanism base into one angle detection mechanism base, etc., or using other reset devices to replace the reset spring so that the two adjacent angle detection mechanism bases can automatically reset to the initial relative position after the external force causing them to rotate disappears. Without departing from the overall concept of the present invention, these changes or improvements should all fall within the scope of protection required by the present invention.

Claims

1. A multi-degree-of-freedom master-slave controller based on a human-machine collaborative manipulator manipulation system, characterized in that: include: A base (1) having a built-in angle sensor detection module and a communication module; A control arm bracket (2) is mounted on the base (1); a right control arm device (3) and a left control arm device (4) are arranged in mirror symmetry and fixed to the right and left sides of the control arm bracket (2) respectively; a display bracket and a display (5) are mounted in the middle part of the base (1); wherein the right control arm device (3) and the left control arm device (4) each comprise: a control arm end base (6), angle detection mechanism bases (6, 7, 8, 9, 10, 13, 14) connected in series in sequence, an angle sensor (6-1, 7-1, 8-1, 9-1, 10-1, 13-1) arranged between adjacent bases, a connecting shaft (6-2, 7-2, 8-2, 9-2, 10-2, 13-2, 15-2), a return spring (6-3, 7-3, 8-3, 9-3, 10-3, 13-3, 14-3), fastening screws (7-4, 8-4, 9-4, 10-4, 11-4, 14-4, 14-8), a detection mechanism base (11), an "S"-shaped connecting piece (12) connecting the detection mechanism base (11) and the sixth angle detection mechanism base (13), a seventh angle detection mechanism base (14) hinged to the sixth angle detection mechanism base (13), provided with finger rings (14-2) on both sides, and having a built-in first universal joystick base (14-5) and a seventh angle sensor (14-6) and an eighth angle sensor (14-7) arranged at a 90° angle, and a multifunctional manipulator module controller (15) hinged through a seventh connecting shaft (15-2).

2. The multi-degree-of-freedom master-slave controller based on the human-machine collaborative manipulator manipulation system according to claim 1, characterized in that: The axes of the first connecting shaft (6-2) and the second connecting shaft (7-2) are perpendicular to each other; the axes of the second connecting shaft (7-2) and the third connecting shaft (8-2) are perpendicular to each other; the axes of the third connecting shaft (8-2) and the fourth connecting shaft (9-2) are perpendicular to each other, and the axes of the second connecting shaft (7-2) and the fourth connecting shaft (9-2) are parallel to each other; the axes of the fourth connecting shaft (9-2) and the fifth connecting shaft (10-2) are perpendicular to each other, and the axes of the third connecting shaft (8-2) and the fifth connecting shaft (10-2) are parallel to each other; the axes of the fifth connecting shaft (10-2) and the sixth connecting shaft (13-2) are perpendicular to each other; and the axes of the sixth connecting shaft (13-2) and the seventh connecting shaft (15-2) are perpendicular to each other.

3. The multi-degree-of-freedom master-slave controller based on the human-machine collaborative manipulator manipulation system according to claim 1, characterized in that: The third angle detection mechanism base (8) is provided with a first locking screw (8-7), which can lock the movement of the third connecting shaft (8-2) when screwed into the fourth angle detection mechanism base (9); the fourth angle detection mechanism base (9) is provided with a second locking screw (9-7), which can lock the movement of the fourth connecting shaft (9-2) when screwed into the fifth angle detection mechanism base (10).

4. The multi-degree-of-freedom master-slave controller based on the human-machine collaborative manipulator manipulation system according to claim 1, characterized in that: The multifunctional manipulator module controller (15) comprises: a ninth angle sensor (15-1) fixed to a module controller base (15-8) and linked to a seventh connecting shaft (15-2); a knob (15-3) detecting a rotation angle via a tenth angle sensor (15-4), wherein the axis of the knob is perpendicular to the axis of the seventh connecting shaft (15-2); a built-in second universal joystick base (15-5) and an eleventh angle sensor (15-6) and a twelfth angle sensor (15-7) arranged at a 90° angle.

5. A multi-degree-of-freedom master-slave controller based on a human-machine collaborative manipulator manipulation system according to any one of claims 1 to 4, characterized in that: The right control arm device (3) and the left control arm device (4) are mirror-symmetrical, and the motion of all degrees of freedom of the human hand and the arms is mapped to the degrees of freedom of the robot arms through a mechanical coupling mechanism. During operation, the human hand fingers are inserted into the finger ring (14-2), and the seventh angle detection mechanism base (14) is fixed on the human hand. When the human hand drives the right control arm device (3) / the left control arm device (4) to rotate around the first connecting axis (6-2), it is equivalent to detecting the flexion / extension motion of the human hand shoulder joint and controlling the motion of the first degree of freedom of the robot arm; when the human hand drives the right control arm device (3) / the left control arm device (4) to rotate around the second connecting axis (7-2) and the fourth connecting axis (9-2) arranged in parallel, it is equivalent to detecting the adduction / abduction motion of the human hand shoulder joint and controlling the motion of the second degree of freedom of the robot arm; when the human hand drives the right control arm device (3) / the left control arm device (4) to rotate around the third connecting axis (8-2) and the fifth connecting axis (10-2) arranged in parallel, It is equivalent to detecting the internal rotation / external rotation movement of the human shoulder joint and controlling the third degree of freedom movement of the robot arm; when the human hand drives the right control arm device (3) / left control arm device (4) to rotate around the sixth connection axis (13-2), it is equivalent to detecting the flexion / extension movement of the human elbow joint and controlling the fourth degree of freedom movement of the robot arm; when the human hand rotates the multifunctional robot module controller (15) of the right control arm device (3) / left control arm device (4) around the seventh connection axis (15-2), etc. The invention is equivalent to detecting the pronation / supination movement of the human elbow joint and controlling the fifth degree of freedom movement of the robotic arm; when the human finger moves the joystick of the first universal joystick base (14-5), it is equivalent to detecting the movement of the human wrist joint and controlling the sixth and seventh degrees of freedom movement of the robotic arm; when the human finger turns the knob (15-3), the eighth degree of freedom movement of the robotic arm can be controlled; when the human finger moves the joystick of the second universal joystick base (15-5), the ninth and tenth degrees of freedom movement of the robotic arm can be controlled.

6. The multi-degree-of-freedom master-slave controller based on the human-machine collaborative manipulator manipulation system according to claim 5, characterized in that: The parallel arrangement of the second and fourth connecting shafts (7-2, 9-2) and the parallel arrangement of the third and fifth connecting shafts (8-2, 10-2) are used to independently adjust the detection sensitivity of the sensors corresponding to the parallel connecting shafts and reduce motion interference by adjusting algorithms or circuit parameters; the two ends of the reset springs (6-3, 7-3, 8-3, 9-3, 10-3, 13-3, 14-3) are respectively fixed to the adjacent angle detection mechanism bases, so that each base automatically resets to an initial relative position after the external force disappears; fastening screws (7-4, 8-4, 9-4, 10-4, 11-4, 14-4, 14-8) are provided at the connection between the connecting shafts (6-2, 7-2, 8-2, 9-2, 10-2, 13-2, 15-2) and the adjacent bases for adjusting and locking the initial angle of the angle sensor.

7. The multi-degree-of-freedom master-slave controller based on the human-machine collaborative manipulator manipulation system according to claim 1, characterized in that: The angle sensor includes but is not limited to a potentiometer, a rotary transformer, a photoelectric encoder or a Hall sensor; the reset spring can be replaced by a motor or other components that can realize the automatic reset function.

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