Follow-up counterweight system of master-slave manipulator

Abstract

The invention discloses a follow-up counterweight system of a master-slave manipulator. The follow-up counterweight system comprises a swinging counterweight assembly, a lifting counterweight assembly and two groups of vertical stroke counterweight assemblies, the balance weight of the vertical stroke of the main hand is realized; the lifting counterweight assembly is vertically connected to the side wall of the main arm in a sliding manner, so that the swinging action of the main arm and the vertical stroke change counterweight of a lifted object are not influenced; in addition, balance weights are arranged for arm swinging, vertical stroke and arm stretching and retracting force arm changes of the main manipulator, the mutual influence of acting force balance weights of movement of all degrees of freedom is reduced, and therefore during hovering operation, balance weights can be more accurately carried out, the possibility of tiny action recovery and hovering deviation is reduced, and the hovering operation efficiency is improved. And the operation stability and reliability of the master-slave manipulator are improved.

Description

Technical Field

[0001] This invention relates to the field of master-slave manipulator technology, and in particular to a follow-up counterweight system for a master-slave manipulator. Background Technology

[0002] The counterweights of master-slave robotic arms mostly adopt the structure of counterweight hammers or linkages. A large counterweight hammer is hung at the rear end of the master arm to balance the weight of the master arm and bear part of the load torque. Counterweight hammers are set at the front or middle of the master arm to counteract the weight of the front end, wrist and gripper of the master arm. Through counterweight balance, the weight of the master arm during the swing or rotation process can be counteracted. The operator only needs to overcome friction and inertia to push loads of tens or even hundreds of kilograms with one hand, which can significantly reduce labor intensity.

[0003] Current master-slave robotic arms have simple counterweight structures that do not differentiate between the degrees of freedom of motion. For example, if the hand performs other degrees of freedom of motion and force manipulation during arm swing, the counterweight at the front end only balances the weight based on the overall change in the lever arm of the multiple degrees of freedom of motion at the master hand end, or it does not balance the change in lever arm caused by the hand operation. This results in insufficient weight balance, which can easily lead to minor motion recovery or hovering deviation when the robotic arm is hovering, and low stability of the counterweight balance. Summary of the Invention

[0004] The purpose of this invention is to address the problem that existing overall counterweight schemes rely on the overall counterweight mechanism for multiple degrees of freedom, which can easily lead to minor motion recovery or hovering misalignment when the robot arm is hovering. This invention provides a follow-up counterweight system for a master-slave robot arm.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A master-slave manipulator follow-up counterweight system includes: a swing counterweight assembly, a lifting counterweight assembly, and two sets of vertical stroke counterweight assemblies;

[0007] The swing counterweight assembly is fixed to the top of the main arm, and thus can tilt vertically as the main arm swings back and forth.

[0008] The lifting counterweight assembly is vertically slidably connected to the side wall of the main arm and is connected to the first transmission mechanism of the main arm through the first pulley group, so that it can perform counterweight with the lifting transmission of the first transmission mechanism. The first transmission mechanism is used to drive the vertical extension and retraction of the main arm.

[0009] The two sets of vertical stroke counterweight components are respectively fixed at both ends of the swing shaft of the main arm, and are connected to the second transmission mechanism of the main hand through the second pulley group, so that the counterweight can be adjusted with the transmission of the second transmission mechanism. The second transmission mechanism is used to transmit the vertical force of the main hand.

[0010] The master-slave manipulator follower counterweight system of this invention, by fixing the swing counterweight assembly to the top of the master arm, balances the change in lever arm caused by the back-and-forth swing of the master arm. A second counterweight assembly is fixed to both ends of the swing shaft; this second counterweight assembly does not contribute to the back-and-forth swing of the master arm, but is connected to a second transmission mechanism, thus balancing the vertical force of the master arm due to the weight of the lifted or lowered object. Furthermore, a lifting counterweight assembly is vertically slidably connected to the side wall of the master arm, providing counterweight as the first transmission mechanism extends and retracts the arm, enabling the lifting counterweight to... The weighted components slide only vertically relative to the main arm, while swinging back and forth and left and right with the main arm in other degrees of freedom. This does not affect the counterweight of the main arm's swinging motion and hand movements. Therefore, this invention specifically sets the positions of the swinging counterweight component, the vertical stroke counterweight component, and the lifting counterweight component, and sets counterweights for the changes in lever arm caused by the swinging of the main arm, hand movements, and arm extension and retraction. Furthermore, it ensures that the various counterweight components do not affect each other during synchronous movement in each degree of freedom, reducing the mutual influence of the counterweights of the motion forces in each degree of freedom. As a result, when the operation is hovering, the counterweight can be adjusted more accurately, reducing the possibility of small motion recovery and hovering deviation, and improving the stability and reliability of the master-slave robot operation.

[0011] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the vertical stroke counterweight assembly includes: a first fixed frame, a first guide rod, a first counterweight block, and a third pulley group; the first fixed frame is vertically arranged and fixed to both ends of the swing shaft; the first guide rod is vertically arranged and its two ends are fixedly connected to the first fixed frame; the first counterweight block is vertically slidably connected to the first guide rod via a first slider; the second pulley group is fixed to the transmission connection shaft of the second transmission mechanism; the third pulley group is connected to the second pulley group via rope transmission, thereby enabling the first counterweight block to slide vertically along the first guide rod.

[0012] As a preferred embodiment of the present invention, a first fixing frame is provided to provide rigid fixation, a first guide rod and a first counterweight block provide a vertical sliding track, and a third pulley group is connected to a second pulley group via rope transmission. The second pulley group is transmitted to the third pulley group via rope transmission under the transmission action of the second transmission mechanism, so that the third pulley group can drive the first counterweight block to slide vertically along the first guide rod, which can more stably achieve the counterweight balance of the vertical stroke counterweight assembly and further improve the stability and reliability of the hand counterweight.

[0013] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the third pulley group includes: a first fixed pulley, a reversing fixed pulley, and a first movable pulley; the first fixed pulley is bearing connected to the swing shaft; the reversing fixed pulley is fixed to the first fixed frame; the axles of the reversing fixed pulley and the first fixed pulley are perpendicular and their rims are tangential; the first movable pulley is fixed to the first slider.

[0014] As a preferred embodiment of the present invention, by setting the first fixed pulley of the third pulley group, the weight or operation of the first fixed pulley will not be affected during the swing of the main arm around the swing axis. In conjunction with the cooperation of the reversing fixed pulley and the first movable pulley, the movement of the rope can be transmitted to the first counterweight more accurately, thereby further enhancing the stability of the first counterweight in counterweight movement.

[0015] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the first counterweight block is provided with a first mounting groove; the first slider is embedded in the first mounting groove and is detachably and fixedly connected to the first counterweight block.

[0016] As a preferred embodiment of the present invention, by setting the first slider and detachably fixing it in the first mounting groove, the weight of the first counterweight is distributed on the side periphery of the first guide rod, which further reduces the center of gravity shift or sliding obstruction caused by uneven weight distribution during the vertical sliding of the first counterweight, and further improves the stability of the counterweight.

[0017] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the first fixed frame is provided with a guide groove, the long side of the guide groove is parallel to the first guide rod; a first bearing with its axis perpendicular to the first guide rod is provided in the guide groove; and the first slider shaft is connected to the first bearing.

[0018] As a preferred embodiment of the present invention, by setting the guide groove and the first slider being vertically slidably connected to the guide groove via the first bearing, after the tilt angle of the first fixed frame and the first guide rod is adjusted, the first counterweight and the first slider can adaptively rotate a certain angle with the first bearing, thereby reducing the torque with the first guide rod, keeping the sliding direction of the first slider parallel to the guide of the first guide rod, further reducing the risk of running jamming during the counterweight process, and improving the follow-up performance and reliability of the counterweight.

[0019] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the lifting counterweight assembly includes: a sliding sleeve, a fixed shell, and a second counterweight block; the sliding sleeve is vertically slidably connected to the master arm; the fixed shell is fixed to the sliding sleeve; the sliding sleeve is drively connected to the first pulley group, and thus can be driven by the first pulley group to slide vertically relative to the master arm; the second counterweight block is detachably fixed in the fixed shell.

[0020] As a preferred embodiment of the present invention, by setting the lifting counterweight assembly to include a sliding sleeve, a fixed shell, and a second counterweight block, the degree of cooperation with the first pulley group transmission is improved, and the stability of the lifting counterweight assembly is further enhanced.

[0021] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the fixed shell is square and vertically parallel to the axis of the master arm; the fixed shell has a downward mounting opening; and the shape of the second counterweight block matches that of the fixed shell.

[0022] As a preferred embodiment of the present invention, by setting the sliding sleeve, the lifting counterweight assembly can slide more smoothly vertically relative to the main arm. The fixed shell has a downward mounting port, so when replacing the second counterweight, it can be removed from the mounting port by disassembling the external bolts of the fixed shell and using the gravity of the second counterweight. With the width of the second counterweight being comparable to the internal width of the mounting shell, the disassembly and assembly of the second counterweight are facilitated. Furthermore, by making the fixed shell a matching square shape and parallel to the axis of the main arm, the counterweight center of gravity of the second counterweight can be kept from shifting laterally when the main arm swings, further enhancing the counterweight accuracy of the counterweight system.

[0023] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the master arm is further provided with an additional counterweight block; the top end of the master arm is provided with a second fixed frame, the second fixed frame is located on the side of the swing axis away from the master arm; the swing counterweight assembly is fixed to the upper end of the second fixed frame; and the additional counterweight block is fixed to the lateral side of the fixed frame.

[0024] As a preferred embodiment of the present invention, by setting the fixed frame and the additional counterweight to be fixed on one side of the fixed frame in the horizontal direction, when the main arm swings vertically at a certain angle, the horizontal component of the gravity of the additional counterweight increases, which cancels or balances the swing force in the direction away from the additional counterweight. Even if the main arm swings slightly, it can be counterweighted by the additional counterweight, thereby further improving the accuracy of the master-slave manipulator's counterweight.

[0025] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the swing counterweight assembly includes a first swing counterweight block, a second swing counterweight block, and a third swing counterweight block with the same vertical cross-sectional shape; the first swing counterweight block is disposed on the axis of the master arm; the second swing counterweight block and the third swing counterweight block are symmetrically disposed on both sides of the axis of the master arm.

[0026] As a preferred embodiment of the present invention, by setting the first swing counterweight block on the axis of the main arm to provide a stable counterweight for the forward and backward swing of the main arm, and the second and third swing counterweight blocks with the same vertical cross-sectional shape, the second and third swing counterweight blocks can provide counterweight torque in the left and right directions during the left and right swing of the main arm. During the left and right swing of the main arm, it is more conducive to the left and right shift of the center of gravity of the swing counterweight assembly, thereby providing a more accurate and reliable counterweight in the left and right directions.

[0027] Preferably, in the master-slave manipulator follow-up counterweight system of the present invention, the second swing counterweight block includes a plurality of first counterweight units; the third counterweight block includes a plurality of second counterweight units; and the weight of the first counterweight unit is less than or equal to the weight of the second counterweight unit.

[0028] As a preferred embodiment of the present invention, by setting the weight of the first counterweight unit to be less than or equal to the weight of the second counterweight unit, the weight of the second counterweight block and the third counterweight block can be increased or decreased more flexibly, further enhancing the accuracy of the main arm swinging left and right, improving the accuracy of the counterweight of the follow-up counterweight system, and further reducing the possibility of minor movement recovery or hovering deviation.

[0029] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0030] By specifically setting the positions of the swing counterweight assembly, vertical stroke counterweight assembly, and lifting counterweight assembly, and by setting counterweights for the changes in lever arm generated by the swing of the master arm, hand movements, and arm extension and retraction, and by ensuring that the counterweight assemblies do not affect each other during synchronous movement in each degree of freedom, the mutual influence of the counterweights on the motion forces of each degree of freedom is reduced. As a result, when the operation is hovering, the counterweight can be adjusted more accurately, reducing the possibility of minor motion recovery and hovering deviation, and improving the stability and reliability of the master and slave robot operation. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0032] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0033] Figure 3 This is a partial three-dimensional structural diagram of the third pulley block of the present invention;

[0034] Figure 4 This is a partial three-dimensional structural diagram of the lifting counterweight assembly of the present invention;

[0035] Reference numerals: 1. Swinging counterweight assembly; 11. First swinging counterweight block; 12. Second swinging counterweight block; 121. First counterweight unit; 13. Third swinging counterweight block; 131. Second counterweight unit; 2. Lifting counterweight assembly; 21. Sliding sleeve; 22. Fixed shell; 221. Mounting port; 23. Second counterweight block; 3. Vertical stroke counterweight assembly; 31. First fixed frame; 311. Guide groove; 312. First bearing; 32. First guide rod; 33. First counterweight block; 331. First mounting groove; 34. Third pulley block; 341. First fixed pulley; 342. Reversing fixed pulley; 343. First movable pulley; 35. First slider; 4. Main arm; 41. Swing shaft; 42. Second fixed frame; 5. First pulley block; 6. First transmission mechanism; 7. Second pulley block; 8. Second transmission mechanism; 81. Transmission connecting shaft; 9. Additional counterweight block. Detailed Implementation

[0036] The present invention will now be described in detail.

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the following embodiments provide a more detailed description of the invention. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0038] Example 1:

[0039] refer to Figures 1 to 4As shown, this embodiment discloses a follower counterweight system for a master-slave manipulator, including: a swing counterweight assembly 1, a lifting counterweight assembly 2, and two sets of vertical stroke counterweight assemblies 3; the swing counterweight assembly 1 is fixed to the top of the master arm 4, and can tilt vertically as the master arm 4 swings back and forth; the lifting counterweight assembly 2 is vertically slidably connected to the side wall of the master arm 4, and is driven to the first transmission mechanism 6 of the master arm 4 through a first pulley group 5, and can perform counterweighting with the lifting transmission of the first transmission mechanism 6, which is used to drive the vertical extension and retraction of the master arm 4; the two sets of vertical stroke counterweight assemblies 3 are respectively fixed to both ends of the swing shaft 41 of the master arm 4, and are driven to the second transmission mechanism 8 of the master hand through a second pulley group 7, and can perform counterweighting with the transmission of the second transmission mechanism 8, which is used to transmit the vertical force of the master hand.

[0040] It should be noted that the first transmission mechanism 6 can be a pulley assembly, for example, the main arm is a sleeve that is nested together, and the two sleeves are respectively equipped with a pulley assembly consisting of a fixed pulley and a movable pulley, which can realize the mutual extension and retraction of the sleeves due to the vertical movement of the movable pulley.

[0041] In this invention, the vertical direction is understood as the lifting and lowering direction of the object, and the vertical stroke is understood as the linear displacement of the rope on the pulley due to the lifting or lowering of the object. The vertical stroke counterweight assembly 3 balances the change in lever arm caused by the change in vertical stroke. This differs from the lifting counterweight assembly 2, which balances the change in lever arm caused by the extension and retraction of the arm.

[0042] The vertical stroke counterweight assembly 3 described in this invention is understood as a counterweight acting on the force exerted by the hand. It can be a conventional counterweight block. In this preferred embodiment, the vertical stroke counterweight assembly 3 includes: a first fixed frame 31, a first guide rod 32, a first counterweight block 33, and a third pulley group 34. The first fixed frame 31 is vertically arranged and fixed to both ends of the swing shaft 41. The first guide rod 32 is vertically arranged and its two ends are fixedly connected to the first fixed frame 31. The first counterweight block 33 is vertically slidably connected to the first guide rod 32 via a first slider 35. The second pulley group 7 is fixed to the transmission connecting shaft 81 of the second transmission mechanism 8. The third pulley group 34 is connected to the second pulley group 7 via rope transmission, thereby enabling the first counterweight block 33 to slide vertically along the first guide rod 32.

[0043] The third pulley group 34 of the present invention can be configured as a conventional pulley group capable of transmitting the motion force of the second pulley assembly 7 to the first counterweight 33 via a rope. Alternatively, specifically, the third pulley group 34 includes: a first fixed pulley 341, a reversing fixed pulley 342, and a first movable pulley 343; the first fixed pulley 341 is bearing-connected to the swing shaft 41; the reversing fixed pulley 342 is fixed to the first fixed frame 31; the axles of the reversing fixed pulley 342 and the first fixed pulley 341 are perpendicular and their rims are tangential; the first movable pulley 343 is fixed to the first slider 35.

[0044] Specifically, the first counterweight 33 is provided with a first mounting groove 331; the first slider 35 is embedded in the first mounting groove 331 and is detachably and fixedly connected to the first counterweight 33.

[0045] Specifically, the first fixing frame 31 is provided with a guide groove 311, the long side of which is parallel to the first guide rod 32; a first bearing 312 with its axis perpendicular to the first guide rod 32 is provided in the guide groove 311; the first slider 35 is axially connected to the first bearing 312.

[0046] The lifting counterweight assembly 2 of the present invention can be configured as a conventional counterweight block on the active arm. Preferably, the lifting counterweight assembly 2 includes: a sliding sleeve 21, a fixed shell 22, and a second counterweight block 23; the sliding sleeve 21 is vertically slidably connected to the main arm 4; the fixed shell 22 is fixed to the sliding sleeve 21; the sliding sleeve 21 is drively connected to the first pulley group 5, and can thus be driven by the first pulley group 5 to slide vertically relative to the main arm 4; the second counterweight block 23 is detachably fixed inside the fixed shell 22.

[0047] Specifically, the fixing shell 22 is square and vertically parallel to the axis of the main arm 4; the fixing shell 22 is provided with a downward mounting opening 221; the shape of the second counterweight 23 matches that of the fixing shell 22.

[0048] Specifically, the main arm 4 is also provided with an additional counterweight 9; the top of the main arm 4 is provided with a second fixing frame 42, which is located on the side of the swing shaft 41 away from the main arm; the swing counterweight assembly 1 is fixed to the upper end of the second fixing frame 42; and the additional counterweight 9 is fixed to the lateral side of the fixing frame.

[0049] Specifically, the swing counterweight assembly 1 includes a first swing counterweight block 11, a second swing counterweight block 12, and a third swing counterweight block 13 with the same vertical cross-sectional shape; the first swing counterweight block 11 is located on the axis of the main arm 4; the second swing counterweight block 12 and the third swing counterweight block 13 are symmetrically arranged on both sides of the axis of the main arm 4.

[0050] Specifically, the second swing counterweight 12 includes a plurality of first counterweight units 121; the third swing counterweight 13 includes a plurality of second counterweight units 131; the weight of the first counterweight unit 121 is less than or equal to the weight of the second counterweight unit 131.

[0051] The forward and backward swing described in this invention is understood as the swing of the main arm 4 moving closer to or away from the secondary arm; the left and right swing is understood as a horizontal swing that is synchronous with the secondary arm and perpendicular to the forward and backward swing. For example, the forward and backward swing is the X direction, the left and right swing is the Y direction, and the vertical rise and fall is the Z direction, forming a swing in three directions and six degrees of freedom in a rectangular coordinate system.

[0052] It should be noted that the first fixed pulley 341, as Figure 3 The diagram shows the need for two fixed pulleys 341, each used to drive the rope movement in opposite directions. For example, one fixed pulley 341 is used to drive the rope to move in a direction that raises the first movable pulley 343, thereby causing the first counterweight 33 to move vertically upwards along the first guide rod 32. The other fixed pulley 341 is used to drive the rope to move in a direction that lowers the first movable pulley 343, thereby causing the first counterweight 33 to move vertically downwards along the first guide rod 32. (Refer to...) Figure 2 and Figure 3 As shown, the first movable pulley 343 is similarly configured as two sets of pulleys that drive the ropes to move in opposite directions. The two sets of first movable pulleys 343 are symmetrically arranged on both sides of the first guide rod 32 with the first guide rod 32 as the center.

[0053] The shape of the second counterweight 23 in this invention matches the fixed shell 22, which can be understood as the second counterweight 23 being square with a width equivalent to that of the fixed shell 22.

[0054] The swing connection described in this invention is understood as a connection via a pivot shaft, allowing one end of the second guide rod to rotate in the direction of the left and right swing of the main arm 4.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A follower counterweight system for a master-slave robotic arm, characterized in that, include: The swing counterweight assembly (1), the lifting counterweight assembly (2), and two sets of vertical stroke counterweight assemblies (3); the swing counterweight assembly (1) is fixed to the top of the main arm (4), and can tilt vertically as the main arm (4) swings back and forth; The lifting counterweight assembly (2) is vertically slidably connected to the side wall of the main arm (4) and is connected to the first transmission mechanism (6) of the main arm (4) through the first pulley group (5), so that it can carry counterweight with the lifting transmission of the first transmission mechanism (6). The first transmission mechanism (6) is used to drive the vertical extension and retraction of the main arm (4). The two sets of vertical stroke counterweight components (3) are respectively fixed at both ends of the swing shaft (41) of the main arm (4) and are connected to the second transmission mechanism (8) of the main hand through the second pulley group (7), so that the counterweight can be carried out with the transmission of the second transmission mechanism (8). The second transmission mechanism (8) is used to transmit the vertical force of the main hand.

2. The follower counterweight system for the master-slave manipulator according to claim 1, characterized in that, The vertical stroke counterweight assembly (3) includes: a first fixed frame (31), a first guide rod (32), a first counterweight block (33), and a third pulley group (34); the first fixed frame (31) is vertically arranged and fixed to both ends of the swing shaft (41); the first guide rod (32) is vertically arranged and fixedly connected to the first fixed frame (31) at both ends; the first counterweight block (33) is vertically slidably connected to the first guide rod (32) through a first slider (35); the second pulley group (7) is fixed to the transmission connection shaft (81) of the second transmission mechanism (8); the third pulley group (34) is connected to the second pulley group (7) through rope transmission, thereby enabling the first counterweight block (33) to slide vertically along the first guide rod (32).

3. The follower counterweight system for the master-slave manipulator according to claim 2, characterized in that, The third pulley group (34) includes: a first fixed pulley (341), a reversing fixed pulley (342), and a first movable pulley (343); the first fixed pulley (341) is bearing connected to the swing shaft (41); the reversing fixed pulley (342) is fixed to the first fixed frame (31); the axles of the reversing fixed pulley (342) and the first fixed pulley (341) are perpendicular and their rims are tangent to each other; the first movable pulley (343) is fixed to the first slider (35).

4. The follower counterweight system for a master-slave manipulator according to claim 2, characterized in that, The first counterweight (33) is provided with a first mounting groove (331); the first slider (35) is embedded in the first mounting groove (331) and is detachably and fixedly connected to the first counterweight (33).

5. The follower counterweight system for a master-slave manipulator according to claim 2, characterized in that, The first fixing frame (31) is provided with a guide groove (311), the long side of which is parallel to the first guide rod (32); a first bearing (312) with its axis perpendicular to the first guide rod (32) is provided in the guide groove (311); the first slider (35) is axially connected to the first bearing (312).

6. The follower counterweight system for a master-slave manipulator according to claim 1, characterized in that, The lifting counterweight assembly (2) includes: a sliding sleeve (21), a fixed shell (22), and a second counterweight block (23); the sliding sleeve (21) is vertically slidably connected to the main arm (4); the fixed shell (22) is fixed to the sliding sleeve (21); the sliding sleeve (21) is drivenly connected to the first pulley group (5), and can be driven by the first pulley group (5) to slide vertically relative to the main arm (4); the second counterweight block (23) is detachably fixed inside the fixed shell (22).

7. The follower counterweight system for a master-slave manipulator according to claim 6, characterized in that, The fixed shell (22) is square and vertically parallel to the axis of the main arm (4); the fixed shell (22) is provided with a downward mounting port (221); the shape of the second counterweight (23) matches that of the fixed shell (22).

8. The follower counterweight system for a master-slave manipulator according to any one of claims 1-7, characterized in that, The main arm (4) is also provided with an additional counterweight (9); the top of the main arm (4) is provided with a second fixing frame (42), the second fixing frame (42) is located on the side of the swing shaft (41) away from the main arm; the swing counterweight assembly is fixed to the upper end of the second fixing frame (42); the additional counterweight (9) is fixed to the lateral side of the fixing frame.

9. The follower counterweight system for a master-slave manipulator according to any one of claims 1-7, characterized in that, The swing counterweight assembly (1) includes a first swing counterweight block (11), a second swing counterweight block (12), and a third swing counterweight block (13) with the same vertical cross-sectional shape; the first swing counterweight block (11) is located on the axis of the main arm (4); the second swing counterweight block (12) and the third swing counterweight block (13) are symmetrically arranged on both sides of the axis of the main arm (4).

10. The follower counterweight system for a master-slave manipulator according to claim 9, characterized in that, The second swing counterweight (12) includes a plurality of first counterweight units (121); the third swing counterweight (13) includes a plurality of second counterweight units (131); the weight of the first counterweight unit (121) is less than or equal to the weight of the second counterweight unit (131).

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