Mechanical transmission system and transmission control method for master-slave robot

Abstract

The application discloses a master-slave manipulator mechanical transmission system and a transmission control method, and relates to the technical field of master-slave manipulators, which comprises a master hand transmission mechanism, a first pulley assembly, a second pulley assembly, a plurality of connecting rod transmission assemblies, a third pulley assembly, a slave hand transmission mechanism, a fourth pulley assembly and a fifth pulley assembly. The transmission control of the connecting rod transmission assembly and the flexible transmission is realized. Compared with the flexible transmission of only the steel wire pulley assembly type, the flexible transmission and the rigid transmission of the connecting rod transmission assembly at the arm end are cooperated with each other. On the basis of guaranteeing the support performance and stability of the rigid transmission, the operation response rate and the operation accuracy of the master-slave manipulator are improved. Moreover, the connecting rod transmission assembly is arranged in the transverse direction in the wall-penetrating connecting pipe section, the heavy connecting rod assembly can be supported by the wall-penetrating connecting pipe section, the load bearing of the master arm or the slave arm is reduced, and then the inertia of the arm end caused by the dead weight of the rigid transmission member is reduced, so that the operation response rate and the operation accuracy 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 mechanical transmission system and transmission control method for a master-slave manipulator. Background Technology

[0002] The basic principle of master-slave manipulator transmission is to transmit the operation and force of the master hand to the slave hand through a rigid or flexible transmission connection, so that the slave hand can perform the operation and force synchronously or proportionally in terms of movement and force. The transmission methods usually include mechanical transmission and electric transmission.

[0003] Mechanical transmission directly transmits motion and force through physical connections such as steel wires, connecting rods, and gears. The operator applies force or performs displacement operations on the master arm, and the movement of the master arm is transmitted through steel wire ropes wound around pulley assemblies. The movement of the master arm pulls the steel wires, causing the corresponding joints of the slave arm to move. This is the simplest and most common transmission scheme. However, due to the high flexibility of steel wires, the direction of force and motion is not easy to control accurately. This not only results in a complex design structure but also a lack of rigidity, leading to low precision. While rigid transmission methods using connecting rods and rack and pinion gears can accurately convert and transmit the rotational or linear motion of the master arm to the slave arm, the kinematic relationship of the linkage mechanism is highly nonlinear. To transmit large torques or achieve multi-degree-of-freedom motion, a large number of connecting rods, bearings, and gears are required, resulting in a large size, heavy weight, and high inertia of the entire robotic arm, making it difficult to operate and unsuitable for high-speed or precision operations.

[0004] Existing technologies utilize electrically driven master-slave manipulators. Position sensors detect real-time displacement and angular changes in the master hand, and electrical signals are transmitted to control servo motors at each joint of the slave hand, enabling precise replication of the master hand's movements by the slave hand's key components. However, electrically driven master-slave manipulators require high-precision drive motors, multi-channel sensors, and dedicated software systems for control. This results in high equipment costs, and the high degree of overall compatibility means that even minor misalignments or errors can affect overall operation. Furthermore, they are difficult to repair and replace, and require significant debugging and maintenance. Summary of the Invention

[0005] The purpose of this invention is to address the problems of insufficient rigidity and low control accuracy in existing master-slave manipulators with wire pulley component transmission, or the problems of large inertia, slow operation response, and difficulty in precise operation in master-slave manipulators with linkage gear transmission, by providing a mechanical transmission system and transmission control method for a master-slave manipulator.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A mechanical transmission system for a master-slave manipulator includes: a master hand transmission mechanism, a first pulley assembly, a second pulley assembly, multiple sets of linkage transmission assemblies, a third pulley assembly, a slave hand transmission mechanism, a fourth pulley assembly, and a fifth pulley assembly;

[0008] The main hand transmission mechanism is used to transmit the opening, rotation and pitch of the main hand, and is connected to one end of the matching linkage transmission assembly via the first pulley assembly;

[0009] The lower end of the second pulley assembly is fixed to the first outer sleeve of the main arm and can swing back and forth and left and right with the main arm; the upper end of the second pulley assembly is fixed to the first inner sleeve of the main arm and is connected to one end of the matching linkage drive assembly via rope drive.

[0010] All of the aforementioned connecting rod transmission assemblies are arranged laterally inside the through-wall connecting pipe;

[0011] The other end of the matching linkage transmission assembly is connected to the slave hand transmission mechanism via a third pulley assembly, thereby enabling the slave hand transmission mechanism to control the opening, rotation, and pitch of the slave hand.

[0012] The other end of the matching linkage drive assembly is connected to the upper end of the fifth pulley assembly via the fourth pulley assembly; the upper end of the fifth pulley assembly is fixed to the second inner sleeve of the follower arm, thereby enabling the second inner sleeve to extend and retract vertically; the lower end of the fifth pulley assembly is fixed to the second outer sleeve of the follower arm, thereby enabling it to swing back and forth and left and right with the follower arm.

[0013] The mechanical transmission system of the master-slave manipulator described in this invention, through the transmission mechanism of the through-wall connecting pipe section, incorporates multiple sets of transverse linkage transmission components. The lower ends of the second and fifth pulley assemblies are respectively fixed to the master arm and slave arm, enabling them to swing with the forward, backward, left, and right movements of the master and slave arms, reducing the impact of forward, backward, left, and right swinging operations on hand operation transmission and vertical extension and retraction of the arm. Correspondingly, through the transmission of the matching linkage transmission components, the first pulley assembly, and the third pulley assembly, the master hand transmission mechanism controls the clamping, rotation, and pitch transmission of the slave hand transmission mechanism, thereby achieving fine hand operation with flexible transmission. Furthermore, through the matching linkage transmission components, the second pulley assembly, and the fourth pulley assembly... The transmission of the component and the fifth pulley assembly completes the flexible transmission control of the vertical extension and retraction of the arm, thereby realizing the transmission control of the linkage transmission component and the flexible transmission in combination. Compared with the flexible transmission of only the wire pulley assembly, the flexible transmission and the rigid transmission of the linkage transmission component cooperate with each other at the end of the arm. While ensuring the support performance and stability of the rigid transmission, it improves the operation response rate and operation precision of the master and slave manipulator. Furthermore, the linkage transmission component is set laterally in the through-wall connecting pipe section. The heavier linkage component can be supported by the through-wall connecting pipe section, reducing the load on the master or slave arm, thereby reducing the inertia at the end of the arm caused by the weight of the rigid transmission component, and improving the operation response rate and operation precision of the master and slave manipulator.

[0014] Preferably, in the mechanical transmission system of the master-slave manipulator of the present invention, the second pulley assembly includes: a first movable pulley assembly, a first fixed pulley assembly, and a second fixed pulley assembly; the first movable pulley assembly is fixed to the first inner sleeve of the master arm; the first fixed pulley assembly is fixed to the first outer sleeve of the master arm; the first inner sleeve and the first outer sleeve are vertically telescopically connected; the second fixed pulley assembly is fixed to the first swing shaft of the master arm; the first movable pulley assembly is connected to the first fixed pulley assembly via rope transmission, and is also connected to the second fixed pulley assembly via rope transmission, and the second fixed pulley assembly is connected to a matching linkage transmission assembly via rope transmission.

[0015] As a preferred embodiment of the present invention, by setting the first sliding component to include a first movable pulley component, a first fixed pulley component, and a second fixed pulley component, when the operator operates the main arm to make the first inner sleeve and the first outer sleeve slide vertically relative to each other and extend and retract, the vertical extension and retraction transmission of the main and slave arms is carried out through the transmission action of the first movable pulley component and the first fixed pulley component. This can more accurately transmit the vertical extension and retraction force of the main arm to the slave arm, and the small vertical extension and retraction of the main arm will be quickly responded to by the slave arm, further improving the response rate and improving the accuracy and reliability of the system in the vertical extension and retraction force transmission.

[0016] Preferably, in the mechanical transmission system of the master-slave manipulator of the present invention, the first movable pulley assembly is connected to the second fixed pulley assembly via a sixth pulley assembly; the sixth pulley assembly includes a steering fixed pulley assembly and a third fixed pulley assembly; the steering fixed pulley assembly and the third fixed pulley assembly are both parallel to the axis of the first pulley assembly; the axis of the first movable pulley assembly is parallel to the radial direction of the master arm and perpendicular to the axis of the steering fixed pulley assembly.

[0017] As a preferred embodiment of the present invention, the steering pulley assembly and the third pulley assembly enable the axes of the third pulley assembly and the first pulley assembly to be parallel. This allows the hand movement transmission rope threaded through the first pulley assembly and the transmission rope for the vertical extension and retraction of the main arm threaded through the upper end of the second pulley assembly to form a parallel extension direction of the rope transmission. This enhances the accuracy of the flexible transmission rope layout in the system, reduces the possibility of the flexible transmission rope crossing or transmission failure, and improves the reliability of transmission control.

[0018] Preferably, in the mechanical transmission system of the master-slave manipulator of the present invention, the linkage transmission assembly includes: a first gear assembly, a first connecting rod, and a second gear assembly; the first connecting rod is parallel to the axis of the through-wall connecting pipe and is fixed to the through-wall connecting pipe by bearings; a plurality of first gear assemblies are respectively connected to matching first pulley assemblies and second pulley assemblies by rope transmission, and are respectively meshed with one end of the matching first connecting rod; a plurality of second gear assemblies are respectively meshed with the other end of the matching first connecting rod, and are respectively connected to matching third pulley assemblies and fourth pulley assemblies by rope transmission.

[0019] As a preferred embodiment of the present invention, by setting a linkage transmission assembly consisting of a gear assembly and a connecting rod combination, the rigid connection of the transmission can be enhanced, and the meshing connection of the first gear assembly can enhance the precision of the transmission, further improving the accuracy of the motion force transmission.

[0020] Preferably, in the mechanical transmission system of the master-slave manipulator of the present invention, a fourth fixed pulley assembly is provided between the first gear assembly and the first pulley assembly and the second pulley assembly respectively; the ropes of the first pulley assembly and the second pulley assembly are both driven through the fourth fixed pulley assembly.

[0021] As a preferred embodiment of the present invention, by setting the fourth fixed pulley assembly, the first gear assembly of each linkage transmission assembly can set the extension angle of the rope through the fourth fixed pulley assembly. For example, the transmission rope of the first pulley assembly for hand movements is located below another set of first gear assemblies for vertical extension and retraction of the main arm through one or three sets of first gear assemblies with parallel axes, which enhances the precision of the flexible transmission of the system, further reduces the probability of crossover or failure in the rope transmission process, and improves the reliability of transmission control.

[0022] Preferably, in the mechanical transmission system of the master-slave manipulator of the present invention, the master arm is provided with an integrated braking mechanism; the integrated braking mechanism includes a first brake assembly and a first brake lever fixed to the master arm; the ropes for transmission of the first pulley assembly and the second pulley assembly both pass through the first brake assembly, and the first brake lever is hinged to the first brake assembly through a linkage mechanism, thereby enabling the first brake assembly to clamp or release the rope.

[0023] As a preferred embodiment of the present invention, by setting the integrated braking mechanism, the operator can drive the first brake assembly to clamp or release the rope of the first pulley assembly and the second pulley assembly by operating the first brake lever, thereby braking the opening, rotation and pitching movements of the main hand and the vertical extension and retraction movements of the main arm of the first pulley assembly and the second pulley assembly respectively. When it is necessary to stop the operation of some degrees of freedom, braking can be performed by the braking mechanism, further improving the stability of transmission control.

[0024] Preferably, in the mechanical transmission system of the master-slave manipulator of the present invention, the master arm is provided with a forward and backward swing braking mechanism; the forward and backward swing braking mechanism includes: a brake rod, a second brake rod, and a second brake assembly; the brake rod is hinged and fixed to the through-wall pipe in a forward and backward direction, and the brake rod passes through the second brake assembly; the second brake assembly is fixed to the master arm, and one end of the second brake rod is hinged to the second brake assembly, thereby enabling the second brake assembly to clamp or release the brake rod.

[0025] As a preferred embodiment of the present invention, by setting the swing braking mechanism, when the operator swings the main arm to the point where it needs to stop, the second brake rod can be operated to make the second brake assembly clamp the brake rod. Then, one end of the brake rod abuts against the through-wall connecting pipe, and the other end is subjected to braking, thereby achieving precise control of the swinging of the main arm in the forward and backward and left and right directions. This achieves precise control of the hovering process and further improves the precision of the transmission control.

[0026] Preferably, the mechanical transmission system of the master-slave manipulator of the present invention further includes a first swing bevel gear, a second connecting rod, and a second swing bevel gear; the first swing bevel gear shaft is connected to the first swing shaft, and thus can rotate synchronously with the rotation of the first swing shaft; the second connecting rod is fixed in the through-wall connecting pipe by a bearing, one end of the second connecting rod is vertically meshed with the first swing bevel gear; the other end of the second connecting rod is vertically meshed with the second swing bevel gear; the second swing bevel gear shaft is connected to the second swing shaft of the slave arm, and thus can drive the second swing shaft to rotate synchronously.

[0027] As a preferred embodiment of the present invention, during the back-and-forth swinging of the main arm, which drives the first swing shaft to swing back and forth, the process includes supporting the weight of the main and slave arms and transmitting motion force. By setting the first swing bevel gear, the second connecting rod, and the second swing bevel gear, the swing transmission of the main arm is set as a rigid transmission connection of linkage gear transmission, thereby improving the rigid support of the swing of the main and slave arms. Furthermore, the back-and-forth swinging of the main and slave arms is related to the positional accuracy of picking up and placing objects. The rigid transmission connection of this preferred embodiment improves the positional control accuracy of picking up and placing objects.

[0028] To achieve the present invention, another technical solution adopted by the present invention is as follows:

[0029] A mechanical transmission control method for a master-slave manipulator, employing the mechanical transmission system of the manipulator to achieve mechanical transmission control, includes the following steps:

[0030] When the main hand performs clamping, rotation, or pitching operations, the main hand transmission mechanism transmits the clamping, rotation, or pitching motion force to the first pulley assembly, causing the first pulley assembly to rotate. This, in turn, pulls the matching rope of the first pulley assembly to move in the extension direction. This, in turn, drives the first gear assembly of the linkage transmission assembly around which the matching rope is wound to rotate, which in turn drives the first connecting rod of the linkage transmission assembly to rotate. This, in turn, drives the second gear assembly to rotate, which in turn drives the matching rope of the third pulley assembly to move in the extension direction. This, in turn, drives the transmission from the hand transmission mechanism to the corresponding parts of the hand.

[0031] When the main arm is raised or lowered, it causes the first inner sleeve and the first outer sleeve of the main arm to move relative to each other, which in turn causes the rope of the second pulley assembly to move in the extension direction; then it causes the first gear assembly of the matching linkage drive assembly to rotate, which in turn causes the first connecting rod of the linkage drive assembly to rotate; then it causes the second gear assembly of the linkage drive assembly to rotate, which in turn causes the rope of the fourth pulley assembly to move in the extension direction; then it causes the movable pulley assembly at the upper end of the fifth pulley assembly to descend or rise, which in turn causes the second inner sleeve of the arm to extend or retract relative to the second outer sleeve.

[0032] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0033] By incorporating multiple sets of transverse linkage transmission components in the transmission mechanism of the through-wall connecting pipe section, and through the matching transmission of the linkage transmission components, the first pulley assembly, and the third pulley assembly, fine hand operation with flexible transmission can be achieved. Furthermore, by matching the linkage transmission components, the second pulley assembly, the fourth pulley assembly, and the fifth pulley assembly, transmission control can be achieved through the coordination of linkage transmission components and flexible transmission. Compared to flexible transmission using only wire pulley components, the combination of flexible transmission at the arm end and rigid transmission of the linkage transmission components in the window / wall support section ensures the support performance and stability of rigid transmission while improving the operational response rate and precision of the master and slave manipulators. Moreover, by transversely incorporating the linkage transmission components within the through-wall connecting pipe section, the heavier linkage components can be supported by the through-wall connecting pipe section, reducing the load on the master or slave arm, thereby reducing the inertia at the arm end caused by the weight of the rigid transmission components and further improving the operational response rate and precision of the master and slave manipulators. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of the mechanical transmission system of the master-slave manipulator of the present invention. Figure 1 ;

[0035] Figure 2 yes Figure 1 A magnified view of a portion of coil A;

[0036] Figure 3 This is a three-dimensional structural diagram of the master hand part of the mechanical transmission system of the master-slave manipulator of the present invention;

[0037] Figure 4 yes Figure 3 A magnified view of a portion of coil B;

[0038] Figure 5 This is a three-dimensional structural diagram of the slave part of the mechanical transmission system of the master-slave manipulator of the present invention;

[0039] Figure 6 yes Figure 5 A magnified view of a portion of the C-coil;

[0040] Figure 7 This is a schematic diagram of the transmission principle of rotation and pitch of the master hand and slave hand in this invention;

[0041] Figure 8 This is a schematic diagram of the transmission principle of the clamping mechanism of the master hand and slave hand of the present invention;

[0042] Figure 9 This is a schematic diagram of the transmission principle of the vertical extension and retraction of the main arm and the slave arm of the present invention;

[0043] Reference numerals: 1. Main hand transmission mechanism; 2. First pulley assembly; 3. Second pulley assembly; 31. First movable pulley assembly; 32. First fixed pulley assembly; 33. Second fixed pulley assembly; 4. Linkage transmission assembly; 41. First gear assembly; 42. First connecting rod; 43. Second gear assembly; 5. Third pulley assembly; 6. Driven hand transmission mechanism; 7. Fourth pulley assembly; 8. Fifth pulley assembly; 9. Main arm; 91. First outer sleeve; 92. First inner sleeve; 93. First swing shaft; 10. Through-wall connecting pipe; 1. From the arm; 111. Second inner sleeve; 112. Second outer sleeve; 113. Second swing shaft; 12. Sixth pulley assembly; 121. Steering fixed pulley assembly; 122. Third fixed pulley assembly; 13. Fourth fixed pulley assembly; 14. Integrated braking mechanism; 141. First brake assembly; 142. First brake lever; 15. Forward and backward swing braking mechanism; 151. Brake lever; 152. Second brake lever; 153. Second brake assembly; 16. First swing bevel gear; 17. Second connecting rod; 18. Second swing bevel gear. Detailed Implementation

[0044] The present invention will now be described in detail.

[0045] 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.

[0046] Example 1:

[0047] refer to Figures 1-9 As shown, this embodiment discloses a mechanical transmission system for a master-slave manipulator, including: a master hand transmission mechanism 1, a first pulley assembly 2, a second pulley assembly 3, multiple sets of linkage transmission assemblies 4, a third pulley assembly 5, a slave hand transmission mechanism 6, a fourth pulley assembly 7, and a fifth pulley assembly 8;

[0048] The main hand transmission mechanism 1 is used to transmit the opening, rotation and pitch of the main hand, and is connected to one end of the matching linkage transmission assembly 4 via the first pulley assembly 2;

[0049] The lower end of the second pulley assembly 3 is fixed to the first outer sleeve 91 of the main arm 9, and can swing back and forth and left and right with the main arm 9; the upper end of the second pulley assembly 3 is fixed to the first inner sleeve 92 of the main arm 9, and is connected to one end of the matching connecting rod transmission assembly 4 through rope transmission.

[0050] All of the aforementioned connecting rod transmission assemblies 4 are arranged laterally inside the through-wall connecting pipe 10;

[0051] The other end of the matching linkage transmission assembly 4 is connected to the slave hand transmission mechanism 6 via the third pulley assembly 5, thereby driving the slave hand transmission mechanism 6 to control the opening, rotation, and pitch of the slave hand;

[0052] The other end of the matching linkage transmission assembly 4 is connected to the upper end of the fifth pulley assembly 8 via the fourth pulley assembly 7; the upper end of the fifth pulley assembly 8 is fixed to the second inner sleeve 111 of the arm 11, thereby enabling the second inner sleeve 111 to extend and retract vertically; the lower end of the fifth pulley assembly 8 is fixed to the second outer sleeve 112 of the arm 11, thereby enabling it to swing back and forth and left and right with the arm 11.

[0053] It should be noted that the motion operation of the robotic hand described in this invention includes: the main hand swinging in four degrees of freedom (front, back, left, and right) with the main arm 9 and the secondary hand swinging in four degrees of freedom (front, back, left, and right) with the secondary arm 11; the extension and retraction of the main arm 9 or the secondary arm 11 causing raising or lowering; and the opening, rotating, and pitching movements of the hand.

[0054] The main hand transmission mechanism 1 described in this invention can be understood as being achieved through conventional robotic arm transmission components. Specifically, gear components or sprocket components located in the main hand and main arm 9 cooperate with pulley components to transmit the hand's movements to the first pulley assembly 2 through the movement of the chain or rope in the extension direction. For example, the opening action of the main hand is transmitted to the gear assembly through a screw, and then the pulley of the gear assembly drives the rope to move in the extension direction, thereby driving the rotation of the first pulley assembly 2. The rotation operation of the main hand is transmitted to the first pulley assembly 2 through a bevel gear assembly. The pitching action of the main hand is transmitted to the first pulley assembly 2 through a bevel gear assembly.

[0055] The transmission control of the hand from the hand transmission mechanism 6 described in this invention, which controls the opening, rotation, or pitch of the hand, can be understood as follows: The hand transmission mechanism 6 is provided with a pulley group. The movement of the matching rope of the third pulley assembly 5 can drive the pulley group of the hand transmission mechanism 6 to rotate, thereby driving the sprocket or gear coaxial with the pulley group to rotate. Then, the chain drive of the sprocket pulls the clamping member of the hand to clamp, drives the gear of the hand to rotate to rotate the hand, and drives the bevel gear of the hand to rotate to pitch the hand.

[0056] The forward and backward swing of the main arm 9 in this invention is understood as the swing of the main arm 9 relative to the secondary arm 11. The left and right swing of the main arm 9 is understood as the swing perpendicular to the forward and backward swing direction and the vertical swing direction, respectively. The forward and backward swing transmission of the main arm 9 can be achieved through a linkage transmission in which the swing shaft at the end of the main arm 9 and the swing shaft at the end of the secondary arm 11 cooperate with each other, or through gear transmission. Preferably, the forward and backward swing of the main arm 9 in this invention can be achieved through a forward and backward swing transmission mechanism. The forward and backward swing mechanism specifically includes a first swing bevel gear 16, a second connecting rod 17, and a second swing bevel gear 18. The first swing bevel gear 16 is shaft-connected to the first swing shaft 93, and can rotate synchronously with the rotation of the first swing shaft 93. The second connecting rod 17 is fixed in the through-wall connecting pipe 10 by a bearing. One end of the second connecting rod 17 is vertically meshed with the first swing bevel gear 16. The other end of the second connecting rod 17 is vertically meshed with the second swing bevel gear 18. The second swing bevel gear 18 is shaft-connected to the second swing shaft 113 of the secondary arm 11, and can drive the second swing shaft 113 to rotate synchronously. The left and right swinging of the main arm 9 and the slave arm 11 can be achieved by the rigid connection of the connecting rod inside the through-wall connecting pipe 10. Preferably, the invention is achieved by setting the first swing shaft 93 and the second swing shaft 113. The first swing shaft 93 and the second swing shaft 113 are respectively connected to the first swing shaft 93 and the second swing shaft 113 by a fixing frame. The left and right swinging direction is parallel to the axis of the first swing shaft 93 and the second swing shaft 113. The axial torque of the first swing shaft 93 and the second swing shaft 113 can be transmitted to the connecting rod to realize the transmission of left and right swinging.

[0057] It should be noted that the first pulley assembly 2 is understood as a transmission assembly including a fixed pulley and a rope, and can be used in conjunction with a conventional fixed pulley transmission assembly. The pulley assembly is understood as a pulley group that requires one or more pulleys to be conventionally combined. Conventional combinations include coaxial arrangement, movable pulley group arrangement and fixed pulley group arrangement, and conventional settings are made according to actual design requirements.

[0058] The matching linkage transmission assembly 4 described in this invention is understood as each set of linkage transmission assemblies 4 undertaking the transmission function of different motion forces and different degrees of freedom of the hand or arm. The motion forces or degrees of freedom transmitted by each set of linkage transmission assemblies 4 are matched. For example, if the opening, rotation and pitch of the main hand are respectively transmitted by three sets of linkage transmission assemblies 4, then the ropes transmitting the opening, rotation and pitch of the first pulley assembly 2 need to be respectively connected to each set of linkage transmission assemblies 4 that are matched to transmit the opening, rotation and pitch.

[0059] Specifically, the linkage transmission assembly 4 includes: a first gear assembly 41, a first connecting rod 42, and a second gear assembly 43; the first connecting rod 42 is parallel to the axis of the through-wall connecting pipe 10 and is fixed to the through-wall connecting pipe 10 by bearings; a plurality of first gear assemblies 41 are respectively connected to the matching first pulley assembly 2 and second pulley assembly 3 by rope transmission, and are respectively meshed with one end of the matching first connecting rod 42; a plurality of second gear assemblies 43 are respectively meshed with the other end of the matching first connecting rod 42, and are respectively connected to the matching third pulley assembly 5 and fourth pulley assembly 7 by rope transmission.

[0060] It should be noted that, as Figure 1 As shown, each linkage transmission assembly 4 includes a first gear assembly 41, a first connecting rod 42, and a second gear assembly 43. During configuration, multiple first connecting rods 42 can be arranged parallel to the axial direction of the through-wall connecting pipe 10, and multiple first gear assemblies 41 can be arranged coaxially. The difference is that each first gear assembly 41, which performs an operation such as opening a clamp, is set as a gear. Each gear can drive the first connecting rod 42 to rotate clockwise or counterclockwise, which in turn drives the second gear assembly 43 to rotate clockwise or counterclockwise. This, in turn, drives the fourth pulley assembly 7, which is coaxially arranged with the second gear assembly 43, to rotate, thereby causing the rope on the fourth pulley assembly 7 to extend or contract in the extension direction.

[0061] The first gear assembly 41 described in this invention is connected to the matching first pulley assembly 2 and second pulley assembly 3 via rope transmission. This can be understood as the conventional first gear assembly 41 having a coaxial pulley group, and the rope can be wound around the pulley group of the first gear assembly 41, thereby driving the pulley group and the gears of the first gear group to rotate coaxially and synchronously.

[0062] The second pulley assembly 3 described in this invention is understood as a combination of a fixed pulley, a movable pulley, and a rope to achieve vertical upward or downward movement of the movable pulley. The fixed pulley is fixed to the first outer sleeve 91 of the main arm 9, and the movable pulley is fixed to the first inner sleeve 92 of the main arm 9. This allows the relative movement of the movable pulley to drive the relative extension and retraction of the inner sleeve and the outer sleeve. It should also be noted that the lower end of the second pulley assembly 3 is understood as the end closer to the hand. The upper end of the second pulley assembly 3 can be set as a movable pulley group and the lower end as a fixed pulley group, or the upper end of the second pulley assembly 3 can be set as a fixed pulley group and the lower end as a movable pulley group. The positions of the first outer sleeve 91 and the first inner sleeve 92 are matched with the upper and lower ends of the second pulley assembly 3, which allows the relative extension and retraction of the first inner sleeve 92 and the first outer sleeve 91 to be synchronized with the movable pulley group of the second pulley assembly 3.

[0063] Specifically, the second pulley assembly 3 of the present invention may include: a first movable pulley assembly 31, a first fixed pulley assembly 32, and a second fixed pulley assembly 33; the first movable pulley assembly 31 is fixed to the first inner sleeve 92 of the main arm 9; the first fixed pulley assembly 32 is fixed to the first outer sleeve 91 of the main arm 9; the first inner sleeve 92 and the first outer sleeve 91 are vertically telescopically connected; the second fixed pulley assembly 33 is fixed to the first swing shaft 93 of the main arm 9; the first movable pulley assembly 31 is connected to the first fixed pulley assembly 32 via rope transmission, and is also connected to the second fixed pulley assembly 33 via rope transmission, and the second fixed pulley assembly 33 is connected to a matching linkage transmission assembly 4 via rope transmission.

[0064] The first movable pulley assembly 31 of the present invention can be connected to the second fixed pulley assembly 33 via rope transmission to realize pulley group and rope transmission. Specifically, the first movable pulley assembly 31 is connected to the second fixed pulley assembly 33 via a sixth pulley assembly 12. The sixth pulley assembly 12 includes a steering fixed pulley assembly 121 and a third fixed pulley assembly 122. Both the steering fixed pulley assembly 121 and the third fixed pulley assembly 122 are parallel to the axis of the first pulley assembly 2. The axis of the first movable pulley assembly 31 is parallel to the radial direction of the main arm 9 and perpendicular to the axis of the steering fixed pulley assembly 121. For example, the third fixed pulley assembly 122 is connected to the second fixed pulley assembly 33 via rope transmission, and the rotation of the third fixed pulley assembly 122 can drive the second fixed pulley assembly 33 to rotate synchronously.

[0065] Specifically, a fourth fixed pulley assembly 13 is provided between the first gear assembly 41 and the first pulley assembly 2 and the second pulley assembly 3 respectively; the ropes of the first pulley assembly 2 and the second pulley assembly 3 are both driven through the fourth fixed pulley assembly 13.

[0066] It should be noted that the present invention can stop the operation by releasing the force of the main hand or main arm 9. In actual operation, there may be slight movement due to inertia. Preferably, the present invention can provide an integrated braking mechanism 14 on the main arm 9. The integrated braking mechanism 14 includes a first brake assembly 141 and a first brake lever 142 fixed to the main arm 9. The ropes used for transmission by the first pulley assembly 2 and the second pulley assembly 3 both pass through the first brake assembly 141. The first brake lever 142 is hinged to the first brake assembly 141 through a linkage mechanism, thereby driving the first brake assembly 141 to clamp or release the rope. The comprehensive understanding is that it includes the ability to brake both hand operations and arm extension / retraction that transmit power to the first pulley assembly 2 and the second pulley assembly 3 respectively.

[0067] Specifically, the main arm 9 is equipped with a front-to-back swing braking mechanism 15; the front-to-back swing braking mechanism 15 includes: a brake lever 151, a second brake lever 152, and a second brake assembly 153; the brake lever 151 is hinged to the through-wall pipe in a front-to-back direction, and the brake lever 151 passes through the second brake assembly 153; the second brake assembly 153 is fixed to the main arm 9, and one end of the second brake lever 152 is hinged to the second brake assembly 153, thereby enabling the second brake assembly 153 to clamp or release the brake lever 151. For example, the upper end of the second brake lever 152 is connected to a clamp via a brake rope. When the second brake lever 152 tightens the brake rope, it pulls the upper ends of the two clamping plates of the clamp, causing the lower ends of the two clamping plates of the clamp to clamp the brake lever 151, thereby making the brake lever 151 stationary relative to the second brake assembly 153, thus achieving the braking of the front-to-back swing by having the brake lever press against the through-wall pipe and pull the second brake assembly 153; the front-to-back hinge is understood as follows: Figure 3 As shown, one end of the brake lever 151 can rotate slightly in sync with the direction of its back-and-forth swing around the through-wall pipe, thereby enabling the brake lever 151 to move axially within the second brake assembly 153.

[0068] Example 2:

[0069] refer to Figure 7-1 As shown in Figure 0, based on Embodiment 1, this embodiment discloses a mechanical transmission control method for a master-slave manipulator, employing the mechanical transmission system of the master-slave manipulator as described in Embodiment 1, including the following steps:

[0070] When the main hand performs opening, rotation, or pitching operations, the main hand transmission mechanism 1 transmits the motion force of opening, rotation, or pitching to the first pulley assembly 2, causing the first pulley assembly 2 to rotate, thereby pulling the matching rope of the first pulley assembly 2 to move in the extension direction; then it drives the first gear assembly 41 of the linkage transmission assembly 4 around which the matching rope is wound to rotate, thereby driving the first connecting rod 42 of the linkage transmission assembly 4 to rotate; then it drives the second gear assembly 43 to rotate, thereby driving the matching rope of the third pulley assembly 5 to move in the extension direction; and then it drives the transmission from the hand transmission mechanism 6 to the corresponding part of the hand.

[0071] When the main arm is raised or lowered, it drives the first inner sleeve 92 and the first outer sleeve 91 of the main arm 9 to move relative to each other, thereby driving the rope of the second pulley assembly 3 to move in the extension direction; then it drives the first gear assembly 41 of the matching linkage transmission assembly 4 to rotate, thereby driving the first connecting rod 42 of the linkage transmission assembly 4 to rotate; then it drives the second gear assembly 43 of the linkage transmission assembly 4 to rotate, thereby driving the rope of the fourth pulley assembly 7 to move in the extension direction; then it drives the movable pulley assembly at the upper end of the fifth pulley assembly 8 to descend or rise, thereby driving the second inner sleeve 111 of the arm 11 to extend or retract relative to the second outer sleeve 112.

[0072] 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 mechanical transmission system for a master-slave manipulator, characterized in that, include: The main hand transmission mechanism (1), the first pulley assembly (2), the second pulley assembly (3), the multi-link transmission assembly (4), the third pulley assembly (5), the slave hand transmission mechanism (6), the fourth pulley assembly (7), the fifth pulley assembly (8), the first swing bevel gear (16), the second connecting rod (17), and the second swing bevel gear (18); The main hand transmission mechanism (1) is used to transmit the opening, rotation and pitch of the main hand, and is connected to one end of the matching linkage transmission assembly (4) through the first pulley assembly (2); The second pulley assembly (3) includes: a first movable pulley assembly (31), a first fixed pulley assembly (32), and a second fixed pulley assembly (33); the first movable pulley assembly (31) is fixed to the first inner sleeve (92) of the main arm (9); the first fixed pulley assembly (32) is fixed to the first outer sleeve (91) of the main arm (9); the first inner sleeve (92) and the first outer sleeve (91) are vertically telescopically connected; the second fixed pulley assembly (33) is fixed to the first swing shaft (93) of the main arm (9); the first movable pulley assembly (31) is connected to the first fixed pulley assembly (32) via rope transmission, and is also connected to the second fixed pulley assembly (33) via rope transmission, and the second fixed pulley assembly (33) is connected to a matching linkage transmission assembly (4) via rope transmission; The lower end of the second pulley assembly (3) is fixed to the first outer sleeve (91) of the main arm (9) and can swing back and forth and left and right with the main arm (9); the upper end of the second pulley assembly (3) is fixed to the first inner sleeve (92) of the main arm (9) and is connected to one end of the matching connecting rod transmission assembly (4) through rope transmission. All of the aforementioned linkage transmission assemblies (4) are arranged laterally inside the through-wall connecting pipe (10); The other end of the matching linkage transmission assembly (4) is connected to the slave hand transmission mechanism (6) via the third pulley assembly (5), thereby enabling the slave hand transmission mechanism (6) to control the opening, rotation, and pitch of the slave hand. The other end of the matching linkage transmission assembly (4) is connected to the upper end of the fifth pulley assembly (8) via the fourth pulley assembly (7); the upper end of the fifth pulley assembly (8) is fixed to the second inner sleeve (111) of the arm (11), thereby enabling the second inner sleeve (111) to extend and retract vertically; the lower end of the fifth pulley assembly (8) is fixed to the second outer sleeve (112) of the arm (11), thereby enabling it to swing back and forth and left and right with the arm (11); The main arm (9) is provided with an integrated braking mechanism (14); the integrated braking mechanism (14) includes a first brake assembly (141) and a first brake lever (142) fixed to the main arm (9); the ropes for transmission of the first pulley assembly (2) and the second pulley assembly (3) both pass through the first brake assembly (141), and the first brake lever (142) is hinged to the first brake assembly (141) through a linkage mechanism, thereby enabling the first brake assembly (141) to clamp or release the rope; The main arm (9) is provided with a front-to-back swing braking mechanism (15); the front-to-back swing braking mechanism (15) includes: a brake rod (151), a second brake rod (152), and a second brake assembly (153); the brake rod (151) is hinged to the through-wall pipe in the front-to-back direction, and the brake rod (151) passes through the second brake assembly (153); the second brake assembly (153) is fixed to the main arm (9), and one end of the second brake rod (152) is hinged to the second brake assembly (153), thereby enabling the second brake assembly (153) to clamp or release the brake rod (151). The first swing bevel gear (16) is connected to the first swing shaft (93) and can rotate synchronously with the rotation of the first swing shaft (93); the second connecting rod (17) is fixed in the wall-penetrating connecting pipe (10) by bearings, and one end of the second connecting rod (17) is vertically meshed with the first swing bevel gear (16); the other end of the second connecting rod (17) is vertically meshed with the second swing bevel gear (18); the second swing bevel gear (18) is connected to the second swing shaft (113) from the arm (11) and can drive the second swing shaft (113) to rotate synchronously.

2. The mechanical transmission system of the master-slave manipulator according to claim 1, characterized in that, The first movable pulley assembly (31) is connected to the second fixed pulley assembly (33) via the sixth pulley assembly (12); the sixth pulley assembly (12) includes a steering fixed pulley assembly (121) and a third fixed pulley assembly (122); the steering fixed pulley assembly (121) and the third fixed pulley assembly (122) are both parallel to the axis of the first pulley assembly (2); the axis of the first movable pulley assembly (31) is parallel to the radial direction of the main arm (9) and perpendicular to the axis of the steering fixed pulley assembly (121).

3. The mechanical transmission system of the master-slave manipulator according to claim 1, characterized in that, The linkage transmission assembly (4) includes: a first gear assembly (41), a first connecting rod (42), and a second gear assembly (43); the first connecting rod (42) is parallel to the axis of the through-wall connecting pipe (10) and is fixed to the through-wall connecting pipe (10) by bearings; a plurality of first gear assemblies (41) are respectively connected to the matching first pulley assembly (2) and second pulley assembly (3) by rope transmission, and are respectively meshed with one end of the matching first connecting rod (42); a plurality of second gear assemblies (43) are respectively meshed with the other end of the matching first connecting rod (42), and are respectively connected to the matching third pulley assembly (5) and fourth pulley assembly (7) by rope transmission.

4. The mechanical transmission system of the master-slave manipulator according to claim 3, characterized in that, A fourth fixed pulley assembly (13) is provided between the first gear assembly (41) and the first pulley assembly (2) and the second pulley assembly (3); the ropes of the first pulley assembly (2) and the second pulley assembly (3) are both driven through the fourth fixed pulley assembly (13).

5. A mechanical transmission control method for a master-slave manipulator, characterized in that, The mechanical transmission system of the master-slave manipulator as described in any one of claims 1-4 includes the following steps: When the main hand performs opening, rotation, or pitching operations, the main hand transmission mechanism (1) transmits the motion force of opening, rotation, or pitching to the first pulley assembly (2), causing the first pulley assembly (2) to rotate, thereby pulling the matching rope of the first pulley assembly (2) to move in the extension direction; then it drives the first gear assembly (41) of the linkage transmission assembly (4) around which the matching rope is wound to rotate, thereby driving the first connecting rod (42) of the linkage transmission assembly (4) to rotate; then it drives the second gear assembly (43) to rotate, thereby driving the matching rope of the third pulley assembly (5) to move in the extension direction; then it drives the transmission from the hand transmission mechanism (6) to the corresponding part of the hand; When the main arm is raised or lowered, it drives the first inner sleeve (92) and the first outer sleeve (91) of the main arm (9) to move relative to each other, thereby driving the rope of the second pulley assembly (3) to move in the extension direction; then it drives the first gear assembly (41) of the matching linkage transmission assembly (4) to rotate, thereby driving the first connecting rod (42) of the linkage transmission assembly (4) to rotate; then it drives the second gear assembly (43) of the linkage transmission assembly (4) to rotate, thereby driving the rope of the fourth pulley assembly (7) to move in the extension direction; then it drives the movable pulley assembly at the upper end of the fifth pulley assembly (8) to descend or rise, thereby driving the second inner sleeve (111) of the arm (11) to extend or retract relative to the second outer sleeve (112).

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