Master-slave follow-up type mechanical force feedback gripper

Abstract

The invention relates to a master-slave follow-up type mechanical force feedback gripper, and relates to the technical field of robots. The gripper comprises a base assembly, a multi-degree-of-freedom mechanical arm assembly, a tail end gripper mechanism, a weight electric signal conversion assembly and a signal conduction assembly. The multi-degree-of-freedom mechanical arm assembly is connected with the base assembly and the tail end gripper mechanism, the weight electric signal conversion assembly converts grabbed weight changes into electric signals, and the signal conduction assembly is embedded in a mechanical arm to achieve stable transmission of the electric signals to the wearing end. According to the invention, the grabbing weight change of the tail end can be accurately collected and converted into a standard electric signal, and the real-time performance of signal transmission is guaranteed through internal wiring protection, so that an operator can visually perceive the far-end load through the damping change of the wearing end, and the safety and immediacy of master-slave follow-up control are improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a master-slave follower mechanical force feedback gripper. Background Technology

[0002] Master-slave manipulator systems have wide applications in industrial automation, medical surgery, and special operations, achieving precise remote control through the linkage of a proximal manipulator and a remote actuator. In existing technologies, master-slave manipulators typically employ a multi-degree-of-freedom robotic arm supported by a base, connected to an end effector. The end effector performs grasping actions through a mechanical transmission structure, while the operator manipulates the proximal device to drive the remote actuator to move synchronously. Simultaneously, externally deployed signal cables transmit the force information at the end effector to the operator.

[0003] However, in existing technologies, it is difficult to stably collect and convert the weight changes of the object grasped at the end of the device into standard electrical signals. The signal cables are prone to being pulled and worn as the robotic arm moves, resulting in insufficient real-time transmission of electrical signals. Operators cannot intuitively perceive the actual load grasped at the remote end through the operating terminal. Summary of the Invention

[0004] This application provides a master-slave follower mechanical force feedback gripper that can solve the technical problems of accurately acquiring changes in end-effector gripping weight and stably transmitting electrical signals.

[0005] To achieve the above objectives, this application provides the following technical solution: This application provides a master-slave servo mechanical force feedback gripper, including a base assembly, a multi-degree-of-freedom robotic arm assembly, an end effector mechanism, a weight electrical signal conversion component, and a signal transmission component. One end of the multi-degree-of-freedom robotic arm assembly is fixedly connected to the base assembly, and the other end is rotatably connected to the end effector mechanism. The weight electrical signal conversion component is installed on the end effector mechanism and is used to convert the weight change of the object grasped by the end effector mechanism into an electrical signal. The signal transmission component is embedded inside the multi-degree-of-freedom robotic arm assembly, with one end electrically connected to the weight electrical signal conversion component and the other end electrically connected to an external wearable device to transmit the electrical signal to the wearable device, so that the wearable device adjusts its own damping according to the change of the electrical signal.

[0006] As a preferred technical solution, the base assembly includes a fixed base, a slewing bearing, and a base mounting flange; the fixed base is fixedly connected to the slewing bearing, and the base mounting flange is fixed to the top of the slewing bearing and fixedly connected to the multi-degree-of-freedom robotic arm assembly.

[0007] As a preferred technical solution, the multi-degree-of-freedom robotic arm assembly includes an upper arm, a forearm, and a wrist connector connected in sequence; the upper arm, forearm, and wrist connector are all hollow rigid structures with channels inside for installing signal transmission components; the upper arm and forearm are rotatably connected via a shoulder joint assembly, and the forearm and wrist connector are rotatably connected via an elbow joint assembly.

[0008] As a preferred technical solution, both the shoulder joint assembly and the elbow joint assembly include a joint seat and a joint shaft; the joint shaft passes through the joint seat and enables rotation, and the joint shaft is fixedly connected to the upper arm and forearm respectively.

[0009] As a preferred technical solution, the wrist connector and the end-effector mechanism are connected by a wrist joint assembly; the wrist joint assembly includes a wrist joint seat, a wrist joint ball head, and a locking nut; the wrist joint seat is fixedly connected to the wrist connector, the wrist joint ball head is fixedly connected to the end-effector mechanism and is embedded in the wrist joint seat to form a ball joint, and the locking nut is used to lock the wrist joint ball head.

[0010] As a preferred technical solution, the end effector mechanism includes a claw base and at least two mechanical claw fingers; the claw base is fixedly connected to the wrist joint assembly, and the root of the mechanical claw fingers is rotatably connected to the claw base, and synchronous opening and closing is achieved through a linkage structure; a weight electrical signal conversion component is installed in the claw base and is set correspondingly to the mechanical claw fingers.

[0011] As a preferred technical solution, a claw pad is fixedly provided on the inner side of the mechanical claw, and the surface of the claw pad is provided with an anti-slip structure; the weight electrical signal conversion component is a pressure sensor, and its sensing end is in contact with the mechanical claw.

[0012] As a preferred technical solution, the signal transmission component includes a transmission cable and a cable fixing component; one end of the transmission cable is electrically connected to the weight electrical signal conversion component, and the cable fixing component is installed on the robotic arm component to fix the transmission cable.

[0013] As a preferred technical solution, the inner wall of the multi-degree-of-freedom robotic arm assembly is provided with a reinforcing steel component.

[0014] The novel beneficial effects of this invention are as follows: 1. Precise weight detection and conversion: The weight electrical signal conversion component is integrated in situ into the end gripper, directly acquiring changes in gripping weight, avoiding intermediate force transmission errors, and providing good signal linearity and fast response; 2. Stable and interference-resistant signal transmission: The hollow robotic arm has internal wiring and cable fixing components to limit the cable pulling, wear and tear, and external electromagnetic interference, resulting in strong real-time electrical signal transmission and low loss. 3. Excellent force feedback control experience: Constructing a closed loop of "end weight change → electrical signal transmission → wearable damping adaptive adjustment", the operator can intuitively perceive the remote load and eliminate misoperation and equipment overload; 4. High mechanical rigidity and flexible movement: The base rotation structure + multi-joint degrees of freedom + wrist ball joint posture adjustment, the inner wall of the arm is reinforced with steel to improve the resistance to deformation, and the positional accuracy and detection benchmark are stable; 5. Wide gripping adaptability: The gripper pad with anti-slip structure improves gripping stability, reduces signal fluctuations caused by object slippage, and ensures continuous and reliable force feedback, making it suitable for various scenarios such as industrial, medical, and special operations. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the main structure of the mechanical claw of the present invention; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the end effector mechanism in this invention; In the diagram: 1. Base assembly; 2. Multi-DOF robotic arm assembly; 3. End effector; 4. Weight-to-electrical signal conversion assembly; 5. Signal transmission assembly; 11. Fixed base; 12. Slewing bearing seat; 13. Base mounting flange; 21. Upper arm; 22. Forearm; 23. Wrist connector; 24. Shoulder joint assembly; 25. Elbow joint assembly; 26. Wrist joint assembly; 261. Wrist joint seat; 262. Wrist joint ball head; 263. Locking nut; 31. Claw seat; 32. Mechanical claw finger; 321. Claw pad; 51. Transmission cable; 52. Cable fastener. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0018] Example: Figures 1 to 4 As shown, Example 1: In master-slave teleoperated robot systems, operators control remote manipulators to perform delicate tasks, especially in high-risk or high-precision scenarios such as nuclear power plant maintenance, minimally invasive surgery, and deep-sea salvage, where the real-time sensing capability of the end effector's grasping force is crucial. However, existing master-slave manipulators generally suffer from problems such as inaccurate end-effector weight acquisition, nonlinear electrical signal conversion, susceptibility to transmission path interference, and large feedback link delays. These issues prevent operators from accurately judging the remote load, easily leading to misgrasping, slippage, or overload damage, seriously affecting operational safety and the sense of immersion.

[0019] To address the aforementioned issues, this application proposes a master-slave servo mechanical force feedback gripper. The core of this approach lies in constructing a closed-loop feedback architecture that integrates physical grasping, in-situ force signal acquisition, anti-interference transmission, and damping adaptive mapping. Instead of relying on an external force measurement platform or indirect calculation model, the weight sensing unit is directly integrated into the end effector. High-fidelity signal transmission is achieved through inherent structural protection, ensuring that the damping adjustment at the wearable end strictly responds to the actual force state at the end.

[0020] See Figure 1 As shown, this application provides a master-slave servo mechanical force feedback gripper, including: a base assembly 1, a multi-degree-of-freedom robotic arm assembly 2, an end effector 3, a weight electrical signal conversion component 4, and a signal transmission component 5; one end of the multi-degree-of-freedom robotic arm assembly 2 is fixedly connected to the base assembly 1, and the other end is rotatably connected to the end effector 3; the weight electrical signal conversion component 4 is installed on the end effector 3 and is used to convert the weight change of the object grasped by the end effector 3 into an electrical signal; the signal transmission component 5 is embedded inside the multi-degree-of-freedom robotic arm assembly 2, one end is electrically connected to the weight electrical signal conversion component 4, and the other end is used to electrically connect to an external wearable device, transmitting the electrical signal to the wearable device so that the wearable device adjusts its own damping according to the change of the electrical signal.

[0021] The base assembly 1 is a static mounting structure that provides rigid support and spatial positioning reference for the whole machine. It can be fixed to the robot body, mobile platform or fixed tooling table. The base assembly 1 is used to support and constrain the motion starting point of the multi-degree-of-freedom robotic arm assembly 2. Its installation posture stability directly affects the spatial reproduction accuracy of the subsequent joint movements and the consistency of the reference reference for end force detection. In this embodiment, the base assembly 1 and the multi-degree-of-freedom robotic arm assembly 2 are connected by a rigid flange to ensure that there is no measurement deviation introduced by relative displacement or elastic deformation, thereby ensuring the reference reliability of the force value collected by the weight electrical signal conversion component 4.

[0022] The multi-degree-of-freedom robotic arm assembly 2 is a serial robotic arm with at least three rotational degrees of freedom, such as shoulder pitch, elbow flexion and extension, and wrist deflection. Its overall configuration can cover a typical workspace. The multi-degree-of-freedom robotic arm assembly 2 is used to realize the spatial pose adjustment and master-slave follower trajectory reproduction of the end effector 3. One end is fixedly connected to the base assembly 1, and the other end is connected to the end effector 3 through a revolute joint, so that the end effector 3 can complete actions such as grasping, releasing, and flipping in three-dimensional space. The structural rigidity of the multi-degree-of-freedom robotic arm assembly 2 directly affects the integrity of the force transmission path at the end effector. If the arm body bends or the joint gap is too large, the weight electrical signal conversion component 4 will not sense the pure grasping load, but a mixed signal superimposed with the structural deformation reaction force. Therefore, in this embodiment, the multi-degree-of-freedom robotic arm assembly 2 is made of high-strength aluminum alloy or carbon fiber composite material and has a uniform wall thickness and reasonable cross-sectional moment of inertia design to suppress elastic vibration and static deformation during the movement process.

[0023] The end effector 3 is a gripping actuator with two or more fingers that can open and close simultaneously. Its root is connected to the end of the multi-degree-of-freedom robotic arm assembly 2 via a rotating connector to form a kinematic pair. The end effector 3 is used to directly contact and grasp the target object. Its opening and closing stroke, gripping force range, and fingertip contact characteristics jointly determine the gripping stability and adaptability to weight sensing conditions. In this embodiment, the end effector 3 and the multi-degree-of-freedom robotic arm assembly 2 are connected by a mechanical connection that can rotate relative to each other. This connection allows the end effector 3 to adaptively adjust its posture as the arm moves while maintaining the gripping state, avoiding sudden changes in gripping force or object slippage caused by forced posture locking. At the same time, this rotating connection also provides a stable mounting carrier and a direct force path for the weight electrical signal conversion component 4.

[0024] The weight-to-electrical signal conversion component 4 is a pressure sensor, strain gauge force-sensitive element, or piezoelectric ceramic sensing unit, and its installation position is close to the force-bearing area of ​​the end-effector mechanism 3. The weight-to-electrical signal conversion component 4 is used to convert the changes in normal pressure, shear force, or resultant force experienced by the end-effector mechanism 3 during the grasping process into standard analog voltage signals or digital pulse signals in real time according to a preset sensitivity and linear relationship. Its sensing principle is based on the physical mapping relationship of material micro-strain—resistance / capacitance / charge change. In this embodiment, the weight-to-electrical signal conversion component 4 is directly installed on the body of the end-effector mechanism 3, for example, embedded in the claw seat or attached to the root of the mechanical claw finger, so that its sensing end is highly coincident with the grasping force path, avoiding signal attenuation, hysteresis, and nonlinear distortion caused by indirect force transmission through long levers, connecting rods, or bearings. The amplitude of the output signal of this component is monotonically increasing with the resultant force in the vertical direction experienced by the end, which facilitates linear damping mapping by the subsequent wearable end.

[0025] The signal transmission component 5 is a shielded twisted-pair cable, coaxial cable, or flexible printed circuit (FPC), which is embedded in the hollow cavity of the multi-degree-of-freedom robotic arm component 2. One end of the signal transmission component 5 is electrically connected to the output end of the weight electrical signal conversion component 4, and the other end is led out to the proximal interface of the multi-degree-of-freedom robotic arm component 2 to establish an electrical path with the external wearable device. Its embedding method includes, but is not limited to, being arranged along the arm body axis, spirally wound, or segmented snap-fit ​​fixing. In this embodiment, the signal transmission component 5 is completely enclosed in the internal channel of the multi-degree-of-freedom robotic arm component 2 and is not exposed to the air environment, thereby avoiding the risks of scratching with external obstacles, exceeding the bending radius limit, and electromagnetic field coupling interference during movement. The component is also equipped with a grounded shielding layer and a low-noise preamplifier circuit to suppress common-mode interference and improve the signal-to-noise ratio, ensuring that the electrical signal transmitted to the wearable device has millisecond-level response capability and measurement repeatability within ±0.5%FS.

[0026] The core innovation of this application lies in constructing a three-in-one mechanical force feedback architecture of end-effector in-situ sensing, structural intrinsic protection, and closed-loop damping mapping: by deeply integrating the weight electrical signal conversion component 4 into the end-effector gripper mechanism 3, errors in intermediate force transmission links are eliminated; the hollow rigid structure of the multi-degree-of-freedom robotic arm component 2 provides a physical isolation channel for the signal transmission component 5, replacing the traditional external wiring method; and through the dynamic binding relationship between the electrical signal and the damping parameters of the wearable end, the magnitude of the resistance felt by the operator's limbs strictly corresponds to the actual weight grasped at the far end, forming a quantifiable, predictable, and reproducible human-machine force perception interaction closed loop.

[0027] The working process and principle of this application are as follows: When the operator drives the wearable end to make a grasping action, the action is converted into target angle commands for each joint of the multi-degree-of-freedom robotic arm component 2 through a master-slave mapping algorithm, driving the end-effector gripper mechanism 3 to close; once the robotic gripper fingers contact and clamp the target object, the normal pressure applied to the object surface is directly transmitted to the sensing end of the weight electrical signal conversion component 4 through the gripper structure, triggering its output of an electrical signal proportional to the clamping force; this electrical signal is transmitted in real time to the wearable end controller via the signal transmission component 5 embedded inside the multi-degree-of-freedom robotic arm component 2; the controller calculates the required output damping value according to the preset mapping function and drives the wearable end actuator to increase the output resistance in real time; as the end-effector grasps the weight, the wearable end damping increases synchronously, thereby providing the operator with tactile feedback that is strictly matched to the remote load, achieving a high-fidelity force perception reproduction where what you feel is what you get.

[0028] As an optional embodiment, the solution of this application is implemented as follows: In the remote replacement operation of fuel assemblies in a nuclear power plant, the operator wears a force feedback glove as the wear end, and the master-slave mechanical force feedback gripper of this application is deployed at the end of the robotic arm. When the robotic arm approaches the fuel rod and begins to grip it, the two mechanical claws of the end gripper mechanism 3 close synchronously, and the claw pads continuously apply a gripping force after contacting the surface of the fuel rod. At this time, the weight electrical signal conversion component 4 collects the stress change at the root of the claw in real time and outputs a 0-5 V analog voltage signal. This signal is transmitted to the wear end without loss through the shielded twisted pair cable embedded in the hollow cavity of the upper arm 21 and the lower arm 22. After receiving the voltage signal, the wear end controller maps it proportionally to the excitation current of the magnetorheological fluid damper, so that the glove finger joints output the corresponding level of resisting torque. Based on this, the operator can clearly distinguish whether the fuel rod has been firmly gripped, whether there is local slippage or abnormal loosening, and thus correct the control command in time, significantly reducing the risk of misoperation.

[0029] Through the above technical solution, this application achieves the following beneficial effects: Since the weight electrical signal conversion component 4 is directly installed on the end effector 3, signal attenuation and phase delay caused by indirect force transmission through intermediate structures such as robotic arm joints and links are avoided, thereby improving the response speed and linearity of weight acquisition; Since the signal transmission component 5 is embedded inside the multi-degree-of-freedom robotic arm component 2, it effectively isolates adverse factors such as cable pulling, bending, and electromagnetic interference during movement, ensuring the stability and real-time performance of electrical signal transmission; Since one end of the signal transmission component 5 is connected to the weight electrical signal... The conversion component 4 is connected to an external wearable device at the other end, and the wearable device adjusts its own damping according to the change of the electrical signal. Therefore, a complete closed-loop link is constructed from the physical grasp at the end to the force feedback at the proximal end, which enables the operator to intuitively and accurately perceive the actual load at the remote end, improving the safety, accuracy and immersive experience of remote operation. Since the multi-degree-of-freedom robotic arm component 2 is a rigid hollow structure, it not only supports the spatial movement of the end gripper mechanism 3, but also provides a protective channel for the signal transmission component 5. Therefore, it takes into account both the requirements of motion performance and signal quality, and solves the problem of structural and functional separation in traditional solutions.

[0030] Example 2: In another embodiment, this application also provides a master-slave follower mechanical force feedback gripper, wherein a fixed base 11, a slewing bearing 12 and a base mounting flange 13 constitute a base assembly 1; the fixed base 11 is fixedly connected to the slewing bearing 12, and the base mounting flange 13 is fixed to the top of the slewing bearing 12 and fixedly connected to the multi-degree-of-freedom robotic arm assembly 2.

[0031] The fixed base 11 is a rectangular or circular flat rigid structure made of cast iron, aluminum alloy, or stainless steel, used to provide a stable installation foundation between the whole machine and the external support platform. Its bottom is provided with several mounting holes, which are fastened to the support platform by bolts. The distribution, diameter, and depth of the mounting holes are set according to the actual load requirements and installation space. The fixed base 11 bears the vertical load and overturning moment of the whole machine and provides a rigid support reference for the slewing bearing seat 12. The connection between the fixed base 11 and the slewing bearing seat 12 is by welding, bolting, or interference fit. The connection interface is provided with locating pins or stops to ensure assembly coaxiality and repeatability.

[0032] The slewing bearing seat 12 is an integrated double-row four-point contact ball bearing structure, or an external gear ring slewing bearing, or an internal gear ring slewing bearing. Its inner ring is fixedly connected to the fixed base 11, and its outer ring is fixedly connected to the base mounting flange 13, realizing smooth rotation around the vertical axis. The outer diameter, height, rated static load, and rotational accuracy of the slewing bearing seat 12 are matched and selected according to the weight, moment of inertia, and working conditions of the multi-degree-of-freedom robotic arm assembly 2: high-precision crossed roller bearings are selected for light-load precision operation scenarios, and three-row cylindrical roller slewing bearings with gear meshing drive are selected for heavy-load industrial scenarios. As the motion center of the base assembly 1, the slewing bearing seat 12 allows the multi-degree-of-freedom robotic arm assembly 2 to rotate omnidirectionally in the horizontal plane to expand the working coverage range, and suppresses radial runout and axial movement through the precise cooperation between the internal rolling elements and the track, ensuring the geometric reference stability of the robotic arm motion link, thereby improving the consistency of the reference reference for the force detection of the end gripper mechanism 3.

[0033] The base mounting flange 13 is a ring-shaped or square metal flange with mounting holes, made of the same material as the slewing bearing seat 12 or of higher strength alloy steel. Its lower end face is fastened to the outer ring end face of the slewing bearing seat 12 by high-strength bolts. The upper end face is provided with a mounting interface that matches the bottom end of the multi-degree-of-freedom robotic arm assembly 2. This interface is in the form of flange butt, T-slot fitting, or quick-change mechanical lock. The central through hole of the base mounting flange 13 is used to avoid the lead-out cable or built-in wiring channel of the signal transmission assembly 5. Its hole diameter is reserved according to the outer diameter of the cable or the internal wiring space. The base mounting flange 13 serves as a rigid transition piece between the slewing bearing seat 12 and the multi-degree-of-freedom robotic arm assembly 2, which completely transmits the rotational degree of freedom of the slewing bearing seat 12 to the robotic arm. The flange plane fit and bolt preload ensure the normal stiffness and torsional stiffness of the connection interface between the two, avoiding the robotic arm attitude drift due to loose connection, and maintaining the integrity and directional certainty of the force transmission path on which the weight electrical signal conversion assembly 4 depends.

[0034] The fixed base 11 and the slewing bearing 12 form a stable static support unit, the slewing bearing 12 and the base mounting flange 13 form a controllable rotation unit, and the base mounting flange 13 and the multi-degree-of-freedom robotic arm assembly 2 form a dynamic load-bearing unit. The three are rigidly connected in stages to form a three-level coupling structure of fixed-rotation-load-bearing: when the multi-degree-of-freedom robotic arm assembly 2 performs master-slave follow-up movements in space, its overall center of gravity change and joint reaction force are transmitted to the slewing bearing 12 through the base mounting flange 13, and then evenly distributed to the fixed base 11 by the slewing bearing 12 and finally introduced into the external support platform. The slight deformation of each connection interface in this transmission path is strictly suppressed, so that the weight signal of the object sensed by the end gripper mechanism 3 is not distorted due to the shaking or twisting of the base itself, thereby ensuring the reference stability of the output electrical signal of the weight electrical signal conversion component 4.

[0035] Through the above technical solutions, this application achieves the following: Since the fixed base 11 is rigidly connected to the slewing bearing seat 12, the overall bending stiffness and torsional stiffness of the base assembly 1 are improved, suppressing the transmission of low-frequency vibrations caused by external disturbances; Since the base mounting flange 13 is located at the top of the slewing bearing seat 12 and directly fixed to the multi-degree-of-freedom robotic arm assembly 2, the omnidirectional rotation capability of the robotic arm in the horizontal plane is realized, expanding the coverage of the working space; Since the slewing bearing seat 12, as an intermediate transition structure, has both rotational and load-bearing functions, it maintains the geometric continuity and directional certainty of the weight force transmission path while ensuring motion flexibility, improving the reference stability and repeatability of the end-effector weight detection signal.

[0036] Example 3: In another alternative embodiment, such as Figure 2 As shown, this application also provides a master-slave follower mechanical force feedback gripper. The multi-degree-of-freedom robotic arm assembly 2 includes an upper arm 21, a forearm 22, and a wrist connector 23 connected in sequence. The upper arm 21, forearm 22, and wrist connector 23 are all hollow rigid structures with channels inside for installing signal transmission components 5. The upper arm 21 and forearm 22 are rotatably connected by a shoulder joint assembly 24, and the forearm 22 and wrist connector 23 are rotatably connected by an elbow joint assembly 25.

[0037] The hollow rigid structure of the upper arm 21, forearm 22 and wrist connector 23 is a hollow tube integrally machined, or a hollow cavity composed of an outer shell and embedded reinforcing ribs. The hollow cross-section is circular, rectangular, polygonal or irregular ring shape, and the inner wall surface is provided with guide grooves, buckle positions or cable limiting bosses to help the transmission cable 51 maintain a smooth route in the channel. This hollow structure provides physical protection and movement avoidance space for the signal transmission component 5. By reducing the amount of material used, the weight of the entire arm is reduced. While maintaining structural rigidity, the dynamic response performance is improved, ensuring the positional accuracy of the end gripper mechanism 3 and the stability of the weight detection benchmark.

[0038] The shoulder joint assembly 24 includes a shoulder joint seat and a shoulder joint shaft. The shoulder joint shaft passes through the shoulder joint seat and achieves single-degree-of-freedom rotation. Its axis is perpendicular to the center line connecting the upper arm 21 and the forearm 22. One end of the shoulder joint shaft is fixedly connected to the upper arm 21, and the other end is fixedly connected to the forearm 22. This connection method forms a stable revolute joint between the upper arm 21 and the forearm 22, allowing them to rotate relative to each other around the same axis, while constraining translational and rotational degrees of freedom in other directions. The shoulder joint assembly 24 is installed in the intersection area of ​​the distal end of the upper arm 21 and the proximal end of the forearm 22. The structure is compact and ensures that the arm movement envelope is not interfered with by additional protruding parts. The shoulder joint assembly 24, together with the upper arm 21 and the forearm 22, constitutes a humanoid shoulder motion module, which achieves large-range spatial positioning and provides axial passage conditions for the cross-joint wiring of the signal transmission component 5.

[0039] The elbow joint assembly 25 includes an elbow joint seat and an elbow joint axis. The elbow joint axis passes through the elbow joint seat and achieves single-degree-of-freedom rotation. Its axis is parallel to the shoulder joint axis or at a predetermined angle of 90°. One end of the elbow joint axis is fixedly connected to the forearm 22, and the other end is fixedly connected to the wrist connector 23. This connection method forms another stable rotational pair between the forearm 22 and the wrist connector 23, allowing them to flex and extend relative to each other around the axis. The elbow joint assembly 25 is located close to the distal end of the forearm 22 and works in conjunction with the shoulder joint assembly 24 to form a two-degree-of-freedom serial kinematic chain, which significantly improves the spatial accessibility and posture flexibility of the robotic arm assembly 2. Its structural design takes into account both high rigidity and low friction characteristics, and can maintain rotational accuracy under frequent start-stop and variable load conditions, avoiding weight detection reference drift caused by joint micro-movement or backlash.

[0040] The upper arm 21, forearm 22, and wrist connector 23 form a two-stage series rotational structure through the shoulder joint assembly 24 and elbow joint assembly 25. The hollow channel of the three is connected end to end, forming a continuous closed wiring path starting from the base assembly 1, passing through the multi-degree-of-freedom robotic arm assembly 2, and ending at the end gripper mechanism 3. When the multi-degree-of-freedom robotic arm assembly 2 performs spatial motion, each arm segment rotates relative to the corresponding joint axis, while the transmission cable 51 is always constrained inside the hollow channel, neither bearing tensile stress nor being affected by external scratches or direct electromagnetic field radiation. The axial alignment and structural rigidity of the shoulder joint assembly 24 and elbow joint assembly 25 ensure that each arm segment maintains the geometric continuity of the channel during movement, avoiding local compression or excessively small bending radius of the cable at joint bends, and ensuring that the signal transmission assembly 5 can stably transmit weight electrical signals in all working postures.

[0041] As an optional embodiment, the solution of this application is implemented as follows: In the actual assembly process, the transmission cable 51 is first threaded through the hollow channel of the upper arm 21, and one end is left with sufficient length to complete the electrical connection with the weight electrical signal conversion component 4; then the forearm 22 is assembled with the upper arm 21 through the shoulder joint component 24, and the cable is simultaneously guided into the channel of the forearm 22; then the wrist connector 23 is assembled with the forearm 22 through the elbow joint component 25, and the cable enters the channel of the wrist connector 23 and is led out to the side interface of the wrist joint component 26; the entire wiring... The process does not require binding or gluing cables to the outer surface of the arm; all connection nodes are located inside the structure or at standard interface locations. When the mechanical force feedback gripper works in a remote operation scenario, the end gripper mechanism 3 grasps objects of different masses, and the weight electrical signal conversion component 4 outputs an analog voltage signal of corresponding amplitude in real time. This signal is transmitted without loss to the external wearable end via a fully concealed transmission cable 51. The wearable end controller dynamically adjusts the damping of the actuator motor according to the signal amplitude, so that the operator's hand can feel the resistance change that is strictly matched with the remote load, thus achieving high-fidelity force feedback.

[0042] Through the above technical solutions, this application achieves the following: Since the upper arm 21, forearm 22 and wrist connector 23 all adopt hollow rigid structures and form a through channel, they provide full-path physical protection and movement avoidance space for the signal transmission component 5, avoiding wear, pulling and electromagnetic interference problems caused by external cables; Since the shoulder joint component 24 and elbow joint component 25 respectively realize stable rotational connection between the upper arm-forearm and forearm-wrist connector, they maintain the axial continuity and structural rigidity of the hollow channel while ensuring at least two independent rotational degrees of freedom, improving the overall motion accuracy and weight detection benchmark stability; As a result, the signal transmission component 5 can continuously, stably and with low delay convert the end weight change into a damping adjustment command that can be recognized by the wearable end during the full posture movement of the multi-degree-of-freedom robotic arm component 2, solving the technical problems of unreliable signal transmission, force feedback distortion and poor control presence of traditional master-slave follower grippers.

[0043] Example 4: In one optional embodiment, this application also provides a master-slave follower mechanical force feedback gripper, wherein the shoulder joint assembly 24 and the elbow joint assembly 25 both include a joint seat and a joint shaft; the joint shaft passes through the joint seat and realizes rotation, and the joint shaft is fixedly connected to the upper arm 21 and the forearm 22 respectively.

[0044] The joint seat of the shoulder joint assembly 24 is a ring-shaped cast steel seat with precision-machined cylindrical bearing mounting holes on its inner wall for mounting deep groove ball bearings or crossed roller bearings. The joint shaft is a stepped solid steel shaft, one end of which is fixedly connected to the end flange of the upper arm 21 by an interference fit or set screw, and the other end passes through the joint seat and forms a rotating pair with it. This structure allows the upper arm 21 to have pitch freedom about the vertical axis relative to the base assembly 1, and at the same time, it directly transmits the gripping load of the end gripper mechanism 3 to the joint seat through the joint shaft, and then to the slewing bearing seat 12, thereby ensuring the stability of the force reference of the weight electrical signal conversion assembly 4 and preventing additional disturbances from being introduced due to the joint gap.

[0045] The elbow joint assembly 25 has a split aluminum alloy housing, consisting of two halves joined together by bolts, with a self-lubricating copper sleeve or rolling bearing inside. The joint shaft is an alloy steel shaft with a keyway, one end of which is fixed to the root flange of the forearm 22 by a flat key, and the other end passes through the joint seat to achieve circumferential limiting and radial support. This structure allows the forearm 22 to have flexion and extension freedom around the horizontal axis relative to the upper arm 21, and there is no relative slippage between the joint shaft and the forearm 22 during load changes, ensuring that the force signal sensed by the weight electrical signal conversion component 4 truly reflects the weight of the end object, rather than the inertial disturbance caused by joint loosening.

[0046] Both the shoulder joint assembly 24 and the elbow joint assembly 25 adopt a common structural form of joint seat + through joint axis. The two work together in terms of functional positioning: the shoulder joint assembly 24 mainly undertakes the pitch movement of the whole arm and the transmission of the main load in the direction of gravity, while the elbow joint assembly 25 focuses on adjusting the spatial posture and local torque distribution of the end effector 3. The two are rigidly connected to the corresponding arm body through the joint axis, and together they form a continuous force transmission link of the multi-degree-of-freedom robotic arm assembly 2, so that the gravity component of the end effector 3 under different spatial positions can be transmitted back to the base assembly 1 step by step along a determined path, avoiding the drift of the weight detection benchmark due to the cumulative gap or elastic deformation of multiple joints.

[0047] Specifically, when the end effector 3 grasps an object, the weight of the object is transmitted to the wrist joint assembly 26 through the mechanical claw 32 and claw seat 31, and then to the forearm 22 through the wrist connector 23. The load borne by the forearm 22 is directly transmitted to the joint seat through the joint axis of the elbow joint assembly 25, and further transmitted to the slewing bearing seat 12 through the upper arm 21 and shoulder joint assembly 24. Throughout the process, there are no flexible connections or floating links at each joint, and there is no relative rotation or axial movement between the joint axis and the arm body. This ensures that the force signal collected by the weight electrical signal conversion component 4 depends only on the static distribution caused by the actual weight of the grasped object and its spatial posture, and is not affected by joint coordination errors.

[0048] As an optional embodiment, the solution of this application is specifically implemented as follows: During operation, the operator drives the multi-degree-of-freedom robotic arm component 2 to perform a grasping action through an external wearable device; when the end effector gripper mechanism 3 closes and contacts the target object, the robotic gripper finger 32 is deformed by pressure, and the pressure is transmitted through the gripper pad 321 to the weight electrical signal conversion component 4 (i.e., pressure sensor) in the gripper seat 31 to generate an initial electrical signal; this electrical signal is uploaded in real time through the transmission cable 51 embedded in the internal channel of the upper arm 21 and the forearm 22; since the shoulder joint component 24 and the elbow joint component 25 both adopt a rigid fit structure with the joint axis passing through the joint seat, the upper arm 21 and the forearm 22 maintain structural stability during movement, and there is no slight vibration or hysteresis at the joint. Therefore, the electrical signal output by the weight electrical signal conversion component 4 has a high signal-to-noise ratio and good linearity; the external wearable device adjusts its own damping output in real time according to the magnitude of this electrical signal, so that the operator can intuitively perceive the weight of the remote load, improving the safety of operation and the sense of immersion.

[0049] Through the above technical solution, this application achieves the following: Since both the shoulder joint assembly 24 and the elbow joint assembly 25 adopt a structure in which the joint shaft passes through the joint seat and is rigidly connected to the upper arm 21 and the forearm 22 respectively, during the movement of the multi-degree-of-freedom robotic arm assembly 2, the rotation accuracy of each joint is high and there is no cumulative gap. This ensures the accuracy of replicating the master-slave follow-up motion and maintains the stability of the mechanical reference for weight detection. Since there are no additional connecting parts between the joint shaft and the arm body, the distortion of force transmission caused by loose threads or worn pins is avoided, thereby improving the long-term consistency and repeatability of the force feedback signal.

[0050] Example 5: One possible implementation is, such as Figure 4 As shown, this application also provides a wrist connector 23 connected to the end-effector mechanism 3 via a wrist joint assembly 26; the wrist joint assembly 26 includes a wrist joint seat 261, a wrist joint ball head 262, and a locking nut 263; the wrist joint seat 261 is fixedly connected to the wrist connector 23, the wrist joint ball head 262 is fixedly connected to the end-effector mechanism 3 and is embedded in the wrist joint seat 261 to form a ball joint, and the locking nut 263 is used to lock the wrist joint ball head 262.

[0051] The wrist joint seat 261 is a metal shell with a concave ball-and-socket structure. Its inner surface is precision ground to improve the fitting accuracy and rotational smoothness with the wrist joint ball head 262. The wrist joint seat 261 is made of high-strength aluminum alloy or stainless steel. Its shape can be adapted to the end face structure of the wrist connector 23. It is rigidly fixed to the wrist connector 23 through bolt holes. The function of the wrist joint seat 261 is to provide stable support and limiting constraint for the wrist joint ball head 262, and to serve as the fixed side component of the ball joint pair. Together with the wrist joint ball head 262, it forms the basic structure for the three-degree-of-freedom rotational connection in space.

[0052] The wrist joint ball head 262 is a metal sphere with a standard spherical outer surface. Its spherical radius matches the inner ball socket radius of the wrist joint seat 261, forming a clearance fit or a light preload fit. The wrist joint ball head 262 is integrally formed with the claw seat 31 of the end gripper mechanism 3, or is fixedly connected by threaded connection, interference fit, or pin positioning. The function of the wrist joint ball head 262 is to act as the motion side component of the ball joint pair, undertake the attitude adjustment task of the end gripper mechanism 3 in the pitch, yaw, and micro-roll directions, and uniformly transmit the gripping load to the wrist joint seat 261 through spherical contact, thereby ensuring the stability and repeatability of the force path of the weight electrical signal conversion component 4.

[0053] The locking nut 263 is a hexagonal flange nut with a locking function. Its internal thread matches the external thread on the outer periphery of the wrist joint seat 261. When the locking nut 263 is tightened, the axial pressure causes the inner wall of the wrist joint seat 261 to undergo elastic micro-deformation, thereby applying radial clamping force to the wrist joint ball head 262 embedded therein, realizing the frictional self-locking of the ball joint pair. The tightening torque of the locking nut 263 is set according to the actual working conditions. The function of the locking nut 263 is to provide an adjustable mechanical locking mechanism, so that the end gripper mechanism 3 can reliably maintain its position after completing the spatial posture adjustment, avoiding posture drift caused by vibration or load disturbance, thereby maintaining the consistency of the weight detection benchmark and the accuracy of the force feedback link.

[0054] The working process of the wrist joint assembly 26 is as follows: When it is necessary to adjust the spatial attitude of the end effector 3, the locking nut 263 is loosened first. At this time, the wrist joint ball head 262 can swing freely in the ball socket of the wrist joint seat 261. The operator drives the end effector 3 to rotate around any spatial axis by external force to achieve pitch, yaw or multi-axis compound angle adjustment. After the attitude is determined, the locking nut 263 is tightened so that the wrist joint seat 261 applies a controllable clamping force to the wrist joint ball head 262. The ball contact area generates sufficient static friction to resist the dynamic disturbance in subsequent operations, thereby stabilizing and locking the attitude of the end effector 3. This process does not rely on external drive or sensor feedback, and has a simple structure, fast response and high reliability.

[0055] Through the above technical solution, this application achieves the following: the wrist joint assembly 26 uses a wrist joint seat 261 and a wrist joint ball head 262 to form a ball joint pair, and provides adjustable clamping force through a locking nut 263. While ensuring that the end-effector mechanism 3 has the ability to adjust its posture in three-dimensional space, it effectively suppresses unexpected rotation during operation. The ball joint structure has multi-directional load-bearing characteristics, and the gripping load can be evenly distributed and transmitted along the spherical surface, avoiding the influence of single-point stress concentration on the detection benchmark of the weight electrical signal conversion component 4. The clamping force of the locking nut 263 is adjustable and does not require an additional power source, which improves the robustness and field adaptability of the system and solves the technical problem that it is difficult to balance the flexibility of end-effector posture adjustment and locking stability in existing master-slave follower grippers.

[0056] Example 6: In one embodiment, such as Figure 3 As shown, this application also provides an end effector mechanism 3 including a claw base 31 and at least two mechanical claw fingers 32; the claw base 31 is fixedly connected to the wrist joint assembly 26, and the root of the mechanical claw fingers 32 is rotatably connected to the claw base 31, and synchronous opening and closing are achieved through a linkage structure; a weight electrical signal conversion component 4 is installed in the claw base 31 and is correspondingly arranged with respect to the mechanical claw fingers 32. The claw base 31 can be a load-bearing base made of rigid metal or high-strength engineering plastic. Its shape can be ring-shaped, U-shaped, or polygonal. It is used to integrate and install the mechanical claw finger 32, the linkage structure, and the weight electrical signal conversion component 4. The claw base 31 can be fastened to the wrist joint component 26 by bolts, or it can be rigidly connected by interference fit or pin positioning. In this application, the claw base 31 is positioned as the end force transmission center and the mounting reference for the sensing module. Its structure must ensure that its deformation is controllable during the gripping process, so as to provide a stable mechanical reference surface for the weight electrical signal conversion component 4. The connection relationship between the claw base 31 and the wrist joint component 26 determines the overall posture response accuracy of the end gripper mechanism 3. After the two cooperate, the motion plane of the mechanical claw finger 32 always maintains geometric consistency with the rotation center of the wrist joint ball joint, thereby ensuring that the synchronous opening and closing action driven by the linkage structure does not introduce additional off-center load.

[0057] The mechanical gripper fingers 32 can be two, three, or four, and the number can be set according to the size of the object being gripped and the enveloping requirements. The root of each mechanical gripper finger 32 forms a rotating pair with the gripper base 31 through a pin or pivot, and the axis of rotation is parallel to the plane of symmetry of the gripper base 31. The main body of the mechanical gripper finger 32 can be an L-shaped, arc-shaped, or straight rod-shaped rigid component, and the material can be aluminum alloy, titanium alloy, or carbon fiber reinforced composite material. Its functional meaning is to act as an execution unit that directly contacts and constrains the object being gripped, and moves collaboratively under the drive of the linkage structure to achieve an enveloping gripping of the target object. The rotational connection between the mechanical gripper fingers 32 and the gripper base 31 allows them to rotate around a fixed axis during the opening and closing process, and the movement trajectory is constrained by the linkage structure to maintain synchronization. This synchronization ensures that the time difference between each gripper finger contacting the object is close to zero, avoiding the instantaneous eccentric reaction force caused by a single finger contacting first, thereby reducing the dynamic interference component measured by the weight electrical signal conversion component 4.

[0058] The linkage structure can include a linkage mechanism, a rack and pinion mechanism, or a flexible synchronous belt drive mechanism. The linkage mechanism can consist of a driving link, a driven link, and a fixed support. The driving link is connected to the output end of the drive source, and the driven link is hinged to the root of each of the 32 mechanical claw fingers, achieving proportional transmission of angular displacement through planar four-bar kinematics. The rack and pinion mechanism can include a central drive gear, multiple coaxially arranged sector gears, and a rack segment meshing with them. The sector gears are fixed to the root of each of the 32 mechanical claw fingers, and when the central drive gear rotates, it drives all the sector gears synchronously. The flexible synchronous belt drive mechanism can include a driving pulley, a driven pulley, and a synchronous belt surrounding them. Each mechanical claw 32 has a driven pulley fixed at its root. The synchronous belt tensioning achieves the synchronous distribution of torque and angular displacement. The linkage structure does not change the degree of freedom of the mechanical claw 32 itself, but only constrains its motion phase relationship. The linkage structure, together with the claw seat 31 and the mechanical claw 32, forms a closed-loop force transmission path. During the gripping process, the reaction force of each claw is concentrated and transmitted to the weight electrical signal conversion component 4 through the claw seat 31, improving the spatial consistency and temporal synchronization of the force signal.

[0059] The weight-to-electrical-signal conversion component 4 is installed inside the gripper base 31 and is positioned corresponding to the mechanical gripper finger 32. It can be a pressure sensor, strain gauge force-sensitive element, or piezoelectric ceramic sensing unit. Its sensing end can be attached to the inner side of the root of the mechanical gripper finger 32, or it can be embedded inside the gripper base 31 and abut against the force-transmitting protrusion at the root of the mechanical gripper finger 32. The function of this component is to directly convert the reaction force generated by the weight of the object during gripping by the mechanical gripper finger 32 into a standard analog voltage signal or digital pulse signal. Its corresponding position to the mechanical gripper finger 32 can refer to its sensing direction. The component has a definite mapping relationship with the direction of the torque generated by the mechanical gripper 32 rotating around the root axis. That is, when the mechanical gripper 32 is subjected to a positive clamping reaction force, the amplitude of the output signal of this component increases monotonically. The installation position of this component in the gripper base 31 can be set according to the actual situation. For example, it can be close to the rotational connection area between the gripper base 31 and the mechanical gripper 32 to shorten the force transmission path and reduce the measurement lag caused by structural deformation. Alternatively, it can be arranged in a multi-point manner according to the internal spatial layout of the gripper base 31, and then output a comprehensive value through a signal fusion algorithm. This application embodiment does not impose any special limitations on this.

[0060] Specifically, during the synchronous closing of the mechanical claw 32 driven by the linkage structure, the root of each claw applies a radial reaction force of the same direction and similar magnitude to the claw seat 31. This reaction force is rigidly transmitted to the sensing area of ​​the weight electrical signal conversion component 4 through the structure of the claw seat 31. Since the movement phase and contact sequence of each claw are consistent, the reaction force superposition process is smooth and there is no significant transient impact. As an intermediate load-bearing body, the rigidity characteristics of the claw seat 31 suppress local stress concentration, making the resultant force sensed by the weight electrical signal conversion component 4 closer to the actual weight component of the clamped object. At the same time, the built-in layout of this component protects it from the direct influence of external environment such as oil, dust, and liquid splashes, improving the signal stability and device lifespan under long-term operation.

[0061] As an optional embodiment, the solution of this application is specifically implemented as follows: In a remote control scenario, the operator wears a wearable device and activates the master-slave follow mode; when the multi-degree-of-freedom robotic arm component 2 drives the end-effector mechanism 3 to approach the target object, the drive signal controls the linkage structure to move, causing the two robotic claw fingers 32 to close synchronously towards the center; at the moment of contact with the object, the base of each claw finger generates a reaction force synchronously, which is concentrated and transmitted to the built-in weight electrical signal conversion component 4 through the claw base 31; this component outputs an electrical signal proportional to the clamping force in real time, which is transmitted through the signal transmission... The guide component 5 transmits the signal to the wearable device; the wearable device adaptively adjusts the damping of the actuator according to the amplitude of the electrical signal, so that the operator's hand feels the resistance feedback that matches the remote load; if the object surface is smooth, the anti-slip structure of the claw pad 321 can enhance the static friction and suppress the micro-slippage of the claw fingers, thereby maintaining the continuity and stability of the reaction force signal; throughout the process, the linkage structure ensures synchronization, the claw base 31 provides a stable force transmission reference, and the weight electrical signal conversion component 4 realizes high-fidelity force signal acquisition. The three work together to support the reliable operation of the grasping-sensing-feedback closed loop.

[0062] Through the above technical solutions, this application achieves the following: Since the mechanical claw 32 opens and closes synchronously through a linkage structure, it avoids eccentric load and transient impact caused by single claw contact, thus reducing the dynamic noise component in the signal collected by the weight electrical signal conversion component 4; Since the weight electrical signal conversion component 4 is installed inside the claw base 31 and is correspondingly set with the mechanical claw 32, it shortens the force transmission path and reduces the influence of structural elastic deformation on signal response speed and linearity; Since the claw base 31 is a rigid load-bearing body and is rigidly connected to the wrist joint component 26, it provides a low-drift, low-disturbance mechanical reference surface for the weight electrical signal conversion component 4, improving the consistency of weight detection results under different postures.

[0063] Example 7: In one optional embodiment, the present application also provides that a claw pad 321 is fixedly disposed on the inner side of the mechanical claw 32, and the surface of the claw pad 321 is provided with an anti-slip structure; the weight electrical signal conversion component 4 is a pressure sensor, and its sensing end is in contact with the mechanical claw 32.

[0064] The mechanical gripper 32 has a gripper pad 321 fixedly installed on its inner side. This pad can be a flexible or semi-rigid contact layer installed on the surface of the mechanical gripper 32 facing the object being gripped, by means of adhesive, screw fastening, or embedded buckle. The gripper pad 321 can be made of rubber, silicone, polyurethane, or a composite polymer material with micro-texture. Its thickness can be set according to the actual gripping load and contact area. The anti-slip structure on the surface of the gripper pad 321 can be regularly arranged bumps, stripes, grid-like indentations, or randomly distributed micro-protrusions or biomimetic scale structures. Its function is to increase the static friction coefficient between the gripper pad 321 and the object being gripped, and to suppress the relative slippage tendency caused by changes in acceleration, surface lubrication, or posture adjustment during the gripping process. This anti-slip structure and the mechanical gripper 32 together constitute the mechanical input interface of the end gripping. Its deformation response is directly related to the clamping force on the object being gripped, thereby providing a stable and low-noise original force carrier for the conversion of weight electrical signals.

[0065] The claw pad 321 and the mechanical claw 32 are fixedly connected by a surface contact. Its installation position corresponds to the force center area of ​​the mechanical claw 32, ensuring that the pressure applied by the grasped object to the claw pad 321 can be evenly transmitted to the mechanical claw 32 body during the claw closure process. This mating relationship allows the claw pad 321 to not only perform the anti-slip function, but also act as a force transmission medium, guiding the local contact pressure to the mechanical claw 32 without significant attenuation, and then acting on the weight electrical signal conversion component 4 that is attached to it. When the mechanical claw 32 undergoes a slight elastic deformation, the claw pad 321 simultaneously produces a matching deformation, avoiding stress concentration or signal distortion caused by differences in material stiffness.

[0066] The weight electrical signal conversion component 4 is a pressure sensor, which can be one of a thin-film pressure sensor, a piezoresistive sensor, a strain gauge sensor, or a capacitive flexible pressure sensor. Its sensing end is attached to the mechanical claw 32, and close contact can be achieved through thermally conductive double-sided adhesive, dispensing fixation, or a mechanical clamping structure. The contact area covers the most sensitive area of ​​the mechanical claw 32 under force, such as near the rotating joint at the base of the claw or the part with the greatest curvature in the middle. This contact method ensures that the micro-strain or local pressure change generated by the mechanical claw 32 after being subjected to force can be captured by the pressure sensor in real time, avoiding signal delay or amplitude attenuation caused by air gaps, suspension, or off-center loading. The output signal of the pressure sensor is an analog voltage or a digital pulse signal, and its amplitude is approximately linearly related to the positive pressure borne by the mechanical claw 32. This relationship, after calibration, can be used to invert the weight change of the grasped object.

[0067] The contact position between the pressure sensor and the mechanical gripper 32 is spatially coordinated with the mounting area of ​​the gripper pad 321 on the mechanical gripper 32: the gripper pad 321 is located on the outer working surface of the mechanical gripper 32, used to contact and constrain the grasped object; the pressure sensor is located on the inner side or in the internal cavity of the mechanical gripper 32, directly coupled to the gripper body structure; the two are arranged along the same mechanical transmission path, forming a four-level force chain of object → gripper pad 321 → mechanical gripper 32 → pressure sensor, so that the signal sensed by the pressure sensor reflects the actual grasping load, and is also guaranteed by the anti-slip performance of the gripper pad 321; this coordinated arrangement reduces the impact of transient impact and high-frequency jitter caused by object sliding on the sensor output, and improves the signal-to-noise ratio and long-term stability of the electrical signal.

[0068] Specifically, when the end effector 3 performs a grasping action, the mechanical claw 32 closes and squeezes the object being grasped, and the claw pad 321 first contacts the surface of the object and generates a normal constraint force; its surface anti-slip structure effectively suppresses the tangential slippage of the object along the claw direction by increasing the interfacial biting force; during this process, the mechanical claw 32 undergoes micron-level elastic deformation due to the force, and this deformation is transmitted to the sensing end of the pressure sensor attached to it through the claw body structure; the pressure sensor converts the deformation into a continuous and stable electrical signal, and transmits it to the external wearable end through the signal transmission component 5; the wearable end adaptively adjusts the damping output according to the amplitude of the electrical signal, so that the operator can intuitively perceive the size of the remote load during operation - the greater the load, the stronger the damping, and the heavier the feel, thereby avoiding overload misoperation or grasping failure.

[0069] Through the above technical solution, this application achieves the following: because a claw pad 321 with an anti-slip structure is provided on the inner side of the mechanical claw 32, the tendency of the grasped object to slip during the grasping process is suppressed, and the transient impact and force fluctuation caused by slippage are reduced; because the weight electrical signal conversion component 4 uses a pressure sensor and its sensing end is closely attached to the mechanical claw 32, the acquisition fidelity of the mechanical response of the claw body is improved, and the signal distortion caused by structural gaps and material hysteresis is reduced; the two work together to enable the weight change in the grasping state of the end to be converted into an electrical signal more stably and realistically, thereby supporting the wearable end to achieve more precise and robust force feedback control.

[0070] Example 8: In one optional embodiment, the present application also provides a signal transmission component 5 including a transmission cable 51 and a cable fixing member 52; one end of the transmission cable 51 is electrically connected to the weight electrical signal conversion component 4, and the cable fixing member 52 is installed on the robotic arm component 2 for fixing the transmission cable 51.

[0071] The transmission cable 51 is a flexible multi-core shielded cable, which includes signal transmission wires, power supply wires, and a grounding shielding layer. The transmission cable 51 is a copper core polyurethane sheathed cable, which has the characteristics of small bending radius, high tensile strength, and excellent resistance to bending fatigue. It is suitable for the dynamic load-bearing requirements of cables during the continuous rotation and extension movements of multi-degree-of-freedom robotic arms. One end of the cable is electrically connected to the output interface of the weight electrical signal conversion component 4 through a crimp terminal or welding method, and the other end is led out to the end of the multi-degree-of-freedom robotic arm component 2, with sufficient length reserved to adapt to the access interface of the external wearable end. The function of the transmission cable 51 in this application is to construct a physical path for transmitting end weight sensing signals to the external wearable end. Its connection with the weight electrical signal conversion component 4 ensures the lossless acquisition of the original force signal, and its cooperation with the robotic arm component 2 determines its spatial constraint path and stress distribution state during the arm movement process.

[0072] Through the above technical solutions, this application achieves the following: Because cable fixing components 52 are set at key turning points in the cable path, the degree of freedom of the transmission cable 51 during the movement of the robotic arm is limited, preventing fatigue breakage due to repeated bending; because the cable fixing components 52 are arranged in segments along the arm's axial direction and adapt to the motion envelope of each joint, poor contact caused by vibration or resonance of the transmission cable 51 is reduced; because the cable fixing components 52 and the hollow rigid arm body work together to form a closed wiring system, the impact of external electromagnetic interference on weak electrical signals is reduced, improving the real-time performance and accuracy of signal transmission; the above structures work together to solve the problems of easy loosening, twisting, wear, and poor anti-interference ability of signal cables in the prior art, ensuring the long-term reliable operation of the end-weight → electrical signal → wear-end damping adjustment feedback link.

[0073] Example 9: In one embodiment, the present application also provides that the inner wall of the multi-degree-of-freedom robotic arm assembly 2 is provided with a reinforcing steel assembly.

[0074] The reinforcing steel component can refer to a high-strength metal reinforcement structure embedded or fixed to the inner wall of the multi-degree-of-freedom robotic arm component 2. This structure enhances the overall structural rigidity of the upper arm 21, lower arm 22, and wrist connector 23, suppressing bending and torsional deformation of the arm body under load, thereby stabilizing the force detection benchmark and spatial orientation benchmark of the end effector 3. The reinforcing steel component can be a strip steel plate arranged along the axial direction of the arm body, an arc-shaped steel strip circumferentially fitted to the inner wall, or a mesh-like welded skeleton structure. The strip steel plate is connected to the inner wall of the arm body by laser welding or bolt fastening, and the arc-shaped steel strip is pressed in through an interference fit. The frame is positioned by spot welding, and the mesh-like welded frame and the hollow boom body are cast simultaneously and then machined. The strip steel plate is mainly used to enhance bending stiffness and is suitable for the long cantilever operation of the boom 21. The arc-shaped steel strip focuses on improving torsional stiffness and is suitable for the frequent torsional movement of the forearm 22. The mesh-like welded frame takes into account both bending and torsional performance and is suitable for high-precision heavy-duty operation requirements. The material of the reinforcing steel components can be 45 steel, 304 stainless steel or high-strength alloy steel, and the thickness is set according to the actual load conditions. Under the rated load of 5kg, it is 1.2mm to 2.5mm. This application embodiment does not make any special limitation on this.

[0075] Strengthening the synergistic cooperation between the steel components and the hollow rigid structure of the multi-degree-of-freedom robotic arm component 2: Since the upper arm 21, forearm 22 and wrist connector 23 are hollow rigid structures, and their internal channels are reserved for the installation of signal transmission components 5, the steel components are distributed along the non-channel area of ​​the inner wall without encroaching on these channels, which not only ensures the space for cable routing but also achieves structural reinforcement. The steel components form a rigid support relationship with the mounting base of the shoulder joint component 24 and elbow joint component 25, so that the alternating load borne by the joint seat during rotation is more evenly transmitted to the main body of the arm, reducing local stress concentration. Through the above cooperation, when the multi-degree-of-freedom robotic arm component 2 performs master-slave follow-up actions, the overall deformation is reduced, the spatial pose reproduction error of the end effector 3 is reduced, and the reference of the force application point sensed by the weight electrical signal conversion component 4 is more stable, avoiding weight signal drift caused by elastic deformation of the arm body.

[0076] Specifically, the reinforced steel components enable the multi-degree-of-freedom robotic arm component 2 to maintain high geometric stability in different postures: when the upper arm 21 is in a horizontally extended state, the reinforced steel components effectively suppress its downward deflection caused by the superposition of its own weight and end-effector load; when the forearm 22 moves rapidly in pitch around the elbow joint component 25, the reinforced steel components constrain its cross-sectional distortion, ensuring the accuracy of the output angle of the wrist connector 23; when the entire arm performs compound spatial motion, the relative stiffness matching between the arm segments is improved, reducing the impact of joint coupling deformation on the end-effector force measurement.

[0077] Through the above technical solutions, this application achieves the following: by setting a reinforcing steel component on the inner wall of the multi-degree-of-freedom robotic arm component 2, the overall bending and torsional stiffness of the arm body is improved; by suppressing the elastic deformation of the arm body under load due to the increased stiffness, the spatial posture and force application point reference of the end effector 3 are stabilized; and by improving the stability of the detection reference, the fluctuation of weight electrical signal acquisition caused by structural deformation is reduced, thereby enhancing the accuracy and reliability of the force feedback link.

Claims

1. A master-slave follower type mechanical force feedback gripper, characterized in that, include: The system comprises a base assembly (1), a multi-degree-of-freedom robotic arm assembly (2), an end effector (3), a weight electrical signal conversion assembly (4), and a signal transmission assembly (5). One end of the multi-degree-of-freedom robotic arm assembly (2) is fixedly connected to the base assembly (1), and the other end is rotatably connected to the end effector (3). The weight electrical signal conversion assembly (4) is installed on the end effector (3) and is used to convert the weight change of the object grasped by the end effector (3) into an electrical signal. The signal transmission assembly (5) is embedded inside the multi-degree-of-freedom robotic arm assembly (2), with one end electrically connected to the weight electrical signal conversion assembly (4) and the other end electrically connected to the external wearable end, transmitting the electrical signal to the wearable end so that the wearable end can adjust its own damping according to the change of the electrical signal.

2. The master-slave follower mechanical force feedback gripper according to claim 1, characterized in that: The base assembly (1) includes a fixed base (11), a slewing bearing (12) and a base mounting flange (13); the fixed base (11) is fixedly connected to the slewing bearing (12), and the base mounting flange (13) is fixed to the top of the slewing bearing (12) and fixedly connected to the multi-degree-of-freedom robotic arm assembly (2).

3. The master-slave follower mechanical force feedback gripper according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm assembly (2) includes an upper arm (21), a forearm (22), and a wrist connector (23) connected in sequence; the upper arm (21), forearm (22), and wrist connector (23) are all hollow rigid structures with channels inside for installing signal transmission components (5); the upper arm (21) and forearm (22) are rotatably connected by a shoulder joint assembly (24), and the forearm (22) and wrist connector (23) are rotatably connected by an elbow joint assembly (25).

4. The master-slave follower mechanical force feedback gripper according to claim 3, characterized in that: Both the shoulder joint assembly (24) and the elbow joint assembly (25) include a joint seat and a joint shaft; the joint shaft passes through the joint seat and rotates, and is fixedly connected to the upper arm (21) and the forearm (22).

5. The master-slave follower mechanical force feedback gripper according to claim 3, characterized in that: The wrist connector (23) is connected to the end gripper mechanism (3) via a wrist joint assembly (26); the wrist joint assembly (26) includes a wrist joint seat (261), a wrist joint ball head (262), and a locking nut (263); the wrist joint seat (261) is fixedly connected to the wrist connector (23), the wrist joint ball head (262) is fixedly connected to the end gripper mechanism (3) and is embedded in the wrist joint seat (261) to form a ball joint, and the locking nut (263) is used to lock the wrist joint ball head (262).

6. The master-slave follower mechanical force feedback gripper according to claim 1, characterized in that: The end effector (3) includes a claw base (31) and at least two mechanical claw fingers (32); the claw base (31) is fixedly connected to the wrist joint assembly (26), and the root of the mechanical claw fingers (32) is rotatably connected to the claw base (31) and synchronously opens and closes through a linkage structure; the weight electrical signal conversion assembly (4) is installed in the claw base (31) and is set correspondingly to the mechanical claw fingers (32).

7. The master-slave follower mechanical force feedback gripper according to claim 6, characterized in that: The mechanical claw (32) has a claw pad (321) fixedly installed on the inner side, and the surface of the claw pad (321) is provided with an anti-slip structure; the weight electrical signal conversion component (4) is a pressure sensor, and its sensing end is in contact with the mechanical claw (32).

8. The master-slave follower mechanical force feedback gripper according to claim 1, characterized in that: The signal transmission component (5) includes a transmission cable (51) and a cable fixing component (52); one end of the transmission cable (51) is electrically connected to the weight electrical signal conversion component (4), and the cable fixing component (52) is installed on the robotic arm component (2) to fix the transmission cable (51).

9. The master-slave follower mechanical force feedback gripper according to claim 8, characterized in that: The inner wall of the multi-degree-of-freedom robotic arm assembly (2) is provided with a reinforcing steel assembly.

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