A six-degree-of-freedom motion platform based on a master-slave architecture and its control method

Abstract

This invention discloses a six-degree-of-freedom motion platform based on a master-slave architecture, comprising: a master machine operating mechanism, a slave machine execution mechanism, a control unit, and a reset device. The master machine operating mechanism is dragged and controlled by the operator. The operating platform is movably connected to a first fixed base via multiple first drive mechanisms. Each first drive mechanism is equipped with a first displacement sensor and a tension / compression sensor to detect stroke and force in real time. The slave machine execution mechanism includes a second fixed base, an execution platform, and multiple second drive mechanisms. Each second drive mechanism is equipped with a second displacement sensor for real-time stroke measurement. The control unit synchronously drives the slave machine execution mechanism to maintain consistency with the real-time position and attitude changes of the master machine operating mechanism. The reset device can perform a self-check and return the master machine operating mechanism to its original position, and then reset the slave machine execution mechanism via the control unit. This invention enables operators to intuitively drag and control a heavy-duty platform without professional training, providing intuitive operation, high synchronization accuracy, and an automatic reset function.

Description

Technical Field

[0001] This invention relates to the field of motion simulation and control technology, and in particular to a six-degree-of-freedom motion platform based on a master-slave architecture and its control method. Background Technology

[0002] The six-degree-of-freedom heavy-duty motion platform is a key piece of equipment that can achieve translation along the X, Y, and Z directions and rotation around the three coordinate axes in space. It is an indispensable key piece of equipment in strategic fields such as high-end equipment manufacturing, aerospace, and national defense.

[0003] Existing six-degree-of-freedom heavy-duty motion platforms generally rely on code programming or joysticks to indirectly achieve motion control. The control logic is abstract, and operators need long-term professional training to complete complex six-dimensional motion control. They cannot directly drive the heavy-duty execution platform through intuitive manual dragging, resulting in extremely poor human-machine operation intuitiveness. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a six-degree-of-freedom motion platform based on a master-slave architecture, which enables operators to intuitively control the heavy-duty platform without professional training.

[0005] The second objective of this invention is to provide a control method for a six-degree-of-freedom motion platform based on a master-slave architecture.

[0006] One of the objectives of this invention is achieved through the following technical solution:

[0007] A six-degree-of-freedom motion platform based on a master-slave architecture is characterized by comprising: a master machine operating mechanism, a slave machine execution mechanism, a control unit, and a reset device;

[0008] The machine tool operating mechanism is used to change its position and posture in real time by being dragged by the operator. The machine tool operating mechanism includes a first fixed base, an operating moving platform, and multiple first drive mechanisms. The operating moving platform is used for dragging by the operator. The two ends of each first drive mechanism are movably connected to the first fixed base 11 and the operating moving platform, so as to change the relative posture between the first fixed base and the operating moving platform. Each first drive mechanism is provided with a first displacement sensor and a tension / compression sensor. The first displacement sensor measures the actual extension stroke of each first drive mechanism in real time, and the tension / compression sensor is used to detect the magnitude and direction of the force on each first drive mechanism in real time.

[0009] The submachine actuator can change its own position and posture in real time. The submachine actuator includes a second fixed base, an execution platform and multiple second drive mechanisms. The execution platform is used to load the workpiece. The two ends of each second drive mechanism are movably connected to the second fixed base and the execution platform, respectively. Each second drive mechanism is equipped with a second displacement sensor for measuring the actual extension stroke of each second drive mechanism in real time.

[0010] The control unit is electrically connected to the mother machine operating mechanism and the daughter machine execution mechanism respectively. The control unit is used to synchronously drive the daughter machine execution mechanism to change its own position and attitude based on the real-time detection of the position and attitude changes of the mother machine operating mechanism, so that the change of the position and attitude of the daughter machine execution mechanism is consistent with the position and attitude of the mother machine operating mechanism.

[0011] The reset device is used to perform a self-check and return the position and attitude of the mother machine operating mechanism to its original position, and then drive the daughter machine execution mechanism to reset its position and attitude through the control unit.

[0012] Furthermore, the control unit is connected to the mother machine operating mechanism and the daughter machine execution mechanism respectively through an information transmission device, which is made of EtherCAT high-speed industrial bus.

[0013] Furthermore, the operating mobile platform is equipped with a grip handle for the operator to hold and use.

[0014] Furthermore, the operating mechanism of the machine tool on the mobile platform also includes multiple hinges, and the two ends of each of the first drive mechanisms are respectively connected to the first fixed base 11 and the mobile platform through one of the hinges.

[0015] Furthermore, the first drive mechanism is a small electric drive outrigger, and the second drive mechanism is a large electric drive outrigger.

[0016] Furthermore, the large electrically driven support leg is a single-stage electric actuator structure. The single-stage electric actuator structure includes a lower hinge support, a servo motor, a ball screw pair, a piston rod, and an upper hinge support. The lower hinge support, servo motor, ball screw pair, piston rod, and upper hinge support are sequentially distributed along the direction from the second fixed base toward the execution platform. The lower hinge support is connected to the second fixed base. The servo motor is connected to and supported by the lower hinge support. The output of the servo motor is driven by the ball screw pair. One end of the piston rod is driven by the ball screw pair, and the other end of the piston rod is connected to the upper hinge support. The upper hinge support is connected to the execution platform.

[0017] Furthermore, the second displacement sensor is an external resistive displacement sensor, with the fixed end of the external resistive displacement sensor installed on the outer wall of the ball screw assembly, and the movable end of the external resistive displacement sensor installed on the outer wall of the piston rod.

[0018] Furthermore, the mother machine operating mechanism has a first through hole, which passes through the center of the first fixed base and the operating moving platform; the daughter machine execution mechanism has a second through hole, which passes through the center of the second fixed base and the execution platform.

[0019] Furthermore, the second fixed base is fixedly connected to a mounting flange at its bottom, and the execution platform is provided with workpiece mounting holes.

[0020] The second objective of this invention is achieved by the following technical solution:

[0021] A control method for a six-degree-of-freedom motion platform based on a master-slave architecture, characterized by comprising the six-degree-of-freedom motion platform based on a master-slave architecture as described in claims 1-9, and including the following steps:

[0022] Step S1: The operator first operates the reset device on the main machine operating mechanism to perform self-test and return to position, and drives the slave machine execution mechanism to reset its own position and attitude.

[0023] Step S2: The operator holds and operates the operating mobile platform or grip handle. The control unit drives each first drive mechanism to move according to the axial force detected by the tension and compression sensors, following the user's operating intention.

[0024] Step S3: The first displacement sensor on the mother machine operating mechanism collects the extension and retraction of each of the first drive mechanisms, processes the data to determine the current position and attitude of the mother machine operating mechanism, and drives the second drive mechanism in the slave machine execution mechanism to adjust the position and attitude of the slave machine execution mechanism to be consistent with the position and attitude of the mother machine operating mechanism, so as to form a complete bidirectional synchronous control closed loop.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. Based on the fact that the machine tool operating mechanism can change its position and posture in real time by being dragged by the operator, the machine tool operating mechanism includes a first fixed base, an operating moving platform, and multiple first drive mechanisms; the operating moving platform is used for dragging operations by the operator; both ends of each first drive mechanism are movably connected to the first fixed base 11 and the operating moving platform, so as to change the relative posture of the first fixed base and the operating moving platform; each first drive mechanism is provided with a first displacement sensor and a tension / compression sensor, the first displacement sensor measures the actual extension stroke of each first drive mechanism in real time, and the tension / compression sensor is used to detect the magnitude and direction of the force on each first drive mechanism in real time. This invention integrates displacement and force sensors on each drive mechanism of the machine tool operating mechanism, which can capture the operator's dragging action, force direction, and operating force in real time, and identify the operator's intuitive operating intention. Ordinary personnel can directly complete the operation input by manually dragging, thereby enabling operators to operate the equipment without professional training, reducing the operating threshold and labor costs of heavy-duty platforms.

[0027] 2. Based on the control unit electrically connected to both the mother machine operating mechanism and the daughter machine execution mechanism, the control unit synchronously drives the daughter machine execution mechanism to change its own position and attitude according to real-time detection of changes in the position and attitude of the mother machine operating mechanism, ensuring that the change in the position and attitude of the daughter machine execution mechanism is consistent with that of the mother machine operating mechanism. By electrically connecting to the attitude data collected in real-time by the mother machine operating mechanism, the control unit can achieve real-time synchronous linkage and replication of the machine attitudes of the mother machine operating mechanism and the daughter machine execution mechanism, constructing a human-machine synchronized control logic. This transforms the simple and intuitive dragging actions of the operator into precise attitude adjustment actions of the daughter machine heavy-duty execution platform. No professional motion control experience is required from the operator; intuitive manual operation allows for precise control of the heavy-duty platform to complete multi-dimensional attitude adjustments, solving the problems of complex operation and high learning difficulty of traditional heavy-duty platforms, and achieving simplified, visual, and precise control of heavy-duty equipment.

[0028] 3. The reset device is used to self-check and return the position and attitude of the main machine operating mechanism to its original position, and then, through the control unit, drives the position and attitude of the slave machine execution mechanism to reset. The reset device can realize automatic self-checking and zeroing of both the main machine operating mechanism and the slave machine execution mechanism, and automatically eliminate the attitude deviation error caused by repeated manual dragging operations and the cumulative error of long-term operation of the equipment, ensuring the consistency of the initial reference and the stability of the control accuracy for each intuitive dragging operation. No professional personnel are required to perform precision calibration, zero-point debugging, or other professional operations, further simplifying the equipment operation process, ensuring the operational accuracy and stability of the heavy-duty platform when operated by personnel without professional background, and improving the operability and adaptability of the equipment. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a six-degree-of-freedom motion platform based on a master-slave architecture according to the present invention.

[0030] Figure 2 for Figure 1 Schematic diagram of the operating mechanism of the mother machine;

[0031] Figure 3 for Figure 1 A schematic diagram of the neutron machine actuator.

[0032] In the diagram: 1. Mother machine operating mechanism; 11. First fixed base; 12. Operating moving platform; 121. Grip handle; 13. First drive mechanism; 15. Hinge; 16. First through hole; 17. First displacement sensor; 18. Tension / compression sensor; 2. Daughter machine actuator; 21. Second fixed base; 22. Execution platform; 221. Mounting hole; 23. Second drive mechanism; 231. Lower hinge support; 232. Servo motor; 233. Ball screw pair; 234. Piston rod; 235. Upper hinge support; 24. Second through hole; 25. Mounting flange; 3. Control unit; 4. Reset device; 5. Information transmission device. Detailed Implementation

[0033] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0034] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0036] See Figures 1-3 A preferred embodiment of the present invention provides a six-degree-of-freedom motion platform based on a master-slave architecture, characterized in that it includes: a master machine operating mechanism 1, a slave machine execution mechanism 2, and a control unit 3;

[0037] The machine operating mechanism 1 can be manually dragged to change its position and posture in real time. It includes a first fixed base 11, an operating moving platform 12, and multiple sets of first drive mechanisms 13. The first fixed base 11 can be made of high-strength carbon steel for fixed installation, providing a stable installation benchmark for the overall control structure, effectively preventing vibration and overturning torque generated by manual dragging, and ensuring control stability. The operating moving platform 12 is a lightweight operating structure, and can be equipped with a detachable handle 121 to adapt to different operating habits. It requires no professional control devices and realizes intuitive manual operation for beginners.

[0038] Multiple sets of first drive mechanisms 13 can be connected at both ends to the first fixed base 11 and the operating moving platform 12 via universal hinges. Preferably, six sets are arranged to achieve six degrees of freedom omnidirectional attitude adjustment of the platform. Each first drive mechanism 13 integrates a first displacement sensor 17 and a tension / compression sensor 18. The high-precision displacement sensor collects the extension and retraction stroke of the drive mechanism in milliseconds and accurately calculates the real-time attitude of the platform. The coaxially arranged tension / compression sensor 18 can detect the magnitude and direction of the force in real time, accurately identify the intention of manual pushing, pulling, and dragging operations, filter out slight external interference forces, prevent equipment malfunctions, and provide accurate force and displacement dual raw data for synchronous control.

[0039] The slave actuator 2 is used to replicate the posture of the master machine operating mechanism 1 and complete heavy-duty operations. It includes a second fixed base 21, an execution platform 22, and multiple sets of second drive mechanisms 23. The second fixed base 21 is made of thickened cast steel, which has excellent rigidity and stability. It can stably bear the weight of the heavy-duty workpiece and the dynamic load of movement, providing a fixed reference for the posture adjustment of the execution platform 22. The execution platform 22 is a heavy-duty bearing platform equipped with an anti-slip fixing structure, which can stably load heavy workpieces and operating equipment, and is suitable for heavy-duty working conditions.

[0040] The second drive mechanism 23 is completely matched with the first drive mechanism 13 in terms of quantity, layout, and stroke parameters. Both ends are connected to the base and the execution platform 22 using a universal hinge structure, ensuring complete correspondence in motion dimensions. Each set of second drive mechanisms 23 is equipped with a second displacement sensor, which can collect telescopic stroke data in real time and provide feedback on the real-time attitude of the execution platform 22. Through a closed-loop correction mechanism, the attitude deviation caused by mechanism gaps and load deformation under heavy load conditions is eliminated, ensuring the accuracy of attitude control during heavy load motion.

[0041] The control unit 3 is the core hub of the equipment, electrically connected to all sensors and drive mechanisms via wiring. Internally, it integrates signal acquisition, attitude calculation, synchronous drive, and error correction modules. During operation, the control unit 3 first identifies the manual operation intention through the tension / compression sensor 18, driving the first drive mechanism 13 to follow the dragging motion. Then, based on multiple sets of travel data collected by the first displacement sensor 17, it calculates the spatial attitude parameters of the main machine operating mechanism 1 in real time. (This can be done using forward kinematics and inverse kinematics algorithms.) Subsequently, the control unit 3 synchronously outputs matching commands, driving each group of second drive mechanisms 23 to adjust in real time, ensuring that the attitude of the slave machine execution platform 22 is completely synchronized with the main machine operating platform. Simultaneously, combined with real-time error correction based on slave machine displacement feedback, a complete bidirectional synchronous control closed loop is constructed, solving the problems of lag and attitude deviation in traditional equipment operation. Precise heavy-load motion control can be achieved through intuitive manual operation without the need for professional programming and debugging. (The control unit 3 can use an industrial-grade processor or an FPGA chip processor.)

[0042] The reset device 4 is electrically connected to the control unit 3 and integrated inside the base of the mother machine operating mechanism 1. It has the functions of equipment self-test return and zero-point calibration. During equipment start-up, shutdown, or work intervals, the reset process can be triggered with one button, automatically controlling the first drive mechanism 13 to return to the preset zero position, completing the mother machine platform attitude reset. At the same time, the slave machine actuator 2 is synchronized to zero calibration, unifying the initial operating reference of the mother machine operating mechanism 1 and the slave machine actuator 2. It is understandable that, as a better implementation method, a high-precision photoelectric zero-point positioning reset device 4 can be used to replace the ordinary mechanical reset structure. This can achieve millisecond-level precise zeroing, eliminate the zeroing error caused by mechanical limit, and further improve the uniformity of the attitude reference between the mother machine operating mechanism 1 and the daughter machine execution mechanism 2. Alternatively, a memory storage module can be added inside the reset device 4 to store the operating attitude parameters of the equipment before power failure. After the equipment restarts, there is no need to repeat the zeroing calibration; the initial operating reference can be directly restored, improving the efficiency of equipment start-up and shutdown. A fault self-checking and early warning module can also be added to monitor the zeroing status of each drive mechanism in real time during the reset process. If jamming, offset, or zeroing abnormality occurs, an early warning can be issued in a timely manner to ensure the safety and stability of equipment operation.

[0043] Obviously, based on the fact that the mother machine operating mechanism 1 is used to change its own position and posture in real time by being dragged by the operator, the mother machine operating mechanism 1 includes a first fixed base 11, an operating moving platform 12, and multiple first drive mechanisms 13; the operating moving platform 12 is used for dragging operation by the operator; the two ends of each first drive mechanism 13 are respectively movably connected to the first fixed base 11 and the operating moving platform 12, so as to change the relative posture of the first fixed base 11 and the operating moving platform 12; each first drive mechanism 13 is respectively provided with a first displacement sensor 17 and a tension / compression sensor 18, the first displacement sensor 17 measures the actual extension stroke of each first drive mechanism 13 in real time, and the tension / compression sensor 18 is used to detect the magnitude and direction of the force on each first drive mechanism 13 in real time. This invention integrates displacement and force dual sensors on each drive mechanism of the machine operating mechanism 1, which can capture the operator's dragging action, force direction and operating force in real time, and identify the intuitive operation intention of the operator. Ordinary personnel can directly complete the operation input by manually dragging, thereby enabling operators to operate the equipment without professional training, reducing the operation threshold and labor cost of heavy-duty platforms.

[0044] The control unit 3 is electrically connected to both the main machine operating mechanism 1 and the slave machine execution mechanism 2. The control unit 3 synchronously drives the slave machine execution mechanism 2 to change its own position and attitude based on real-time detection of changes in the position and attitude of the main machine operating mechanism 1, ensuring that the slave machine execution mechanism 2's position and attitude match that of the main machine operating mechanism 1. By electrically connecting to the real-time attitude data collected by the main machine operating mechanism 1, the control unit 3 can achieve real-time synchronous linkage and replication of the machine attitudes of the main machine operating mechanism 1 and the slave machine execution mechanism 2, constructing a human-machine synchronized control logic. This transforms the operator's simple and intuitive dragging actions into precise attitude adjustment actions of the slave machine heavy-duty execution platform 22. No professional motion control experience is required from the operator; intuitive manual operation allows for precise control of the heavy-duty platform to complete multi-dimensional attitude adjustments. This solves the problems of complex operation and high learning curve associated with traditional heavy-duty platforms, achieving simplified, visual, and precise control of heavy-duty equipment.

[0045] The reset device 4 is used to self-check and return the position and attitude of the main machine operating mechanism 1, and then, through the control unit 3, drives the position and attitude of the slave machine execution mechanism 2 to reset. The reset device 4 enables automatic self-checking and zeroing of both the main machine operating mechanism 1 and the slave machine execution mechanism 2, automatically eliminating attitude offset errors caused by repeated manual dragging operations and accumulated errors from long-term equipment operation, ensuring consistent initial reference and stable control accuracy for each intuitive dragging operation. No professional personnel are required to perform precision calibration, zero-point debugging, or other professional operations, further simplifying the equipment operation process and ensuring operational accuracy and stability when operating a heavy-duty platform without professional experience, thus improving the equipment's operability and adaptability.

[0046] The working principle of this invention is as follows: Before operation, the operator can perform a self-check and return the attitude of the main machine operating mechanism 1 to its original position using the reset device 4. After the reset device 4 completes the zero-position calibration of the main machine, the attitude is reset by synchronously linking the slave machine execution mechanism 2 through the control unit 3. This unifies the initial reference attitude of the main machine operating mechanism 1 and the slave machine execution mechanism 2, eliminating the accumulated errors caused by equipment assembly gaps and long-term operation, providing a precise reference for subsequent synchronous follow-up control, and ensuring the initial consistency of equipment operation. During equipment operation, the operator does not need professional training or programming debugging. They can directly drag the operating mobile platform 12 to output control intentions. At this time, the tension and pressure sensors 18 on each of the first drive mechanisms 13 of the main machine operating mechanism 1 detect the magnitude and direction of the force applied by the manual dragging in real time, accurately capturing the operator's operating trend. The control unit 3 drives the first drive mechanism 13 to adaptively follow the manual dragging action based on the real-time force signal, realizing smooth human-machine follow operation, allowing the operating mobile platform 12 to intuitively change its attitude with the manual gesture. Meanwhile, the first displacement sensors 17 on each of the first drive mechanisms 13 collect real-time extension stroke data of each first drive mechanism 13 and transmit all attitude displacement data to the control unit 3 for processing. After receiving the real-time displacement data of the mother machine, the control unit 3 calculates the current six-degree-of-freedom spatial position and attitude parameters of the mother machine operating mechanism 1 in real time through the built-in attitude calculation algorithm, and outputs equally matched drive commands to control the corresponding second drive mechanisms 23 on the slave machine execution mechanism 2 to synchronously perform extension and retraction adjustments, replicating the real-time attitude changes of the mother machine. During the adjustment process of the slave machine, the second displacement sensors configured on the second drive mechanism 23 collect their own extension stroke in real time and feed it back to the control unit 3, forming a two-way closed-loop feedback adjustment, which compensates in real time for attitude deviations caused by workpiece load and mechanism clearance under heavy load conditions, ensuring that the attitude of the execution platform 22 carrying the heavy-load workpiece is in real-time height synchronized with the operating moving platform 12 and accurately replicated. The entire process involves the coordinated operation of benchmark reset calibration, intuitive manual drag-and-drop recognition, force and position dual signal acquisition, attitude synchronous replication, and closed-loop error correction. This transforms simple and intuitive manual operation into stable and high-precision attitude movement of the heavy-duty platform. It completely eliminates the traditional control mode of heavy-duty motion platforms that relies on professional operating skills and complex parameter adjustments. This enables even personnel with no prior experience to intuitively, conveniently, and accurately control the heavy-duty motion platform, improving the versatility and convenience of heavy-duty attitude control operations.

[0047] Preferably, the control unit 3 is connected to the mother machine operating mechanism 1 and the daughter machine execution mechanism 2 via an information transmission device 5, which is made using an EtherCAT high-speed industrial bus. Specifically, the control unit 3 realizes signal interaction and data transmission with the mother machine operating mechanism 1 and the daughter machine execution mechanism 2 through the EtherCAT high-speed industrial bus. This bus has the transmission characteristics of high speed, high real-time performance, and high synchronization accuracy. It can collect real-time operation data of the tension and compression sensors 18 and the first displacement sensor 17 at the mother machine end in milliseconds and quickly issue drive commands to each of the second drive mechanisms 23 at the daughter machine end. This reduces the data delay and signal lag problems of traditional transmission methods, ensures that the attitude changes of the dragging operation of the mother machine operating mechanism 1 can be synchronously fed back and replicated to the heavy-duty execution platform 22 of the daughter machine execution mechanism 2 in real time, prevents action stuttering and attitude asynchrony caused by signal delay, and improves the real-time performance and continuity of the attitude synchronization control between the mother machine operating mechanism 1 and the daughter machine execution mechanism 2. It is understandable that, as a better implementation method, a shielded anti-interference EtherCAT bus can be used instead of a regular bus structure, which can further enhance the signal transmission stability in complex industrial electromagnetic environments and prevent signal disturbance and distortion. Alternatively, a data verification module can be added to the information transmission device 5 to verify and correct the displacement and force signals transmitted in real time, avoid control deviations caused by data packet loss or errors, and improve the accuracy of synchronous control. Furthermore, a self-checking and reconnection module for disconnection can be added to automatically warn and quickly reconnect when the bus experiences a momentary disconnection or poor contact, ensuring continuous and stable operation of the equipment.

[0048] Preferably, the mobile operating platform 12 is equipped with a grip handle 121 for the operator to hold. Specifically, by providing a grip handle 121 on the mobile operating platform 12, a dedicated force-bearing grip point is provided for the operator to drag and control the platform, making the force application for manual dragging, pushing, pulling, and fine-tuning operations more even and smooth, facilitating the operator to accurately output subtle operational intentions. At the same time, the grip handle 121 conforms to ergonomic design, which can reduce hand fatigue caused by prolonged manual dragging and control, and improve the comfort of human-machine operation. The structure is simple and practical, and the operation is intuitive and convenient, fully adaptable to the operating habits of personnel with no experience or professional training, further ensuring that operators can intuitively, accurately, and stably complete the posture control operations of the heavy-duty platform, improving the human-machine interaction and ease of operation of the equipment. It is understandable that, as a better implementation method, a non-slip, wrap-around grip handle 121 can be used instead of a regular hard handle. This can increase hand friction, prevent hand slippage during operation, and improve operational safety and stability. Alternatively, pressure-sensitive patches can be added to the surface of the grip handle 121 to work with the equipment's sensing system to identify different operating forces such as light pulling, heavy pushing, and fine adjustment by the operator. This assists the control unit 3 in adaptively matching the platform's movement speed, improving the precision of operation. Furthermore, the grip handle 121 can be configured as a detachable, quick-release structure, allowing for rapid disassembly, assembly, and specification changes according to operational needs, adapting to different operator hand sizes and operating habits.

[0049] Preferably, the machine tool operating mechanism 1 of the operating mobile platform 12 further includes multiple hinges 15, and the two ends of each of the first drive mechanisms 13 are respectively connected to the first fixed base 11 and the operating mobile platform 12 through one of the hinges 15. Specifically, the two ends of each first drive mechanism 13 form a hinge structure with the first fixed base 11 and the operating mobile platform 12 respectively through the hinges 15, which can release the angular degree of freedom during the extension and retraction of the drive mechanism, and prevent motion interference, stiffness, and torque stress from multiple sets of first drive mechanisms 13 during the six-degree-of-freedom attitude adjustment process. By flexibly rotating the hinges 15 to adapt to the coordinated extension and retraction actions of each drive mechanism with different strokes and angles, the dragging motion of the operating mobile platform 12 is smoother and without jamming, reducing the operational resistance of manual dragging, and allowing even the operator's small dragging actions to be accurately converted into platform posture changes. At the same time, the hinge structure can adaptively offset assembly errors and motion deformation, improve the overall smoothness and flexibility of the machine tool operating mechanism 1, ensure that the dragging operation of novice operators is natural and the feedback is accurate, and further improve the accuracy and stability of the intuitive operation of the heavy-duty platform. It is understandable that, as a better implementation method, a high-precision universal hinge 15 can be used instead of an ordinary single-axis hinge 15, which can realize multi-directional angle adaptive deflection and further adapt to the platform's six-degree-of-freedom composite attitude adjustment; a wear-resistant self-lubricating bushing can also be added inside the hinge 15 to reduce friction loss at the hinge position, reduce gaps and wear caused by long-term reciprocating motion, and continuously ensure smooth operation and positioning accuracy; a hinge 15 structure with damping adjustment can also be adopted, which can moderately fine-tune the hinge rotation damping to avoid the platform from shaking or deviating due to inertia, and improve the stability and controllability of dragging operation.

[0050] Preferably, the first drive mechanism 13 is a small electric drive support leg, and the second drive mechanism 23 is a large electric drive support leg. Specifically, by adopting a differentiated matching structure with a small electric drive support leg on the mother machine operating mechanism 1 and a large electric drive support leg on the daughter machine execution mechanism 2, the different functional positioning and load-bearing requirements of the mother machine operating mechanism 1 and the daughter machine execution mechanism 2 are adapted. The small electric drive support leg on the mother machine operating mechanism 1 side is lightweight, has low motion resistance, and is highly responsive, adapting to a manual, intuitive drag-and-drop control mode. Operators can complete platform posture fine-tuning and action switching without expending much effort, reducing the operation difficulty for novice operators and ensuring a light dragging feel and sensitive action tracking. The large electric drive support leg on the daughter machine execution mechanism 2 side has strong structural rigidity, high load-bearing capacity, and high operational stability, which can stably support heavy-duty workpieces and replicate the subtle posture and movements of the mother machine. It is understandable that, as a better implementation method, high-precision servo electric outriggers can be used instead of ordinary stepper electric outriggers, which can improve the telescopic positioning accuracy and response speed, and further reduce the attitude synchronization error between the mother machine operating mechanism 1 and the daughter machine execution mechanism 2; a stroke buffer module can also be added inside small and large electric drive outriggers to avoid impact vibration when the outriggers are extended or retracted, and improve the smoothness of attitude switching; an electric outrigger structure with closed-loop speed feedback can also be used to correct running deviations in real time and ensure dynamic synchronization consistency between light operation and heavy load execution.

[0051] Preferably, the large electrically driven support leg is a single-stage electric actuator structure. The single-stage electric actuator structure includes a lower hinge support 231, a servo motor 232, a ball screw pair 233, a piston rod 234, and an upper hinge support 235. The lower hinge support 231, servo motor 232, ball screw pair 233, piston rod 234, and upper hinge support 235 are sequentially distributed along the direction from the second fixed base 21 toward the execution platform 22. The lower hinge support 231 is connected to the second fixed base 21. The servo motor 232 is connected to and supported by the lower hinge support 231. The output of the servo motor 232 is driven by the ball screw pair 233. One end of the piston rod 234 is driven by the ball screw pair 233, and the other end of the piston rod 234 is connected to the upper hinge support 235. The upper hinge support 235 is connected to the execution platform 22. Specifically, by adopting a single-stage electric actuator integrated structure with the lower hinge support 231, servo motor 232, ball screw pair 233, piston rod 234, and upper hinge support 235 arranged sequentially from top to bottom, the overall layout is neat and the axial force transmission path is straight and concentrated, which can prevent problems such as off-center loading, lateral bending, and stress dispersion during heavy load. The precision transmission structure of the servo motor 232 and the ball screw pair 233 has the characteristics of high transmission efficiency, high positioning accuracy, and small operating backlash. It can respond to the synchronous commands of the control unit 3 and smoothly drive the execution platform 22 to complete the fine posture replication action. At the same time, the overall structure has high integration, sufficient rigidity, and good load-bearing stability. It can withstand the static load and dynamic alternating load of heavy-duty workpieces for a long time, ensuring that the slave machine execution mechanism 2 can still follow the action of the mother machine with high precision and high consistency under heavy load conditions, ensuring the synchronization accuracy and operational stability of the heavy-duty platform for intuitive operation by personnel with no experience. It is understandable that, as a better implementation method, a high-precision silent ball screw pair 233 can be used to replace the ordinary screw structure, which can further reduce transmission backlash and operating noise, and improve the precision of attitude adjustment; a precision reducer can also be added to the output end of the servo motor 232 to increase output torque and transmission rigidity, and enhance the ability to resist load disturbance under heavy load conditions; a dustproof protective sleeve can also be added to the outside of the piston rod 234 to prevent dust and impurities from entering the transmission parts, and ensure the transmission accuracy and structural stability of long-term high-frequency operation.

[0052] Preferably, the second displacement sensor is an external resistive displacement sensor. The fixed end of the external resistive displacement sensor is installed on the outer wall of the ball screw assembly 233, and the movable end of the external resistive displacement sensor is installed on the outer wall of the piston rod 234. Specifically, by mounting the fixed end of the external resistive displacement sensor on the outer wall of the ball screw assembly 233 and the movable end on the outer wall of the piston rod 234, synchronous follow-up detection can be achieved with the extension and retraction of the piston rod 234, directly collecting the actual extension and retraction displacement data of the electric actuator. The detection position is highly aligned with the motion execution position, preventing detection errors caused by transmission backlash and indirect conversion. This external installation structure is intuitive, easy to assemble and disassemble, and convenient for later maintenance. Compared with the built-in sensor structure, it is less affected by the lubricating grease and mechanical wear impurities inside the ball screw assembly, resulting in stronger detection stability and higher data reliability. It is understandable that, as a better implementation method, a waterproof and dustproof external resistive displacement sensor can be used instead of an ordinary sensor. This can adapt to industrial sites with high humidity and dust levels, improving the sensor's operational stability and service life. Alternatively, an insulating protective pad can be added to the sensor installation location to avoid mechanical vibration wear and electrostatic interference, ensuring the continuity and accuracy of displacement signal acquisition. Furthermore, a displacement data filtering module can be added to reduce noise in the real-time acquired displacement signal, filtering out minute jitter signals and further improving the stability of attitude synchronization control.

[0053] Preferably, the mother machine operating mechanism 1 has a first through hole 16, which penetrates the center of the first fixed base 11 and the operating moving platform 12; the daughter machine execution mechanism 2 has a second through hole 24, which penetrates the center of the second fixed base 21 and the execution platform 22. Specifically, by setting through-holes 16 and 24 at the center of the mother machine operating mechanism 1 and the daughter machine execution mechanism 2 respectively, a through-hole hollow structure is formed between the upper and lower platforms. This effectively adapts to work scenarios requiring cable and pipe installation in the middle and avoids gaps, facilitating the orderly installation of equipment cables, hydraulic lines, air pipes, and other pipelines, and preventing the pipelines from being squeezed, bent, pulled, or worn as the platform's posture is adjusted. It is understandable that, as a better implementation method, wear-resistant protective rings can be added to the opening positions of the first through hole 16 and the second through hole 24 to prevent burrs on the edge of the opening from wearing through the pipeline, while also providing anti-slip and anti-collision protection. Alternatively, the first through hole 16 and the second through hole 24 can be set as chamfered transition hole structures to eliminate stress concentration, improve the overall structural strength of the platform, and prevent hole cracking and deformation caused by long-term heavy load vibration. Furthermore, a detachable dustproof mesh cover can be added to the inside of the through hole to prevent dust and debris from entering the equipment, ensuring smooth movement of the mechanism and internal cleanliness. In addition, the circular central through hole can be replaced with square or rectangular irregular through holes to accommodate the centralized layout of pipelines of different specifications and the need for large-size clearance, thereby improving the adaptability of the scene; the through-hole structure can also be replaced with multiple sets of arc-shaped combined through holes, which can maintain stronger platform structural rigidity while ensuring weight reduction and wiring functions, and adapt to ultra-high heavy-duty working conditions; and an openable and closable sealing cover can be installed on the inside of the through hole, which can flexibly open or close the through hole according to the operation requirements, taking into account both pipeline layout function and platform flatness.

[0054] Preferably, the second fixed base 21 is fixedly connected to a mounting flange 25 at its bottom, and the execution platform 22 is provided with workpiece mounting holes 221. Specifically, by setting the mounting flange 25 structure at the bottom of the second fixed base 21, the entire submachine execution mechanism 2 can be quickly positioned and locked, increasing the bottom mounting contact area of ​​the equipment, dispersing the overall weight and dynamic load of the heavy-duty equipment, avoiding tilting and offset problems caused by uneven force distribution at a single point of installation, and ensuring the overall stability and levelness of the heavy-duty motion platform during operation. At the same time, the execution platform 22 has reserved dedicated workpiece mounting holes 221 on its surface, which can provide standardized fixed mounting points for various heavy-duty workpieces and tooling fixtures, making workpiece installation and positioning more accurate and disassembly and assembly more convenient. This effectively avoids slippage, offset, and loosening of the workpiece during platform posture adjustment and reciprocating motion, ensuring the stability of the heavy-duty workpiece as the platform changes posture synchronously, adapting to various heavy-duty working conditions, and further reducing the difficulty of workpiece clamping and equipment operation for novice operators due to the intuitive control characteristics of the equipment. It is understandable that, as a better implementation method, a positioning pin hole structure can be added to the end face of the mounting flange 25 to achieve high-precision alignment during equipment installation and prevent equipment assembly misalignment; alternatively, the workpiece mounting hole 221 can be set as a countersunk hole structure, allowing bolts and fasteners to be recessed into the table surface, ensuring that the execution platform 22 is flat and free of protrusions, avoiding interference with workpiece placement and posture adjustment; shock-absorbing and anti-slip pads can also be added at the contact point between the mounting flange 25 and the ground to buffer vibrations generated by heavy-load movement and improve the overall stability of equipment operation. In addition, the integrated mounting flange 25 can be replaced with a detachable split flange structure to facilitate equipment maintenance, disassembly, and transportation, adapting to different installation site conditions; the fixed workpiece mounting hole 221 can also be replaced with a long strip adjustable hole structure, which can flexibly adjust the installation position according to the workpiece size, improving workpiece adaptability and versatility; a matrix of multiple sets of mounting holes 221 can also be added to the execution platform 22 to support the simultaneous installation and fixing of multiple workpieces and multiple fixtures, expanding the heavy-load operation adaptation scenarios and application range of the equipment.

[0055] A control method for a six-degree-of-freedom motion platform based on a master-slave architecture, comprising the six-degree-of-freedom motion platform based on a master-slave architecture as described in claims 1-9, and including the following steps:

[0056] The operator first operates the reset device 4 on the main machine operating mechanism 1 to perform a self-check and return to its original position, thereby resetting the position and attitude of the slave machine actuator 2. Before the equipment is put into formal operation, the reset device 4 performs an overall attitude self-check and zero-calibration on the main machine operating mechanism 1, automatically controlling each of the first drive mechanisms 13 of the main machine operating mechanism 1 to return to the standard zero position attitude, eliminating residual offsets during equipment start-up and shutdown, assembly gaps, and long-term accumulated errors. At the same time, the reset device 4 synchronously issues a reset command through the control unit 3, which links each of the second drive mechanisms 23 of the slave machine actuator 2 to synchronously complete the zero-reset, ensuring that the initial attitude, extension stroke, and spatial reference of the main machine operating mechanism 1 and the slave machine actuator 2 are completely consistent. This reference reset process can prevent problems such as synchronization deviation, action lag, and replication distortion caused by the initial attitude misalignment between the main machine operating mechanism 1 and the slave machine actuator 2, providing a unified and accurate zero-position reference for subsequent manual and intuitive drag-and-drop follow-up control, and ensuring the accuracy and stability of the attitude synchronization control throughout the process.

[0057] The operator holds and operates the mobile platform 12 or the handle 121. The control unit 3 drives each first drive mechanism 13 to move according to the axial force detected by the tension and compression sensors 18, following the user's operating intentions. Operators do not require professional operating skills or programming debugging; they can directly output control actions by holding the handle 121 or dragging the mobile platform 12, achieving operation input through intuitive human-machine interaction. During manual dragging, pushing, pulling, and fine-tuning, the tension and compression sensors 18 deployed on each first drive mechanism 13 continuously and in real time detect the magnitude and direction of the axial force, capturing the operator's intentions for fine-tuning, translation, pitching, and deflection. The control unit 3 quickly identifies the operating trend based on real-time force signals and adaptively drives each first drive mechanism 13 to perform flexible extension and retraction movements following human actions. This allows the mobile platform 12 to smoothly and seamlessly follow the user's hand movements, achieving a smooth human-machine interaction effect, lowering the operating threshold of heavy-duty platforms, and truly realizing an intuitive and controllable operating experience for users with no prior experience.

[0058] The first displacement sensor 17 on the mother machine operating mechanism 1 collects the extension and retraction of each of the first drive mechanisms 13, processes the data to determine the current position and attitude of the mother machine operating mechanism 1, and drives the second drive mechanism 23 in the slave machine execution mechanism 2 to adjust the position and attitude of the slave machine execution mechanism 2 to match the position and attitude of the mother machine operating mechanism 1, so as to form a complete two-way synchronous control closed loop. During the dynamic movement of the mother machine operating mechanism 1 with the human hand, each set of first displacement sensors 17 collects the extension stroke data of each first drive mechanism 13 in real time, and uploads all attitude data to the control unit 3 in real time for calculation and solution, accurately solving the current six-degree-of-freedom spatial position and attitude parameters of the mother machine operating mechanism 1. According to the real-time attitude parameters of the mother machine operating mechanism 1, the control unit 3 synchronously outputs equally matched control commands to drive the corresponding second drive mechanisms 23 of the slave machine execution mechanism 2 to synchronously extend and retract, so that the execution platform 22 carrying the heavy-duty workpiece can replicate all the attitude changes of the mother machine operating platform in real time. Simultaneously, the second displacement sensors on both sides of the slave actuator provide real-time feedback on the actual extension and retraction stroke of the second drive mechanism 23, transmitting the actual attitude data of the slave to the control unit 3 for closed-loop correction. This real-time compensation compensates for errors such as mechanism clearance, load deformation, and vibration offset under heavy-load conditions, correcting attitude synchronization deviations. Through a closed-loop linkage process of force signal recognition, displacement signal calculation, synchronous follow-up output, and real-time feedback correction, a complete bidirectional synchronous control closed loop is constructed. This ensures that the attitude height of the slave actuator platform 22 and the mother machine operating platform are consistent in real time, ultimately achieving the technical effect of precise control of the heavy-load motion platform without professional training and through intuitive dragging throughout the process.

[0059] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A six-degree-of-freedom motion platform based on a master-slave architecture, characterized in that, include: A mother machine operating mechanism is used to change its own position and posture in real time by being dragged by the operator. The mother machine operating mechanism includes a first fixed base, an operating moving platform, and multiple first drive mechanisms. The operating moving platform is used for dragging by the operator. The two ends of each first drive mechanism are movably connected to the first fixed base and the operating moving platform, so as to change the relative posture between the first fixed base and the operating moving platform. Each of the first drive mechanisms is equipped with a first displacement sensor and a tension / compression sensor. The first displacement sensor measures the actual extension stroke of each first drive mechanism in real time, and the tension / compression sensor is used to detect the magnitude and direction of the force on each first drive mechanism in real time. The sub-machine actuator is capable of changing its own position and posture in real time. The sub-machine actuator includes a second fixed base, an execution platform, and multiple second drive mechanisms. The execution platform is used to load the workpiece. The two ends of each second drive mechanism are movably connected to the second fixed base and the execution platform, respectively. Each second drive mechanism is equipped with a second displacement sensor for measuring the actual extension stroke of each second drive mechanism in real time. The control unit is electrically connected to the mother machine operating mechanism and the daughter machine execution mechanism respectively. The control unit is used to synchronously drive the daughter machine execution mechanism to change its own position and attitude based on the real-time detection of the position and attitude changes of the mother machine operating mechanism, so that the change of the position and attitude of the daughter machine execution mechanism is consistent with the position and attitude of the mother machine operating mechanism. A reset device is used to perform a self-check and return the position and attitude of the main machine operating mechanism to its original position, and then drive the submachine execution mechanism to reset its position and attitude through the control unit.

2. The six-degree-of-freedom motion platform based on a master-slave architecture according to claim 1, characterized in that, The control unit is connected to the mother machine operating mechanism and the daughter machine execution mechanism respectively through an information transmission device, which is made of EtherCAT high-speed industrial bus.

3. A six-degree-of-freedom motion platform based on a master-slave architecture as described in claim 1, characterized in that, The mobile operating platform is equipped with a grip handle for the operator to hold and use.

4. A six-degree-of-freedom motion platform based on a master-slave architecture according to claim 1, characterized in that, The operating platform and the machine operating mechanism further include multiple hinges, and the two ends of each of the first drive mechanisms are respectively connected to the first fixed base and the operating platform through one of the hinges.

5. A six-degree-of-freedom motion platform based on a master-slave architecture according to claim 1, characterized in that, The first drive mechanism is a small electric drive outrigger, and the second drive mechanism is a large electric drive outrigger.

6. A six-degree-of-freedom motion platform based on a master-slave architecture according to claim 5, characterized in that, The large electrically driven support leg is a single-stage electric actuator structure. The single-stage electric actuator structure includes a lower hinge support, a servo motor, a ball screw pair, a piston rod, and an upper hinge support. The lower hinge support, servo motor, ball screw pair, piston rod, and upper hinge support are distributed sequentially along the direction from the second fixed base toward the execution platform. The lower hinge support is connected to the second fixed base. The servo motor is connected to and supported by the lower hinge support. The output of the servo motor is driven by the ball screw pair. One end of the piston rod is driven by the ball screw pair, and the other end of the piston rod is connected to the upper hinge support. The upper hinge support is connected to the execution platform.

7. A six-degree-of-freedom motion platform based on a master-slave architecture according to claim 6, characterized in that, The second displacement sensor is an external resistive displacement sensor. The fixed end of the external resistive displacement sensor is installed on the outer wall of the ball screw assembly, and the movable end of the external resistive displacement sensor is installed on the outer wall of the piston rod.

8. A six-degree-of-freedom motion platform based on a master-slave architecture according to claim 1, characterized in that, The mother machine operating mechanism has a first through hole, which passes through the center of the first fixed base and the operating moving platform; the daughter machine execution mechanism has a second through hole, which passes through the center of the second fixed base and the execution platform.

9. A six-degree-of-freedom motion platform based on a master-slave architecture according to claim 1, characterized in that, The second fixed base is fixed to the bottom and connected to the mounting flange, and the execution platform is provided with workpiece mounting holes.

10. A control method for a six-degree-of-freedom motion platform based on a master-slave architecture, characterized in that, Including the six-degree-of-freedom motion platform based on a mother-daughter architecture as described in claims 1-9, and including the following steps: Step S1: The operator first operates the reset device on the main machine operating mechanism to perform self-test and return to position, and drives the slave machine execution mechanism to reset its own position and attitude. Step S2: The operator holds and operates the operating mobile platform or grip handle, and the control unit drives the first drive mechanism to move according to the axial force detected by the tension and compression sensor, following the user's operating intention; Step S3: The first displacement sensor on the mother machine operating mechanism collects the extension and retraction of each of the first drive mechanisms, processes the data to determine the current position and attitude of the mother machine operating mechanism, and drives the second drive mechanism in the slave machine execution mechanism to adjust the position and attitude of the slave machine execution mechanism to be consistent with the position and attitude of the mother machine operating mechanism, so as to form a complete bidirectional synchronous control closed loop.

Images