A bilateral haptic rendering slave data acquisition device based on wire harness transmission

Abstract

This invention relates to a bilateral haptic rendering slave-end data acquisition device based on wire harness transmission, comprising a master unit and a slave unit. The master unit includes a trigger, a first sensing unit for acquiring its position and velocity, and a first motor for providing reaction force. The slave unit includes a second motor, a bracket, a turntable, a drive rope, a guide rail, a slider, a gripper, a reset mechanism, and a second sensing unit for acquiring the slider's position and velocity. The first drive rope connects the coaxially arranged first turntable to the winding device of the second motor; the second drive rope passes around a winding groove on the second turntable and connects two sliders, causing them to move towards or away from each other along the guide rail. The controller controls the current of the first and second motors respectively through a mapping relationship based on the position and velocity information of the trigger and the sliders, realizing bidirectional force feedback. This device can provide the operator with a realistic mechanical gripper feel and has the advantages of compact structure and small lateral volume.

Description

Technical Field

[0001] This invention relates to the field of embodied intelligence, and in particular to a bilateral haptic rendering slave data acquisition device based on wire harness transmission. Background Technology

[0002] In the field of robot dexterity manipulation and embodied intelligence data acquisition, a universal control interface is a mainstream handheld data acquisition device. For example, Chinese patent CN117656039A discloses a two-finger gripper deformable object precision grasping system based on tactile feedback. This system, based on a deformable object grasping platform, integrates a motion control module, a tactile sensing module, and a data processing module. The deformable object grasping platform includes a six-degree-of-freedom collaborative robotic arm, a two-degree-of-freedom mobile platform, a PC host computer, a robotic arm control cabinet, an adaptive electric gripper, and visual-tactile sensors. The motion control module provides the data processing module with the current state of the robotic arm and the actions to be performed. The tactile sensing module provides the data processing module with tactile information input. After processing the above inputs, the data processing module outputs the robotic arm's action and inputs it into the motion control module to control the next action of the six-degree-of-freedom collaborative robotic arm, forming a closed-loop control. However, the above grasping system has the following limitations: Lack of bilateral haptic rendering mechanism: When the operator grasps an object, he can only rely on visual judgment to determine whether he has a firm grip and cannot perceive the contact force at the end of the gripper. This results in low data quality and lack of tactile feedback when collecting precise operation data. Summary of the Invention

[0003] The purpose of this invention is to provide a bilateral haptic rendering slave data acquisition device based on wire harness transmission to overcome the defects of the prior art.

[0004] The objective of this invention can be achieved through the following technical solutions: A bilateral haptic rendering slave data acquisition device based on wire harness transmission includes a host and a slave device; The host includes a trigger and a first sensing unit for acquiring the trigger position and speed, and a first motor for applying a counter-force to the trigger; The slave device includes a second motor, a first bracket, a second bracket, a first drive rope, a second drive rope, two guide rails, two sliders, and a second position sensing unit for acquiring the position and speed of the two sliders. The first bracket is located above the second bracket, the second motor is located in the second bracket, and a winding device is provided on the output shaft of the second motor. Two first wire guide mechanisms are provided on the side wall of the second bracket. The first bracket has a first turntable and a second turntable arranged coaxially. The first turntable has two parallel first winding grooves. After one end of the first drive rope is fixed to the first turntable, the other end passes through the first winding groove and the first first wire guide mechanism in sequence. After the wire mechanism is wound at least one turn on the winder, it is fixed on the first turntable after passing through the second first wire mechanism and the second winding groove. The first bracket is provided with two second wire mechanisms, and the second turntable is provided with at least one second winding groove. One end of the second drive rope is connected to the inner side of the first slider, and the other end is connected to the outer side of the second slider after passing through the first second wire mechanism, all the second winding grooves and the second second wire mechanism in sequence. The inner side is the side closer to the other slider, and the outer side is the side away from the other slider. The two sliders are respectively set on two guide rails and slide along the corresponding guide rails, and the two guide rails are on a straight line. Two grippers are fixed to two sliders respectively; Two reset mechanisms are connected to the two sliders respectively, and are used to overcome the traction force of the second drive rope to make the two sliders move; The controller, connected to the first motor, the second motor, the first sensing unit, and the second sensing unit respectively, is configured to perform the following steps: The trigger position and velocity collected by the first sensing unit, and the slider position and velocity collected by the second sensing unit are obtained; Based on the trigger position and speed, the slider position and speed, and the first mapping relationship, the motor current of the second motor is obtained; Based on the trigger position and speed, the slider position and speed, and the first mapping relationship, the motor current of the first motor is obtained.

[0005] The diameter of the first turntable is larger than the diameter of the second turntable.

[0006] The first guide mechanism includes a guide wheel mounting plate and two first guide wheels disposed on the guide wheel mounting plate; The guide wheel mounting plate is provided with a first inlet hole, which is tangential to the first winding groove. The first drive rope passes through the two first inlet holes in sequence and is inserted into the first inlet hole, and then wound around the first winding groove after passing through the first inlet hole.

[0007] The axis of the first turntable coincides with the output shaft of the second motor.

[0008] The first bracket includes a main mounting plate and a secondary mounting plate. The first turntable is mounted on the first side of the main mounting plate, the second motor is mounted on the other side of the main mounting plate, and the guide wheel mounting plate is fixed to the side of the main mounting plate. The auxiliary mounting plate is arched, and after being spliced ​​with the main mounting plate, it forms a hollow horizontal groove. The first turntable and the second turntable are located in the hollow horizontal groove.

[0009] The second guide mechanism includes two second guide wheels, which are located on the side of the sub-mounting plate.

[0010] The first drive rope is wound twice on the winder.

[0011] Both the first drive rope and the second drive rope are steel wire ropes.

[0012] The gripper is equipped with a visual and tactile sensor.

[0013] A guide wheel for guiding the first drive rope is provided between the first conductor mechanism and the winder. The axis of the guide wheel is perpendicular to the axis of the first conductor wheel, and the portion of the first drive rope between the guide wheel and the first conductor wheel is straight and tangent to both the guide wheel and the first conductor wheel.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The device includes a master unit and a slave unit, and utilizes a controller to map and control the motor currents at both ends in real time based on motion information, achieving closed-loop force transmission. This allows the operator to feel the force applied to the slave unit's gripper through the trigger of the master unit when manipulating the gripper, thus obtaining a realistic tactile feedback and solving the problems of lack of force feedback mechanism and lack of tactile feedback in existing technologies. Simultaneously, the arrangement of the drive ropes contributes to the compactness of the device and reduces its lateral volume.

[0015] 2. By setting the larger diameter first turntable and the smaller diameter second turntable coaxially, the smaller angular displacement of the second turntable can be converted into a larger linear displacement of the slider through the winding of the second drive rope, or vice versa, thereby realizing force amplification or fine adjustment of motion, and enhancing the adaptability of the device to different operating precision and force feedback intensity requirements.

[0016] 3. By setting a mounting plate with two first guide pulleys and a first inlet hole with a specific orientation, and tangentially positioning the first inlet hole to the first winding groove, a smooth and unobstructed transition of the first drive rope from the turntable to the guide pulley is ensured. This tangential design minimizes the bending stress and friction of the rope, prevents wear, jamming, or breakage caused by sharp-angle bends, and guarantees the stability and durability of force feedback transmission between the master and slave machines.

[0017] 4. It eliminates the additional complex structures required for potentially non-parallel or interlaced shaft drives, making the transmission path from the second motor to the first turntable the most direct. This helps reduce energy loss, lower mechanical noise, and improve the response speed and accuracy of the entire force feedback system.

[0018] 5. The perforated horizontal groove formed by the splicing of the arched secondary mounting plate and the main mounting plate not only provides a stable and aligned installation space for the coaxially arranged first and second turntables, preventing them from shaking during operation, but this perforated design also helps to reduce the overall weight and save materials. The separate design of the main and secondary plates may also facilitate the assembly, maintenance, and inspection of internal components of the device.

[0019] 6. The second guide wheel is directly set on the side of the arched auxiliary mounting plate, making full use of the structural space of the bracket itself. There is no need to add a complicated support frame. This allows the second drive rope to be reliably guided and constrained on the path connecting the second turntable and the two sliders, ensuring that the two sliders move precisely synchronously in opposite directions on the guide rail.

[0020] 7. The use of steel wire rope can withstand repeated pulling and bending, ensuring that the rope itself is not easily stretched or broken under long-term force feedback operation, thereby maintaining transmission accuracy and system life. Its small elastic deformation also helps to improve the real-time performance of force feedback.

[0021] 8. Visor-tactile sensors can provide multimodal information such as the shape, texture, and pressure distribution of objects in contact. This not only allows operators to feel the gripping force through force feedback, but also provides high-dimensional real-time tactile data for upper-level control systems or data acquisition systems. This is crucial for advanced embodied intelligence applications that require tactile information, such as robot learning, teleoperation, or precision assembly.

[0022] 9. The guide wheel serves to change the direction of the transmission plane. By aligning its axis perpendicular to the axis of the first guide wheel and ensuring that the inbound and outbound ropes are straight and tangent, the first drive rope can smoothly transition between pulleys in two different directions, eliminating spatial geometric interference and effectively preventing the rope from twisting, derailing, or abnormally wearing against the edges of components at the turning point, thus improving the system's reliability in complex spatial layouts. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the turntable structure; Figure 3 This is a schematic diagram of the first conductor mechanism; Figure 4 This is a schematic diagram of the first support structure; The components are: 1. First bracket, 2. Second bracket, 3. Second motor, 4. Guide rail, 5. Second turntable, 6. Slider, 7. First turntable, 8. First wire guide mechanism, 9. Six-dimensional force sensor, 1-1. Main mounting plate, 1-2. Secondary mounting plate, 1-3. Second wire guide wheel, 5-1. Second winding groove, 7-1. First winding groove, 8-1. Wire guide wheel mounting plate, 8-2. First wire guide wheel, 8-3. First wire inlet hole. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0025] A bilateral haptic rendering slave data acquisition device based on wire harness transmission includes a host and a slave device; The main unit includes a trigger and a first sensing unit for acquiring the trigger position and speed, and a first motor for applying an opposing force to the trigger; like Figure 1 As shown, the slave device includes a second motor, a first bracket, a second bracket, a first drive rope, a second drive rope, two guide rails, two sliders, and a second position sensing unit for acquiring the position and speed of the two sliders. The first bracket is located above the second bracket, the second motor is located in the second bracket, and a winding device is provided on the output shaft of the second motor. Two first wire guiding mechanisms are provided on the side wall of the second bracket. The first bracket has a first turntable and a second turntable arranged coaxially. Figure 2 As shown, the first turntable has two parallel first winding grooves. One end of the first drive rope is fixed to the first turntable, and the other end passes through the first winding groove and the first first wire mechanism in sequence, and is wound around the winder at least once. After passing through the second first wire mechanism and the second winding groove, it is fixed to the first turntable. The first bracket has two second wire mechanisms, and the second turntable has at least one second winding groove. One end of the second drive rope is connected to the inner side of the first slider, and the other end passes through the first second wire mechanism, all the second winding grooves and the second second wire mechanism in sequence, and is connected to the outer side of the second slider. The inner side is the side closer to the other slider, and the outer side is the side away from the other slider. The two sliders are respectively set on two guide rails and slide along the corresponding guide rails, and the two guide rails are on a straight line. Two grippers are fixed to two sliders respectively; Two reset mechanisms are connected to the two sliders respectively, and are used to overcome the traction force of the second drive rope to make the two sliders move; The controller, connected to the first motor, the second motor, the first sensing unit, and the second sensing unit respectively, is configured to perform the following steps: The trigger position and velocity collected by the first sensing unit, and the slider position and velocity collected by the second sensing unit are obtained; Based on the trigger position and speed, the slider position and speed, and the first mapping relationship, the motor current of the second motor is obtained; Based on the trigger position and speed, the slider position and speed, and the first mapping relationship, the motor current of the first motor is obtained.

[0026] Including a master and slave unit, and utilizing a controller to map and control the motor currents at both ends in real time based on motion information, a closed-loop force feedback transmission is achieved. This allows the operator to feel the force applied to the slave gripper through the trigger of the master unit when manipulating the gripper, thus obtaining a realistic tactile feedback and solving the problems of lack of force feedback mechanism and lack of tactile feedback in existing technologies. At the same time, the arrangement of the drive ropes helps to achieve a compact design and reduce the lateral volume of the device.

[0027] In this embodiment, the diameter of the first turntable is larger than that of the second turntable. By setting the larger diameter first turntable and the smaller diameter second turntable coaxially and rotating synchronously, the smaller angular displacement of the second turntable can be converted into a larger linear displacement of the slider through the winding of the second drive rope, or vice versa. This achieves force amplification or fine adjustment of motion, enhancing the adaptability of the device to different operational precision and force feedback intensity requirements.

[0028] like Figure 3 As shown, the first guide wheel mechanism includes a guide wheel mounting plate and two first guide wheels mounted on the guide wheel mounting plate. The guide wheel mounting plate has a first inlet hole, which is tangentially arranged with the first winding groove. The first drive rope passes through the two first inlet holes sequentially and is inserted into the first inlet hole, then wound around the first winding groove. By setting up a mounting plate with two first guide wheels and a specifically oriented first inlet hole, and ensuring the first inlet hole is tangential to the first winding groove, a smooth and seamless transition of the first drive rope from the turntable to the guide wheel is ensured. This tangential design minimizes the bending stress and friction of the rope, prevents wear, jamming, or breakage caused by sharp-angle bends, and guarantees the stability and durability of force feedback transmission between the master and slave mechanisms.

[0029] The axis of the first turntable coincides with the output shaft of the second motor, eliminating the additional complex structures required for possible non-parallel or intersecting shaft drives, making the transmission path from the second motor to the first turntable the most direct. This helps reduce energy loss, lower mechanical noise, and improve the response speed and accuracy of the entire force feedback system.

[0030] like Figure 4As shown, the first bracket includes a main mounting plate and a secondary mounting plate. The first turntable is mounted on the first side of the main mounting plate, the second motor is mounted on the other side of the main mounting plate, and the guide wheel mounting plate is fixed to the side of the main mounting plate. The secondary mounting plate is arched, and after being spliced ​​with the main mounting plate, it forms a hollow horizontal groove. The first turntable and the second turntable are located in the hollow horizontal groove.

[0031] The second guide mechanism includes two second guide wheels, which are located on the side of the auxiliary mounting plate.

[0032] The first drive rope is wound twice on the winder.

[0033] Both the first and second drive ropes are steel wire ropes.

[0034] The grippers are equipped with visual and tactile sensors.

[0035] A guide wheel for guiding the first drive rope is also provided between the first guide mechanism and the winder. The axis of the guide wheel is perpendicular to the axis of the first guide wheel, and the portion of the first drive rope between the guide wheel and the first guide wheel is straight and tangent to both the guide wheel and the first guide wheel. The guide wheel serves to change the direction of the transmission plane. By making its axis perpendicular to the axis of the first guide wheel and ensuring that the inlet and outlet ropes are both straight and tangent, the first drive rope can achieve a smooth transition between pulleys in two different directions, eliminating spatial geometric interference, effectively preventing the rope from twisting, derailing, or abnormally wearing against the edge of the component at the turning point, and improving the reliability of the system in complex spatial layouts.

[0036] In addition, the slave device of this application also includes a mounting base for connecting to the robot end effector, and the slave device as a whole can be divided into: An end effector, mounted on a mounting base, is used to contact or hold external objects. The drive assembly is mounted on the mounting base and located away from the contact end of the end effector; The wire harness drive mechanism connects the drive assembly and the end effector, and is used to transmit the output motion of the drive assembly to the end effector; A tactile sensing component is located at or near the contact end of the end effector to collect contact information between the end effector and an external object. The control circuit board is mounted on the mounting base or end effector. The control circuit board includes a microcontroller, actuator drive circuit, sensor acquisition circuit, communication interface circuit and hardware synchronization interface. The sensor acquisition circuit is connected to the tactile sensing component and is used to acquire contact information and / or the status information of the end effector. The actuator drive circuit is connected to the drive assembly and is used to drive the drive assembly according to the control signal output by the microcontroller. The communication interface circuit includes a communication network chip connected to the microcontroller via an SPI bus. The communication network chip is used to send the slave-end interactive data generated by the microcontroller to the external control device and to receive control commands from the external control device. The hardware synchronization interface is connected to the microcontroller and is used to output and / or receive hardware trigger signals so that the data exchanged by the slave end has corresponding time information with the data collected by the external acquisition device; The microcontroller is configured to acquire contact information and / or status information within a local control cycle, generate control signals according to control instructions, and output slave-end interactive data and / or time information through a communication network chip.

[0037] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A bilateral haptic rendering slave data acquisition device based on wire harness transmission, characterized in that, include: The host includes a trigger and a first sensing unit for acquiring the trigger position and speed, and a first motor for applying a counter-force to the trigger; The slave device includes a second motor, a first bracket, a second bracket, a first drive rope, a second drive rope, two guide rails, two sliders, and a second position sensing unit for acquiring the position and speed of the two sliders. The first bracket is located above the second bracket, the second motor is located in the second bracket, and a winding device is provided on the output shaft of the second motor. Two first wire guide mechanisms are provided on the side wall of the second bracket. The first bracket has a first turntable and a second turntable arranged coaxially. The first turntable has two parallel first winding grooves. After one end of the first drive rope is fixed to the first turntable, the other end passes through the first winding groove and the first first wire guide mechanism in sequence. After the wire mechanism is wound at least one turn on the winder, it is fixed on the first turntable after passing through the second first wire mechanism and the second winding groove. The first bracket is provided with two second wire mechanisms, and the second turntable is provided with at least one second winding groove. One end of the second drive rope is connected to the inner side of the first slider, and the other end is connected to the outer side of the second slider after passing through the first second wire mechanism, all the second winding grooves and the second second wire mechanism in sequence. The inner side is the side closer to the other slider, and the outer side is the side away from the other slider. The two sliders are respectively set on two guide rails and slide along the corresponding guide rails, and the two guide rails are on a straight line. Two grippers are fixed to two sliders respectively; Two reset mechanisms are connected to the two sliders respectively, and are used to overcome the traction force of the second drive rope to make the two sliders move; The controller, connected to the first motor, the second motor, the first sensing unit, and the second sensing unit respectively, is configured to perform the following steps: The trigger position and velocity collected by the first sensing unit, and the slider position and velocity collected by the second sensing unit are obtained; Based on the trigger position and speed, the slider position and speed, and the first mapping relationship, the motor current of the second motor is obtained; Based on the trigger position and speed, the slider position and speed, and the first mapping relationship, the motor current of the first motor is obtained.

2. The universal control device supporting force feedback operation according to claim 1, characterized in that, The diameter of the first turntable is larger than the diameter of the second turntable.

3. The universal control device supporting force feedback operation according to claim 1, characterized in that, The first guide mechanism includes a guide wheel mounting plate and two first guide wheels disposed on the guide wheel mounting plate; The guide wheel mounting plate is provided with a first inlet hole, which is tangential to the first winding groove. The first drive rope passes through the two first inlet holes in sequence and is inserted into the first inlet hole, and then wound around the first winding groove after passing through the first inlet hole.

4. A universal control device supporting force feedback operation according to claim 1, characterized in that, The axis of the first turntable coincides with the output shaft of the second motor.

5. A universal control device supporting force feedback operation according to claim 3, characterized in that, The first bracket includes a main mounting plate and a secondary mounting plate. The first turntable is mounted on the first side of the main mounting plate, the second motor is mounted on the other side of the main mounting plate, and the guide wheel mounting plate is fixed to the side of the main mounting plate. The auxiliary mounting plate is arched, and after being spliced ​​with the main mounting plate, it forms a hollow horizontal groove. The first turntable and the second turntable are located in the hollow horizontal groove.

6. A universal control device supporting force feedback operation according to claim 3, characterized in that, The second guide mechanism includes two second guide wheels, which are located on the side of the sub-mounting plate.

7. A universal control device supporting force feedback operation according to claim 1, characterized in that, The first drive rope is wound twice on the winder.

8. A universal control device supporting force feedback operation according to claim 1, characterized in that, Both the first drive rope and the second drive rope are steel wire ropes.

9. A universal control device supporting force feedback operation according to claim 1, characterized in that, The gripper is equipped with a visual and tactile sensor.

10. A universal control device supporting force feedback operation according to claim 3, characterized in that, A guide wheel for guiding the first drive rope is provided between the first conductor mechanism and the winder. The axis of the guide wheel is perpendicular to the axis of the first conductor wheel, and the portion of the first drive rope between the guide wheel and the first conductor wheel is straight and tangent to both the guide wheel and the first conductor wheel.

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