Search

CN-122008296-A - Master-slave follow-up mechanical force feedback paw

CN122008296ACN 122008296 ACN122008296 ACN 122008296ACN-122008296-A

Abstract

The application relates to a master-slave follow-up mechanical force feedback paw, and relates to the technical field of robots. The multi-degree-of-freedom mechanical arm assembly is connected with the base assembly and the tail end gripper mechanism, the weight change is converted into an electric signal by the weight electric signal conversion assembly, and the signal transmission assembly is embedded in the mechanical arm to realize stable transmission of the electric signal to a wearing end. The application can accurately collect the change of the grabbing weight of the tail end and convert the change of the grabbing weight into a standard electric signal, ensures the real-time performance of signal transmission through internal wiring protection, enables an operator to intuitively sense the far-end load through the damping change of the wearing end, and improves the safety and the sense of presence of master-slave follow-up control.

Inventors

  • ZHAO YUXIAN
  • WANG JIN

Assignees

  • 北京慧德智能机器人有限公司

Dates

Publication Date
20260512
Application Date
20260331

Claims (9)

  1. 1. A master-slave follow-up mechanical force feedback paw is characterized by comprising a base component (1), a multi-degree-of-freedom mechanical arm component (2), a tail end paw mechanism (3), a weight electric signal conversion component (4) and a signal transmission component (5), wherein one end of the multi-degree-of-freedom mechanical arm component (2) is fixedly connected with the base component (1), the other end of the multi-degree-of-freedom mechanical arm component is rotationally connected with the tail end paw mechanism (3), the weight electric signal conversion component (4) is arranged on the tail end paw mechanism (3) and is used for converting weight change of a grabbing object of the tail end paw mechanism (3) into an electric signal, the signal transmission component (5) is embedded in the multi-degree-of-freedom mechanical arm component (2), one end of the signal transmission component is electrically connected with the weight electric signal conversion component (4), and the other end of the signal transmission component is electrically connected with an external wearing end, so that the wearing end can adjust self damping according to the electric signal change.
  2. 2. The master-slave follow-up mechanical force feedback paw according to claim 1, wherein the base component (1) comprises a fixed base (11), a rotary supporting seat (12) and a base mounting flange (13), the fixed base (11) is fixedly connected with the rotary supporting seat (12), and the base mounting flange (13) is fixed at the top end of the rotary supporting seat (12) and is fixedly connected with the multi-degree-of-freedom mechanical arm component (2).
  3. 3. The master-slave follow-up mechanical force feedback paw according to claim 1, wherein the multi-degree-of-freedom mechanical arm assembly (2) comprises a large arm (21), a small arm (22) and a wrist connecting piece (23) which are sequentially connected, the large arm (21), the small arm (22) and the wrist connecting piece (23) are all of hollow rigid structures, a channel for installing a signal transmission assembly (5) is formed inside the large arm (21) and the small arm (22) are rotatably connected through a shoulder joint assembly (24), and the small arm (22) and the wrist connecting piece (23) are rotatably connected through an elbow joint assembly (25).
  4. 4. The master-slave follow-up mechanical force feedback paw as claimed in claim 3, wherein the shoulder joint assembly (24) and the elbow joint assembly (25) comprise joint seats and joint shafts, the joint shafts are arranged in the joint seats in a penetrating manner and realize rotation, and the joint shafts are correspondingly fixedly connected with the big arm (21) and the small arm (22).
  5. 5. The master-slave follow-up mechanical force feedback paw according to claim 3, wherein the wrist connecting piece (23) is connected with the tail end paw mechanism (3) through a wrist joint assembly (26), the wrist joint assembly (26) comprises a wrist joint seat (261), a wrist joint ball head (262) and a locking nut (263), the wrist joint seat (261) is fixedly connected with the wrist connecting piece (23), the wrist joint ball head (262) is fixedly connected with the tail end paw mechanism (3) and is embedded in the wrist joint seat (261) to form a spherical hinge, and the locking nut (263) is used for locking the wrist joint ball head (262).
  6. 6. The master-slave follow-up mechanical force feedback gripper according to claim 1, wherein the tail end gripper mechanism (3) comprises a gripper seat (31) and at least two gripper fingers (32), the gripper seat (31) is fixedly connected with the wrist joint assembly (26), the root parts of the gripper fingers (32) are rotatably connected with the gripper seat (31) and realize synchronous opening and closing through a linkage structure, and the weight electric signal conversion assembly (4) is installed in the gripper seat (31) and is arranged corresponding to the gripper fingers (32).
  7. 7. The master-slave follow-up mechanical force feedback paw as claimed in claim 6, wherein a paw pad (321) is fixedly arranged on the inner side of the paw finger (32), an anti-slip structure is arranged on the surface of the paw pad (321), and the weight electric signal conversion component (4) is a pressure sensor, and the sensing end of the pressure sensor is attached to the paw finger (32).
  8. 8. The master-slave follow-up mechanical force feedback paw according to claim 1, wherein the signal conducting component (5) comprises a transmission cable (51) and a cable fixing component (52), one end of the transmission cable (51) is electrically connected with the weight electric signal conversion component (4), and the cable fixing component (52) is mounted on the mechanical arm component (2) and used for fixing the transmission cable (51).
  9. 9. The master-slave follow-up mechanical force feedback paw according to claim 8, wherein the inner wall of the multi-degree-of-freedom mechanical arm component (2) is provided with a reinforced steel component.

Description

Master-slave follow-up mechanical force feedback paw Technical Field The application relates to the technical field of robots, in particular to a master-slave follow-up mechanical force feedback paw. Background The master-slave follow-up manipulator system has wide application in the fields of industrial automation, medical operation and special operation, and realizes accurate remote control through the linkage of the near-end operating device and the far-end actuating mechanism. In the prior art, a master-slave follow-up manipulator is generally connected with an end effector by adopting a multi-degree-of-freedom mechanical arm supported by a base, the end effector realizes grabbing action through a mechanical transmission structure, an operator controls a near-end device to drive a far-end effector to synchronously move, and meanwhile, terminal stress information is transmitted to an operation end by utilizing an externally laid signal cable. However, in the prior art, the weight change of the object grasped at the tail end is difficult to be stably collected and converted into a standard electric signal, the signal cable is easy to pull and wear along with the movement of the mechanical arm, the electric signal transmission instantaneity is insufficient, and an operator cannot intuitively sense the actual grasping load of the far end through the operation end. Disclosure of Invention The application provides a master-slave follow-up mechanical force feedback paw which can solve the technical problems of accurate acquisition of tail end grabbing weight change and stable transmission of electric signals. In order to achieve the above object, the present application provides the following technical solutions: The application provides a master-slave follow-up mechanical force feedback paw, which comprises a base component, a multi-degree-of-freedom mechanical arm component, a tail end paw mechanism, a weight electric signal conversion component and a signal transmission component, wherein one end of the multi-degree-of-freedom mechanical arm component is fixedly connected with the base component, the other end of the multi-degree-of-freedom mechanical arm component is rotationally connected with the tail end paw mechanism, the weight electric signal conversion component is arranged on the tail end paw mechanism and is used for converting the weight change of an object grabbed by the tail end paw mechanism into an electric signal, the signal transmission component is embedded in the multi-degree-of-freedom mechanical arm component, one end of the signal transmission component is electrically connected with the weight electric signal conversion component, and the other end of the signal transmission component is electrically connected with an external wearing end to transmit the electric signal to the wearing end, so that the wearing end can adjust self damping according to the electric signal change. The base assembly comprises a fixed base, a rotary supporting seat and a base mounting flange, wherein the fixed base is fixedly connected with the rotary supporting seat, and the base mounting flange is fixed at the top end of the rotary supporting seat and is fixedly connected with the multi-degree-of-freedom mechanical arm assembly. The multi-degree-of-freedom mechanical arm assembly comprises a large arm, a small arm and a wrist connecting piece which are sequentially connected, wherein the large arm, the small arm and the wrist connecting piece are of hollow rigid structures, a channel for installing a signal transmission assembly is formed inside the large arm, the small arm and the wrist connecting piece, the large arm and the small arm are connected in a rotating mode through a shoulder joint assembly, and the small arm and the wrist connecting piece are connected in a rotating mode through an elbow joint assembly. As a preferable technical scheme, the shoulder joint assembly and the elbow joint assembly both comprise joint seats and joint shafts, the joint shafts penetrate through the joint seats and realize rotation, and the joint shafts are correspondingly fixedly connected with the big arm and the small arm. The wrist joint assembly comprises a wrist joint seat, a wrist joint ball head and a locking nut, wherein the wrist joint seat is fixedly connected with the wrist joint connecting piece, the wrist joint ball head is fixedly connected with the tail end paw mechanism and is embedded in the wrist joint seat to form a spherical hinge, and the locking nut is used for locking the wrist joint ball head. The tail end gripper mechanism comprises a gripper seat and at least two gripper fingers, wherein the gripper seat is fixedly connected with the wrist joint assembly, the root parts of the gripper fingers are rotationally connected with the gripper seat and synchronously opened and closed through a linkage structure, and the weight electric signal conversion assembly is arranged in the gripper seat and i