Robot and master manipulator thereof
Embodiments of the present disclosure provide a robot and a master manipulator thereof. The master manipulator includes: an end control assembly; and an attitude adjustment assembly. The attitude adjustment assembly may include a first mechanism and a second mechanism, the first mechanism and the second mechanism are connected to the end control assembly, and the end control assembly controls the first mechanism and the second mechanism to move through the connection between the first mechanism and end control assembly and the connection between the second mechanism and the end control assembly.
1 . A master manipulator of a robot, comprising:
an end control assembly; and
an attitude adjustment assembly including a first mechanism and a second mechanism, the first mechanism and the second mechanism being connected to the end control assembly, and the end control assembly controlling the first mechanism and the second mechanism to move through the connection between the first mechanism and end control assembly and the connection between the second mechanism and the end control assembly, wherein the first mechanism and the second mechanism rotate independently around their rotation axes, respectively, so that a rotation of the first mechanism driven by the end control assembly has no effect on the second mechanism, and a rotation of the second mechanism driven by the end control assembly has no effect on the first mechanism.
2 . The master manipulator of claim 1 , wherein
the first mechanism includes a first rotating transmission bar;
the second mechanism includes a second rotating transmission bar; and
an angle between a rotation axis of the first rotating transmission bar and a rotation axis of the second rotating transmission bar is greater than 10°.
3 . The master manipulator of claim 2 , wherein
the end control assembly directly applies a force on the first rotating transmission bar and/or the second rotating transmission bar.
4 . The master manipulator of claim 3 , wherein
the first rotating transmission bar is provided with a first guide hole,
the second rotating transmission bar is provided with a second guide hole, and
the end control assembly passes through the first guide hole and the second guide hole.
5 . The master manipulator of claim 4 , wherein the end control assembly is rotatably connected to a base.
6 . The master manipulator of claim 2 , further comprising:
a first feedback assembly configured to apply a first attitude adjustment resistance to the first mechanism based on first feedback information; and
a second feedback assembly configured to apply a second attitude adjustment resistance to the second mechanism based on second feedback information.
7 . The master manipulator of claim 6 , wherein
an end of the first rotating transmission bar is connected to the first feedback assembly, the first feedback assembly includes a first transmission component and a first feedback motor, and the first feedback motor is connected to the first rotating transmission bar through the first transmission component; and
an end of the second rotating transmission bar is connected to the second feedback assembly, the second feedback assembly includes a second transmission component and a second feedback motor, and the second feedback motor is connected to the second rotating transmission bar through the second transmission component.
8 . The master manipulator of claim 7 , wherein
the first transmission component includes a first synchronous wheel and a second synchronous wheel, the first synchronous wheel is connected to the first rotating transmission bar, the second synchronous wheel is fixed on an output shaft of the first feedback motor, and the first synchronous wheel and the second synchronous wheel are in transmission connection; and
the second transmission component includes a third synchronous wheel and a fourth synchronous wheel, the third synchronous wheel is connected to the second rotating transmission bar, the second synchronous wheel is fixed on an output shaft of the second feedback motor, and the third synchronous wheel and the fourth synchronous wheel are in transmission connection.
9 . The master manipulator of claim 8 , wherein
the first synchronous wheel and the second synchronous wheel are in transmission connection through a first rope, a first tensioning member and a second tensioning member are arranged on a side of the first synchronous wheel along a winding direction of the first rope, and two ends of the first rope are respectively fixed by the first tensioning member and the second tensioning member; and
the third synchronous wheel and the fourth synchronous wheel are in transmission connection through a second rope, a third tensioning member and a fourth tensioning member are arranged on a side of the third synchronous wheel along a winding direction of the second rope, and two ends of the second rope are respectively fixed by the third tensioning member and the fourth tensioning member.
10 . The master manipulator of claim 1 , wherein
the first mechanism includes a first rotating shaft and a first connecting part, one end of the first connecting part is connected to the first rotating shaft, and another end of the first connecting part is movably connected to the end control assembly;
the second mechanism includes a second rotating shaft and a second connecting part, one end of the second connecting part is connected to the second rotating shaft, and another end of the second connecting part is movably connected to the end control assembly; and
an angle between an axis of the first rotating shaft and an axis of the second rotating shaft is greater than 10°.
11 . The master manipulator of claim 10 , wherein the first connecting part and the second connecting part circumferentially surround the end control assembly.
12 . The master manipulator of claim 10 , wherein
the first connecting part includes a first connecting straight rod and a first connecting curved rod, one end of the first connecting curved rod is connected to the first rotating shaft, another end of the first connecting curved rod is connected to the first connecting straight rod, and the first connecting straight rod is movably connected to the end control assembly; and
the second connecting part includes a second connecting straight rod and a second connecting curved rod, one end of the second connecting curved rod is connected to the second rotating shaft, another end of the second connecting curved rod is connected to the second connecting straight rod, and the second connecting straight rod is movably connected to the end control assembly.
13 . The master manipulator of claim 10 , wherein the angle between the axis of the first rotating shaft and the axis of the second rotating shaft is greater than 85°.
14 . The master manipulator of claim 10 , further comprising:
a third feedback component configured to apply a third attitude adjustment resistance to the first mechanism based on third feedback information; and
a fourth feedback component configured to apply a fourth attitude adjustment resistance to the second mechanism based on fourth feedback information.
15 . The master manipulator of claim 14 , wherein:
the first rotating shaft is connected to the third feedback component, the third feedback component includes a third feedback motor and a third transmission component, and the third feedback motor is connected to the first rotating shaft through the third transmission component; and
the second rotating shaft is connected to the fourth feedback component, the fourth feedback component includes a fourth feedback motor and a fourth transmission component, and the fourth feedback motor is connected to the second rotating shaft through the fourth transmission component.
16 . The master manipulator of claim 15 , wherein
the third transmission component includes a fifth synchronous wheel and a sixth synchronous wheel, a radius of the fifth synchronous wheel is greater than a radius of the sixth synchronous wheel, the fifth synchronous wheel is connected to the first rotating shaft, the sixth synchronous wheel is fixedly arranged on an output shaft of the third feedback motor, and the fifth synchronous wheel and the sixth synchronous wheel are in transmission connection; and
the fourth transmission component includes a seventh synchronous wheel and an eighth synchronous wheel, a radius of the seventh synchronous wheel is greater than a radius of the eighth synchronous wheel, the seventh synchronous wheel is connected to the second rotating shaft, the eighth synchronous wheel is fixedly arranged on an output shaft of the fourth feedback motor, and the seventh synchronous wheel and the eighth synchronous wheel are in transmission connection.
17 . The master manipulator of claim 16 , wherein
the fifth synchronous wheel and the sixth synchronous wheel are in transmission connection through a third rope, and a fifth tensioning member is arranged on a side of the fifth synchronous wheel along a winding direction of the third rope; and
the seventh synchronous wheel and the eighth synchronous wheel are in transmission connection through a fourth rope, and a sixth tensioning member is arranged on a side of the seventh synchronous wheel along a winding direction of the fourth rope.
18 . The master manipulator of claim 17 , wherein
a first guide member is arranged on an upper side of the fifth synchronous wheel along the winding direction of the third rope, so that the third rope on the fifth synchronous wheel is wound around the sixth synchronous wheel with a first preset pitch; and
a second guide member is arranged on an upper side of the seventh synchronous wheel along the winding direction of the fourth rope, so that the fourth rope on the seventh synchronous wheel is wound around the eighth synchronous wheel with a second preset pitch.
19 . The master manipulator of claim 1 , wherein
the attitude adjustment component further includes a locking mechanism, wherein the locking mechanism includes:
a first brake member, configured to lock or unlock the rotation of the first mechanism; and
a second brake member, configured to lock or unlock the rotation of the second mechanism.
20 . A robot, comprising:
a robot body,
an end executor, and
a master manipulator, wherein
the master manipulator includes:
an end control assembly; and
an attitude adjustment assembly including a first mechanism and a second mechanism, the first mechanism and the second mechanism being connected to the end control assembly, and the end control assembly controlling the first mechanism and the second mechanism to move through the connection between the first mechanism and end control assembly and the connection between the second mechanism and the end control assembly;
the end executor is connected to the robot body, the robot body is electrically connected to a communication device, and the master manipulator is electrically connected to the communication device and the end executor, wherein the first mechanism and the second mechanism rotate independently around their rotation axes, respectively, so that a rotation of the first mechanism driven by the end control assembly has no effect on the second mechanism, and a rotation of the second mechanism driven by the end control assembly has no effect on the first mechanism.