CN115351819A - Master-slave operation time delay test system and method for remote ultrasonic robot - Google Patents
Master-slave operation time delay test system and method for remote ultrasonic robot Download PDFInfo
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- CN115351819A CN115351819A CN202211285081.5A CN202211285081A CN115351819A CN 115351819 A CN115351819 A CN 115351819A CN 202211285081 A CN202211285081 A CN 202211285081A CN 115351819 A CN115351819 A CN 115351819A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention belongs to the technical field of robot testing, and particularly relates to a master-slave operation time delay testing system and method for a remote ultrasonic robot. The device comprises an installation platform, a main end testing component, a slave end testing component and a main and slave end motion curve acquisition unit, wherein the main and slave end motion curve acquisition unit comprises an analog signal sensor and a multi-channel analog signal display oscillography unit; obtaining the displacement or rotation amount of the handle at the main end through an analog signal sensor, converting the movement of the main end into a voltage analog signal, outputting the voltage analog signal to a multi-channel analog signal display oscillograph unit, and displaying a wave curve at the main end; obtaining the displacement or rotation amount of the slave robot through an analog signal sensor, converting the displacement or rotation amount into a slave terminal voltage analog signal, outputting the slave terminal voltage analog signal to a multi-channel analog signal display oscillography unit, and displaying a slave terminal waveform curve; and comparing the two groups of wave curves, wherein the lag difference of the two groups of wave curves is the master-slave operation delay time. The test system can achieve the purpose of accurately testing the master-slave operation time delay of the remote ultrasonic robot.
Description
Technical Field
The invention belongs to the technical field of remote ultrasonic robots, and particularly relates to a master-slave operation time delay testing system and method of a remote ultrasonic robot.
Background
The remote ultrasonic robot generally comprises a master-end handle and a slave-end robot, and the motion of the hand of a master-end ultrasonic doctor is mapped to the slave-end robot in a master-slave teleoperation mode to complete ultrasonic scanning. The performance of the remote ultrasonic robot directly determines the ultrasonic scanning effect, so that the performance of the remote ultrasonic robot is tested efficiently and accurately. The remote ultrasonic robot performance mainly comprises a master end handle performance and a master-slave operation performance, wherein the master-slave operation performance comprises master-slave operation distance accuracy, master-slave operation distance repeatability, master-slave operation attitude accuracy, master-slave operation attitude repeatability, master-slave operation stable contact force control accuracy, master-slave operation delay time and the like. At present, no effective test method exists for master-slave operation time delay and the like of the remote ultrasonic robot, so that research and development obstruction is caused to the overall performance test of the remote ultrasonic robot, and a solution is urgently needed.
Disclosure of Invention
The primary purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a master-slave operation delay test system for a remote ultrasonic robot, which can realize the precise test of the master-slave operation delay of the remote ultrasonic robot, and ensure the simplification and the efficiency of the test process, thereby providing a basic guarantee for the overall performance test of the remote ultrasonic robot; the invention also provides a method for testing the master-slave operation time delay system of the remote ultrasonic robot, so as to further improve the operation efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a master-slave operation time delay test system of a remote ultrasonic robot is characterized in that: the device comprises an installation platform used as a horizontal installation reference, a main end testing component and a slave end testing component which are arranged on the installation platform, and a main and slave end motion curve acquisition unit, wherein the main and slave end motion curve acquisition unit comprises an analog signal sensor used for acquiring displacement or rotation amount and a multi-channel analog signal display oscillography unit, and the device comprises:
the main end testing component generates translation or rotation around a designated vertical axis relative to the mounting platform by operating the main end handle, connects the main end handle with a first analog signal sensor in the main end and auxiliary end motion curve acquisition unit, acquires the displacement or rotation amount of the main end handle through the analog signal sensor, converts the main end motion into a voltage analog signal, outputs the voltage analog signal to the multi-channel analog signal display oscillograph unit and displays the voltage analog signal as a main end waveform curve; the tail end of the slave end robot generates a slave action along with the action of the master end handle, the slave end testing component connects the tail end of the slave end robot with a second analog signal sensor, obtains the displacement or rotation amount of the slave end robot through the analog signal sensor, converts the displacement or rotation amount into a slave end voltage analog signal, outputs the slave end voltage analog signal to a multi-channel analog signal display oscillograph unit, and displays the slave end voltage analog signal as a slave end waveform curve; and comparing the two groups of wave curves, wherein the lag difference of the two groups of wave curves is the master-slave operation delay time.
Preferably, the main end testing assembly comprises a three-axis sliding table, a mounting plate horizontally extends on a Z-axis slider of a Z-axis sliding group of the three-axis sliding table, a main end potentiometer for obtaining the main end analog signal is fixed at the head end of the mounting plate, and the axis of a rotating shaft of the main end potentiometer is parallel to the Z-axis direction of the three-axis sliding table; the test system also comprises a first rotary table, a positioning frame is fixed at the rotating end of the first rotary table, a second rotary table with the axis vertical to the axis of the first rotary table is installed on the positioning frame, and a fixture is fixedly installed at the rotating end of the second rotary table, so that the Z-axis direction of the main-end handle is parallel to the Z-axis direction of the three-axis sliding table; the rotating end of the first rotary table and the rotating shaft of the main-end potentiometer are connected with each other through a coaxially arranged main-end coupler, so that the rotating shaft of the main-end potentiometer and the first rotary table rotate coaxially;
the slave end testing assembly comprises a slave end potentiometer fixed on the mounting platform and used for obtaining the slave end analog signal, a rotating shaft of the slave end potentiometer is parallel to the Z-axis direction of the three-axis sliding table, and the rotating shaft and the slave end robot are connected with each other through a slave end coupler which is coaxially arranged;
the master end potentiometer and the slave end potentiometer form the analog signal sensor; the multichannel analog signal display oscillograph unit is a dual-channel oscilloscope.
Preferably, the mounting platform is an optical flat plate, and the oscilloscope is a dual-channel oscilloscope; the sliding action direction of an X-axis sliding group of the three-axis sliding table is parallel to the X-axis direction of a coordinate system at the mounting platform, the sliding action direction of a Y-axis sliding group of the three-axis sliding table is parallel to the Y-axis direction of the coordinate system at the mounting platform, and the sliding action direction of a Z-axis sliding group of the three-axis sliding table is parallel to the Z-axis direction of the coordinate system at the mounting platform; the Z-axis sliding block is horizontally provided with a mounting hole for threaded matching with the mounting plate or a vertical insertion groove for inserting the tail end of the mounting plate.
Preferably, the mounting plate is in a horizontal rod shape, a main end positioning plate is arranged at the head end of the mounting plate, and a main end potentiometer is fixed on the main end positioning plate; a slave end positioning plate is arranged on the mounting platform so as to fix the slave end potentiometer; the analog signals of the master-slave end potentiometer are connected with a multi-channel oscilloscope.
Preferably, the mounting fixture comprises a clamping opening which is used for directly clamping a handle at the main end and the length direction of the groove is vertical to lead, and the tail end of the clamping opening is fixed at a preset clamping groove at the rotating end of the second rotary table in a plug-in mode through a horizontal connecting frame.
Preferably, the locating rack appearance is L type shaft-like, and the horizontal segment outside of locating rack is fixed in the rotation end of first revolving stage and the inboard constitution of horizontal segment is used for fixing the fitting surface of main end shaft coupling, the inboard second revolving stage that is used for installing of vertical section of locating rack.
Preferably, the upper plate surface of the mounting platform forms a mounting surface, and the lower plate surface forms an adjusting surface; the adjustable supports which can do vertical lifting adjustment action of lead are uniformly arranged at the four corner ends of the adjusting surface.
Preferably, a connecting rod coaxially extends vertically downwards from the end robot, and the bottom end of the connecting rod is connected with the slave end potentiometer through a slave end coupler, so that the slave end robot and a rotating shaft of the slave end potentiometer rotate coaxially.
Preferably, the method for applying the master-slave operation time delay test system of the remote ultrasonic robot is characterized by comprising the following steps:
1) Adjusting the three-axis sliding table to enable the main-end potentiometer to move right above the first rotary table and enable the main-end potentiometer and the first rotary table to be coaxial, and locking each sliding set of the three-axis sliding table; the first rotary table is connected with a rotating shaft of a main-end potentiometer through a main-end coupler, so that the first rotary table and the rotating shaft of the main-end potentiometer can rotate coaxially;
2) The slave end robot is controlled to move to a position right above the slave end potentiometer, and the slave end robot and the slave end potentiometer are coaxially connected through a slave end coupler, so that the slave end robot and the slave end potentiometer are enabled to coaxially rotate;
3) Starting the remote ultrasonic robot and keeping in a master-slave control mode;
4) Rotating the first rotary table, simultaneously recording analog signals output by the main-end potentiometer and the slave-end potentiometer by using a dual-channel oscilloscope, and displaying the analog signals as corresponding waveform curves;
5) When the waveforms of the master end potentiometer and the slave end potentiometer reach the same height, recording the corresponding moment of the waveform curve of the master end analog signal at the height as t1, and recording the corresponding moment of the waveform curve of the slave end analog signal at the height as t2;
6) And calculating the time interval of t2 and t1, namely the master-slave operation delay time.
Preferably, after the step 6), continuously repeating the steps 4) -6) to obtain n times of master-slave operation delay recording time; and taking the average value of the delay time of the n times of master-slave operations as the delay average time of the master-slave operations.
The invention has the beneficial effects that:
1. in fact, the master-slave operation delay time essentially belongs to the dimension of time measurement, and currently, a time measurement tool is mostly considered for measurement; such as angle sensors (inclinometers, gyroscopes, etc.), displacement sensors (stay wire displacement sensors), etc., with digital signals as output, are employed in order to expect to obtain the final result value. However, it is not appreciated that: such direct sensors are affected by the sampling frequency to generate a slight delay, and the measurement of the master-slave operation delay time is in the millisecond range, so that the use of such sensors will inevitably cause a great error in the measurement of the master-slave operation delay time, which will destructively affect the accuracy of the measurement result.
The master-slave control delay time is in millisecond level, so that the error caused by the sampling frequency of the digital signal can have great influence on the master-slave control delay time. Therefore, the invention adopts an analog signal such as potentiometer measurement mode to measure the master-slave operation delay time, and is a very ingenious mode for avoiding delay. Analog signals output by potentiometers and the like are not affected by sampling frequency, compared with sensors that use digital signals as outputs, such as inclinometers, gyroscopes, displacement sensors and the like. Meanwhile, when the potentiometer is adopted to measure the master-slave operation delay time, the reading of the potentiometer at a certain moment is paid less attention to, and more attention is paid to the waveform curve of the analog signal acquired by the potentiometer displayed on wave display equipment such as an oscilloscope and the like, namely, the result is paid less attention and the intermediate quantity is paid more attention; then, determining a final measurement result according to the waveforms of the master end potentiometer and the slave end potentiometer on the oscilloscope; obviously, this way of focusing less on the result and more on the intermediate quantity is different from the conventional use of other sensors and even potentiometers themselves. Because the fluctuation change of the waveform curve generated by the analog signal is extremely sensitive and accurate, the error rate can be effectively stopped by monitoring and comparing the waveform curve, and the measurement precision is improved, so that the purpose of accurately testing the master-slave operation delay of the remote ultrasonic robot is realized, the simplification and the efficiency of the testing process are ensured, the basic guarantee is finally provided for the overall performance test of the remote ultrasonic robot, and the effect is obvious.
2. Furthermore, the invention uses an analog signal waveform recording and displaying device to simultaneously record and display the master end waveform curve and the slave end waveform curve, and compares the two groups of waveform curves, wherein the difference value of the horizontal coordinates (time) when the vertical coordinates of the two groups of waveform curves reach the same height is the master-slave operation delay time. When the device is used specifically, a dual-channel oscilloscope can be used for simultaneously recording analog signals of the master-slave potentiometer and the slave-slave potentiometer, and the problem of asynchronous time caused by respectively recording mode signals of the master-slave potentiometer and the slave-slave potentiometer by different oscilloscopes can be effectively avoided, so that the measurement result is more accurate.
3. During actual work, the horizontal reference plane is also the installation platform, and the stable driving function of the main-end potentiometer at the Z-axis sliding block can be realized by utilizing the high action precision and stability of the three-axis sliding table and the convenient disassembly and assembly characteristics of the optical flat plate. Meanwhile, a system to be tested formed by the first rotary table, the second rotary table and the main end handle is additionally arranged on the mounting platform below the main end potentiometer, so that the purpose of monitoring a voltage signal when the main end handle rotates is achieved. Meanwhile, the slave end robot, the slave end coupler and the slave end potentiometer are arranged, so that the slave end robot driven function when the master end handle acts is guaranteed, and the monitoring effect of a voltage signal when the slave end robot rotates is achieved. Therefore, the invention utilizes the time comparison when two groups of voltage signals reach equivalence to realize the purpose of accurately testing the master-slave operation time delay of the remote ultrasonic robot, ensures the simplification and the efficiency of the testing process, solves the research and development obstacles caused by the absence of testing equipment and methods for the master-slave operation time delay at present, finally provides basic guarantee for the overall performance test of the remote ultrasonic robot, and has the functions of low cost, high efficiency and concise and stable use.
Drawings
FIGS. 1 and 2 are schematic perspective views of the present invention;
fig. 3 is a waveform diagram of analog signals of a master end potentiometer and a slave end potentiometer in an oscilloscope.
The actual correspondence between each label and the part name of the invention is as follows:
a-a main end handle; b-a slave end robot;
10-mounting a platform; 11-an adjustable support; 20-a three-axis slip table;
21-Z axis sliding group; 21a-Z axis slide; 22-Y axis sliding group; 23-X axis slide group;
30-a mounting plate; 40-a main terminal potentiometer;
51-a first turntable; 52-a positioning frame; 53-a second turntable;
54-mounting a clamp; 54 a-a nip; 54 b-a horizontal link;
60-slave end potentiometer; 71-main end coupling; 72-a slave end coupling; 80-connecting rod.
Detailed Description
For ease of understanding, the specific structure and operation of the present invention is further described herein with reference to FIGS. 1-3:
the structure of the embodiment of the invention comprises a master-slave operation delay time test system as shown in fig. 1-2. In practical operation, the present invention includes an optical flat plate forming the mounting platform 10, and a master end testing component and a slave end testing component mounted on the optical flat plate, so that when the master end handle a rotates, the purpose of monitoring the voltage signals of the master end handle a and the slave end robot b can be achieved respectively. Wherein:
the structure of the optical flat plate is shown in fig. 1, and four corner ends of the bottom of the optical flat plate are provided with a group of adjustable supports 11, so that the purpose of reference adjustment and control of the optical flat plate on a horizontal plane is achieved. During the use, place this optics flat board on horizontal desktop, through adjustable support 11 with the optics flat board earlier the level state to satisfy follow-up test demand.
The main end test assembly includes a three axis slide 20 and a mounting plate 30 with a main end potentiometer 40 mounted thereto. The three-axis sliding table 20 includes an X-axis sliding group 23 fixedly mounted on the optical flat plate, a Y-axis sliding group 22 located on an X-axis slider of the X-axis sliding group 23, and a Z-axis sliding group 21 located at a Y-axis slider of the Y-axis sliding group 22. When the device works, the corresponding sliding group is controlled to generate specified linear motion through the ways of rocking wheels, even electric driving and the like, so that the aim of controlling the motion of the main end handle a positioned at the Z-axis sliding block 21a is fulfilled. Locking pieces are correspondingly arranged on the sliding groups, so that the sliding groups can be locked in time after the corresponding sliding groups act in place, and the problem that the test precision is influenced due to unexpected sliding is avoided. The locking element may be a set screw or a radially engageable brake pad, etc., and will not be described in detail herein. Furthermore, in fig. 1, the presence of the auxiliary guide rail can be seen, because in the embodiment of the present invention, a single-sided X-axis sliding group 23 is used, and therefore the auxiliary guide rail is configured to realize the base stabilizing function; in practice, the X-axis sliding assembly 23 may be formed by using a double-sided parallel sliding rail assembly.
When the three-axis sliding table 20 is installed, the three-axis sliding table can be fastened through standard threaded holes in the optical flat plate and corresponding positioning holes in the three-axis sliding table 20. During fastening, the sliding motion direction of the X-axis sliding group 23 of the three-axis sliding table 20 is ensured to be parallel to the X-axis direction of the optical flat coordinate system O, the sliding motion direction of the Y-axis sliding group 22 of the three-axis sliding table 20 is ensured to be parallel to the Y-axis direction of the optical flat coordinate system O, and the sliding motion direction of the Z-axis sliding group 21 of the three-axis sliding table 20 is ensured to be parallel to the Z-axis direction of the optical flat coordinate system O. The positioning plate is horizontally arranged, the tail end of the positioning plate is fixed on the Z-axis slide block 21a through the vertical insertion groove, and the main end positioning plate is arranged at the head end of the positioning plate so as to be convenient for assembling the main end potentiometer 40.
On the basis of the structure, the main end testing assembly further comprises a first rotary table 51 with the axis vertically arranged, an L-shaped rod-shaped positioning frame 52 is fixed at the rotating end of the first rotary table 51, the outer side of the horizontal section of the positioning frame 52 is fixed at the rotating end of the first rotary table 51, the inner side of the horizontal section forms a matching surface for fixing the main end coupler 71, and the inner side of the vertical section of the positioning frame 52 is used for installing a second rotary table 53. The second turntable 53 is provided with a slot for the tail end of the mounting fixture 54 to be inserted into, and the head end of the mounting fixture 54 is fixed with a vertically arranged main end handle a. The mounting fixture 54 includes a clamping opening 54a and a horizontal connecting frame 54b for being inserted into the clamping groove.
For the slave end test assembly, a connecting rod 80 vertically extending downwards from the end of the end robot b is included, and the connecting rod 80 and the rotating shaft of the slave end potential meter 60 on the mounting platform 10 are connected with each other through a slave end coupler 72. The master and slave potentiometers 40 and 60 are powered simultaneously using a dual channel dc power supply.
Taking the three-axis sliding table 20 driven by a manual rocking wheel as an example, the operation process of the present invention is as follows:
1) Adjusting the second rotary table 53 to ensure that the main end handle a is in the vertical direction; rotating the rocking wheels at the three groups of sliding groups of the three-axis sliding table 20 to move the main end potentiometer 40 to be right above the horizontal section of the positioning frame 52, and then locking the rocking wheels of the three groups of sliding groups; the horizontal section of the positioning frame 52 is connected with the rotating shaft of the main-end potentiometer 40 through the main-end coupler 71, so that the horizontal section of the positioning frame 52 and the first rotary table 51 can rotate coaxially with the rotating shaft of the main-end potentiometer 40;
2) The slave end robot b is controlled to move to the position right above the slave end potentiometer 60, the connecting rod 80 is connected with the rotating shaft of the slave end potentiometer 60 through the slave end coupler 72, and the connecting rod 80 and the rotating shaft of the slave end potentiometer 60 are ensured to rotate coaxially;
3) Starting the remote ultrasonic robot and keeping in a master-slave control mode;
4) Rotating the first rotating platform 51, and simultaneously recording voltage signals of the master end potentiometer 40 and the slave end potentiometer 60 by using a double-channel oscilloscope;
5) Recording the time corresponding to the voltage signal of the master end potentiometer 40 as t1 and the time corresponding to the voltage signal of the slave end potentiometer 60 as t2 when the voltage of the master end potentiometer 40 and the voltage of the slave end potentiometer 60 reach the same height;
6) Calculating the time interval of t2 and t1 as master-slave operation delay time;
7) And repeating the operation steps for n times, and taking the average value as the delay average time of the master operation and the slave operation so as to further improve the test precision.
Through the above operations, the resulting analog signal and digital signal sensors measure the master-slave operation delay time results, such as table 1:
TABLE 1
From table 1 above, it can be seen that the average of the master-slave delay times measured by the respective potentiometers using analog signals as outputs is 193.5ms, while the average of the master-slave delay times measured by the angle sensors using digital signals as outputs is 356.4ms. This is because the angle sensor using a digital signal as an output is affected by AD conversion, sampling frequency, and the like, compared with a potentiometer using an analog signal as an output, and causes a non-negligible effect on the master-slave operation delay time.
Meanwhile, fig. 3 is a diagram for simultaneously recording waveforms of a master potentiometer and a slave potentiometer by using a dual-channel oscilloscope, wherein the horizontal axis represents time, and the vertical axis represents a potentiometer potential value. In fig. 3, it is noted that the intersection time of the master end potential waveform curve and the horizontal line L is t1, the intersection time of the slave end potential waveform curve and the horizontal line L is t2, and the difference between t2 and t1 is the master-slave operation delay time. Of course, in actual operation, the method is not limited to a potentiometer and a dual-channel oscilloscope, and any wave display device may be used as long as the sensor can output a position and a rotation amount into an analog signal, and as long as the wave display device can record waveforms of two analog signals at the same time, which is not described herein again.
It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but rather includes the same or similar structures that may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (10)
1. A master-slave operation time delay test system of a remote ultrasonic robot is characterized in that: the device comprises a mounting platform (10) serving as a horizontal mounting reference, and a master end testing component and a slave end testing component which are arranged on the mounting platform (10), and further comprises a master-slave end motion curve acquisition unit, wherein the master-slave end motion curve acquisition unit comprises an analog signal sensor used for acquiring displacement or rotation amount and a multi-channel analog signal display oscillography unit, and the master-slave end motion curve acquisition unit comprises a plurality of channels of analog signal display oscillography units, and the following components:
the main end testing component generates translation or rotation around a designated vertical axis relative to the mounting platform (10) by operating a main end handle, the main end handle is connected with a first analog signal sensor in the main-end and auxiliary-end motion curve acquisition unit, the displacement or rotation amount of the main end handle is acquired by the analog signal sensor, the main end motion is converted into a main end voltage analog signal, the main end voltage analog signal is output to the multi-channel analog signal display oscillograph unit, and the main end voltage analog signal is displayed as a main end waveform curve; the tail end of the slave end robot generates a slave action along with the action of the master end handle, the slave end testing component connects the tail end of the slave end robot with a second analog signal sensor, obtains the displacement or rotation amount of the slave end robot through the analog signal sensor, converts the displacement or rotation amount into a slave end voltage analog signal, outputs the slave end voltage analog signal to a multi-channel analog signal display oscillograph unit, and displays the slave end voltage analog signal as a slave end waveform curve; and comparing the two groups of wave curves, wherein the lag difference of the two groups of wave curves is the master-slave operation delay time.
2. The master-slave operation delay test system of the remote ultrasonic robot of claim 1, wherein: the main end testing assembly comprises a three-axis sliding table (20), a mounting plate (30) horizontally extends on a Z-axis sliding block (21 a) of a Z-axis sliding group (21) of the three-axis sliding table (20), a main end potentiometer (40) used for obtaining a main end voltage analog signal is fixed at the head end of the mounting plate (30), and the axis of a rotating shaft of the main end potentiometer (40) is parallel to the Z-axis direction of the three-axis sliding table (20); the test system further comprises a first rotating table (51) which is fixed on the mounting platform (10) and has an axis parallel to the Z-axis direction of the three-axis sliding table (20), a positioning frame (52) is fixed at the rotating end of the first rotating table (51), a second rotating table (53) with an axis perpendicular to the axis of the first rotating table (51) is installed on the positioning frame (52), and a clamp (54) is fixedly installed at the rotating end of the second rotating table (53), so that the Z-axis direction of the main-end handle is parallel to the Z-axis direction of the three-axis sliding table (20); the rotating end of the first rotating platform (51) and the rotating shaft of the main-end potentiometer (40) are connected with each other through a coaxially arranged main-end coupler (71), so that the rotating shaft of the main-end potentiometer (40) and the first rotating platform (51) rotate coaxially;
the slave end test assembly comprises a slave end potential meter (60) fixed on the mounting platform (10) and used for obtaining the slave end voltage analog signal, a rotating shaft of the slave end potential meter (60) is parallel to the Z-axis direction of the three-axis sliding table (20), and the rotating shaft and the slave end robot are connected with each other through a slave end coupler (72) which is coaxially arranged;
the master end potentiometer (40) and the slave end potentiometer (60) form the analog signal sensor; the multichannel analog signal display oscillograph unit is a dual-channel oscilloscope.
3. The master-slave operation delay testing system of the remote ultrasonic robot of claim 2, wherein: the mounting platform (10) is an optical flat plate, and the oscilloscope is a dual-channel oscilloscope; the sliding motion direction of an X-axis sliding group (23) of the three-axis sliding table (20) is parallel to the X-axis direction of a coordinate system at the mounting platform (10), the sliding motion direction of a Y-axis sliding group (22) of the three-axis sliding table (20) is parallel to the Y-axis direction of the coordinate system at the mounting platform (10), and the sliding motion direction of a Z-axis sliding group (21) of the three-axis sliding table (20) is parallel to the Z-axis direction of the coordinate system at the mounting platform (10); the Z-axis sliding block (21 a) is horizontally provided with a mounting hole for threaded matching with the mounting plate (30) or a vertical insertion groove for inserting the tail end of the mounting plate (30).
4. The master-slave operation delay test system of the remote ultrasonic robot of claim 2, wherein: the mounting plate (30) is in a horizontal rod shape, a main end positioning plate is arranged at the head end of the mounting plate (30), and a main end potentiometer (40) is fixed on the main end positioning plate; a slave end positioning plate is arranged on the mounting platform (10) so as to fix the slave end potentiometer (60); the analog signals of the master-slave end potentiometer are connected with a multi-channel oscilloscope.
5. The master-slave operation latency test system of the remote ultrasound robot of claim 2, 3 or 4, wherein: the mounting fixture (54) comprises a clamping opening (54 a) which is used for directly clamping a main end handle and the groove length direction of which is vertical to lead, and the tail end of the clamping opening (54 a) is fixed at a preset clamping groove at the rotating end of the second rotary table (53) in a plug-in mode through a horizontal connecting frame (54 b).
6. The master-slave operation latency test system of the remote ultrasound robot of claim 2, 3 or 4, wherein: the positioning frame (52) is L-shaped rod-shaped in appearance, the outer side of the horizontal section of the positioning frame (52) is fixed to the rotating end of the first rotary table (51), the inner side of the horizontal section forms a matching surface for fixing the main end coupling (71), and the inner side of the vertical section of the positioning frame (52) is used for installing the second rotary table (53).
7. A master-slave operation delay test system of a remote ultrasonic robot as claimed in claim 1, 2 or 3, wherein: the upper plate surface of the mounting platform (10) forms a mounting surface, and the lower plate surface forms an adjusting surface; the four corner ends of the adjusting surface are uniformly provided with adjustable supports (11) which can do vertical lifting adjustment action of lead.
8. A master-slave operation delay test system of a remote ultrasonic robot as claimed in claim 1, 2 or 3, wherein: the vertical downward coaxial extension of slave end robot department has connecting rod (80), and slave end potential meter (60) is connected through from end shaft coupling (72) to connecting rod (80) bottom for the coaxial rotation of the pivot of slave end robot and slave end potential meter (60).
9. A method of applying the master-slave operation delay test system of the remote ultrasonic robot as set forth in claim 2, 3 or 4, comprising the steps of:
1) Adjusting the three-axis sliding table (20) to enable the main end potentiometer (40) to move to be right above the first rotary table (51) and enable the main end potentiometer and the first rotary table to be coaxial, and locking each sliding set of the three-axis sliding table (20); the first turntable (51) is connected with the rotating shaft of the main-end potentiometer (40) through a main-end coupler (71), so that the first turntable (51) and the rotating shaft of the main-end potentiometer (40) are ensured to rotate coaxially;
2) The slave end robot is controlled to move to a position right above the slave end potential meter (60), and the slave end robot and the slave end potential meter (60) are coaxially connected through a slave end coupling (72) to ensure that the slave end robot and the slave end potential meter (60) coaxially rotate;
3) Starting the remote ultrasonic robot in a master-slave control mode;
4) The first rotating platform (51) is rotated, and the analog signals output by the main end potentiometer (40) and the slave end potentiometer (60) are simultaneously recorded by using a dual-channel oscilloscope and displayed as corresponding wave curves;
5) When the waveforms of the master end potentiometer (40) and the slave end potentiometer (60) reach the same height, recording the time t1 corresponding to the waveform curve of the master end voltage analog signal at the height, and recording the time t2 corresponding to the waveform curve of the slave end voltage analog signal at the height;
6) And calculating the time interval of t2 and t1, namely the master-slave operation delay time.
10. The method for master-slave operation delay test system of claim 9, wherein: after the step 6), continuously repeating the steps 4) -6) to obtain the delay recording time of the master-slave operation for n times; and taking the average value of the delay time of the master-slave operation of the n times, namely the delay average time of the master-slave operation.
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