CN117733862A - High-freedom-degree control equipment - Google Patents

Abstract

The invention relates to the technical field of intelligent manufacturing, and discloses high-freedom-degree control equipment, which comprises: a control mechanism and a sensor unit; one end of the control mechanism is a fixed end, and the other end is a dragging end; the control mechanism comprises a plurality of rotating units; the rotating units are sequentially connected in a rotating way to form a control mechanism with high freedom degree; the sensor units are arranged on each rotating unit and used for collecting the rotating angles of the rotating units and sending the rotating angles to the robot, and the sensor units are used for the robot to conduct real-time actions according to the rotating angles. Compared with the traditional operations of clicking a button, setting parameters, rotating a rotating wheel and the like, the manual dragging mode is more visual when the manual dragging type automatic control device is used.

Description

High-freedom-degree control equipment

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to high-freedom-degree control equipment.

Background

The high-degree-of-freedom robot arm is a robot having a plurality of degrees of freedom. For example, a 7-degree-of-freedom robot can not only meet the requirement of the 6-degree-of-freedom space, but also be higher than one dimension, so that the robot can reach any position and any posture within the operating range, and even if an obstacle or other condition occurs in the space, the 7-degree-of-freedom robot can try to bypass the obstacle to reach the desired position and posture. Thus, a 7-degree-of-freedom robot is called a "redundant robot", which is more flexible and can adapt to more complex environments. But correspondingly he is also more difficult to handle.

The existing high-freedom mechanical arm robot is very difficult to operate; because each rotation axis is independent, when any rotation axis rotates, the position or the gesture of the working point can be changed, taking a 7-degree-of-freedom robot as an example, if each rotation axis can rotate 360 degrees and takes 1 degree as a stepping length, each axis has 360 points, the 7-degree-of-freedom robot has 360-7 working points, namely more than 70 hundred million working points, which is an astronomical figure, and the motion of the robot is continuous in other cases, and the point of each axis is infinite theoretically. Therefore, it is a very difficult task for the operator to reach the desired working point with the robot control motions according to intuitive feelings without knowing the respective shaft angles of the corresponding working points. In real applications, the rotation angle of each rotation shaft corresponding to the desired working point is generally not known.

While the robot is still in the initial state, it is very difficult to determine the rotation angle of each rotation shaft by the operator according to the visual sense, so that the robot reaches the desired position and posture, which can be determined only by continuous attempts. However, when the number of working points is large, such work is time consuming and laborious. In a scenario requiring real-time control, such a step-by-step trial and error adjustment is not satisfactory, which is also an important factor limiting the robotic application.

The conventional operation mode of the robot is to perform operation control by a hand-held operation panel. The manual operation mode mainly controls a certain axis of the robot to rotate or a plurality of axes to simultaneously rotate by clicking a button, inputting parameters, rotating a rotating wheel and the like, so as to reach a desired working point.

The automatic operation mode is to connect the recorded working points in the manual operation mode through a programming language writing program, so that the robot can automatically complete the expected work without manual intervention. The mode has the advantages that: the conventional control method has the advantage of simplicity. The robot motion can be controlled by simply pressing a button, inputting parameters, rotating a rotating wheel and the like, which is very similar to the traditional machine tool control mode, and in fact, the traditional control mode of the robot is the control mode of the traditional machine tool. Currently, most of the applications of robots are controlled in a traditional manner. The defects are as follows: the control by simply pressing a button is very intuitive. Pressing a button controls the rotation of a shaft. When one axis is controlled to rotate, the motion of the working point of the robot is completely different due to different angles of other axes, so that the independent control of each axis is very low in practical application. While multi-axis linkage can be achieved by clicking a button, only very simple functions can be achieved, such as: along a straight line, linearly rotating around a certain space, etc. It is still very difficult and inefficient to move the robot to the desired working point by such simple movements.

At present, the man-machine cooperation operation mode of the robot is difficult and low-efficient to operate because the traditional operation mode is not intuitive, so the man-machine cooperation operation mode is created. Human-machine collaboration allows an operator to directly drag a robot's working point to a designated location. In the dragging process, all the rotating shafts of the robot can rotate simultaneously, so that the dragging requirement of an operator is met. Thus, the operator can quickly find the states of the robots corresponding to the respective working points. The mode has the advantages that: because the manual dragging is directly performed by an operator, the man-machine cooperation mode is very visual and efficient. But has the disadvantages that: the human-computer collaboration method requires the operator himself to perform the movement by dragging the robot itself, which is firstly unsafe, and particularly for large robots, there is a considerable risk. Second, this is not suitable for many applications. It is not suitable for environments that are not reachable by operators, such as high temperature, high humidity, hypoxia, radiation, toxic environments, etc., where the manner of human-machine cooperation is not used. Again, the robot itself is often bulky and heavy, and it is not easy to drag a bulky robot for movement, and fine manipulation is not possible. For example, it is difficult to achieve the accuracy requirement by manual dragging to operate very small parts. Finally, it is almost impossible to manually drag multiple robots to work simultaneously, so that the man-machine cooperation control mode is difficult to control the multiple robots to cooperate simultaneously, and is not applicable to the scene of cooperation of the multiple robots. Thus, the man-machine cooperation mode of operation still has a number of drawbacks.

Disclosure of Invention

The invention aims to provide the control equipment with high degree of freedom, and the remote real-time control can be performed on the mechanical arm of the robot in a manual dragging mode, so that compared with the traditional operations of clicking a button, setting parameters, rotating a rotating wheel and the like, the control equipment is more visual.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the present invention provides a high degree of freedom manipulation apparatus comprising: a control mechanism and a sensor unit;

one end of the control mechanism is a fixed end, and the other end of the control mechanism is a dragging end; the control mechanism comprises a plurality of rotating units; the rotating units are sequentially connected in a rotating way to form a control mechanism with high freedom degree;

the sensor units are arranged on each rotating unit and used for collecting the rotating angles of the rotating units and sending the rotating angles to the robot, and the sensor units are used for the robot to conduct real-time actions according to the rotating angles.

As a further improvement of the invention, the rotating unit has a first rotating shaft and a second rotating shaft which rotate relatively, and the rotating direction is axial rotation.

As a further development of the invention, the rotary unit also has a torsion device arranged in the first shaft for providing torsion and twisting the second shaft back to a set point of equilibrium.

As a further improvement of the invention, each of the rotary units is provided with a balance point; the torsion force is a linear or nonlinear force.

As a further improvement of the invention, the sensor unit comprises an angle sensor and a communication control module; the angle sensor and the communication control module are both installed in the rotating unit, and the sensor is connected with the communication control module.

As a further improvement of the invention, the communication control module is communicated with the robot through wires or wirelessly.

As a further improvement of the invention, a middle hole for the cable to pass through is arranged in the middle of the rotating unit.

As a further development of the invention, two adjacent rotary units are connected by a connecting piece, the axes of rotation of the two rotary units being oblique to each other, perpendicular or parallel.

As a further improvement of the invention, the number of the rotating units is the same as or different from the number of the joints of the robot arm; the rotation angle degree of each rotation unit is synchronously transmitted to the corresponding joint of the robot for controlling the mechanical arm.

As a further improvement of the invention, the robot rotates according to the angle information and the set parameters, and the rotation angle of the robot is the same as or different from the angle of the rotation unit; when the two types of the robot are different, the robot adopts a linear transformation relation or a nonlinear transformation relation to carry out adaptive adjustment.

Compared with the prior art, the method has the following beneficial effects:

the control device is formed by sequentially rotationally connecting a plurality of rotary units, so that a control mechanism with high freedom degree is formed; through a plurality of rotary units of simple combination, form the high degree of freedom of different structures and control equipment, satisfy the demand of controlling different equipment for control equipment more pertinence, it is more close to reality. Compared with the traditional operations of clicking a button, setting parameters, rotating a rotating wheel and the like, the manual dragging mode is more visual when the manual dragging type automatic control device is used. When the operator wants the robot to move to a point in space, the operator only needs to drag the control device to move to the corresponding position by hand, and when the robot reaches the expected position, the dragging action is stopped. The robot can realize long-distance wireless operation without the direct operation of an operator, and is very safe. The robot can be easily controlled by common robots and collaborative robots, and is fully applicable to toxic and harmful scenes.

Further, the rotation angle can be measured accurately in real time through the built-in angle sensor, so that the fine operation of the control equipment is ensured; when the outside has torsion, torsion equipment can resist a part of external torsion, can maintain the stress balance of whole control equipment, and is unlikely to be out of control. The torsion device provides a self-tending equilibrium point for the entire steering device, so that steering is repeatable and controllable, which is necessary for single-handed steering.

Drawings

FIG. 1 is an overall schematic diagram of a control device according to an embodiment of the present invention;

FIG. 2 is an overall schematic diagram of a rotary unit according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing the internal composition of a rotary unit according to an embodiment of the present invention;

FIG. 4 is a schematic view of a vertical connection of a rotary unit according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of parallel connection of rotary units according to an embodiment of the present invention;

FIG. 6 is a schematic illustration of a 7 degree of freedom manual manipulation apparatus provided in accordance with an embodiment of the present invention;

FIG. 7 is a schematic illustration of a 6 degree of freedom manual manipulation apparatus provided in accordance with an embodiment of the present invention;

FIG. 8 is a schematic drawing of a drag of a manipulation device according to an embodiment of the present invention;

fig. 9 is a schematic diagram of interaction of a manipulation device according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.

In order to more clearly illustrate the examples or prior art solutions of the present invention, the drawings required in the description of the embodiments or prior art will be briefly described below. It is evident that the figures described below are only some embodiments of the invention, from which other figures can be obtained without inventive effort for a person skilled in the art.

Term interpretation:

degree of freedom: in general, the degree of freedom is also the same as the "number of independent axes of rotation" of the robot, namely: a 7 degree of freedom robot must have 7 independent axes of rotation.

Operating point: the working point is usually the spatial position where the robot is in contact with the object to be operated when operating, and is usually the forefront of the robot.

When the robot works, the position and the gesture of the operated object are required to be known, and the working point of the robot is moved to the corresponding position and gesture to be operated. To describe the position and posture of the space, a coordinate system must be established. There are generally two coordinate systems that can be described: global coordinate system and axis of rotation coordinate system.

Global coordinate system: refers to a spatial x-y-z spatial coordinate system, and the position and the posture of the working point can be represented by (x, y, z, alpha, beta, gamma) 6-dimensional coordinates.

Rotating shaft coordinate system: when the rotation angle of each rotation shaft is fixed, the position and the posture of the working point are uniquely determined, so that the position and the posture of the working point can be expressed using (j 1, j2, j3, j4, j5, j6, j 7) 7 angular coordinates (j 1 represents the rotation angle of the first shaft, and so on).

Description of working points: a global coordinate system may be used, or a rotational axis coordinate system may be used, and if necessary, conversion between the two is necessary.

As shown in fig. 1 and 2, the present invention provides a high-degree-of-freedom manipulation apparatus including: a control mechanism and a sensor unit;

one end of the control mechanism is a fixed end, and the other end is a dragging end; the steering mechanism comprises a plurality of rotary units 10; the plurality of rotary units 10 are sequentially connected in a rotary manner to form a control mechanism with high freedom degree;

the sensor units are disposed on each rotation unit 10, and are used for collecting the rotation angle of each rotation unit, and transmitting the rotation angle to the robot 200, so that the robot 200 can perform real-time actions according to the rotation angle.

The degree of freedom of the actuating mechanism is relatively high, being greater than 3 degrees of freedom, in particular 6, 7 and above. The robot arm has high control freedom. For example, more than 3 degrees of freedom, and in particular 6, 7 and more degrees of freedom.

The control device 100 can realize the control of the mechanical arm of the robot 200 by manual dragging, and particularly can precisely control each joint of the robot 200, and compared with the traditional operations of clicking a button, setting parameters, rotating a rotating wheel and the like, the control device is more visual.

As shown in fig. 2, the rotation unit 10 includes a first rotation shaft 11 and a second rotation shaft 12 that are relatively rotatable, the rotation direction being in the axial direction of the first rotation shaft 11 and the second rotation shaft 12. The first shaft 11 and the second shaft 12 may each be a connection surface, or may each have a connection structure, for example, by means of a flange.

More specifically, fig. 2 shows a rotary unit 10 in which a first shaft 11 and a second shaft 12 are rotatable relative to each other. The rotary unit 10 has a middle hole in the middle, through which a cable can pass.

The rotating unit 10 has a rotating function, and mainly comprises a sensor unit, a communication control unit and a torsion unit. Fig. 3 is an internal composition of the rotary unit 10. More specifically, as shown in fig. 3, the rotary unit 10 includes a first housing 111 and a second housing 125, the first housing 111 is connected to a torsion device 112, and the torsion device 112 is connected to a bearing housing 113 to transmit torsion force.

As a specific embodiment, the first housing 111 is connected to the output end 115 and the angle sensor 123 through the bearing 114, the bearing 114 is mounted on the bearing seat 113, and the angle sensor 123 and the communication control module 124 are both mounted in the sensor housing 121. In operation, the second housing 125 is connected to the sensor housing 121 and the bearing housing 113, and the first housing 111 and the second housing 125 rotate relative to each other.

The rotation unit 10 has an angle sensor 123 therein, which can measure the relative rotation angle of the first shaft 11 and the second shaft 12 in real time. The rotary unit 10 has a control circuit board therein, such as a communication control module 124, and can exchange information with the outside through wired or wireless means.

The rotation unit 10 has a torsion device 112 inside, and when the rotation unit 10 is twisted without an external force, the torsion device 112 is in an initial state and does not generate torsion. When the rotary unit 10 is twisted by an external force, the torsion device 112 also generates torsion force against the externally applied torsion force. When the externally applied torsion disappears, the torsion device 112 returns the rotary unit 10 to the initial position.

As a specific example, the torsion device 112 may be a torsion motor, a torsion spring, or the like, and the present embodiment is described taking the torsion motor as an example.

The torsion unit provides torsion and attempts to twist the rotary unit 10 back to the set balance point at any time, and the balance points of different meanings can be set according to different application requirements. Each of the rotary units 10 sets a balance point, which may be defined as a center point of a rotation angle of the rotary unit 10. For example, the rotation angle of the rotation unit 10 is 0 to 180 degrees, and the balance point may be set to 90 degrees or 30 degrees according to the application requirement. The equilibrium point may also be defined as the minimum point of elastic potential energy or otherwise, as determined by the application. Assuming that the balance point is a 90 degree point, the torsion unit provides a torsion force for forward rotation when the rotation angle is 70 degrees, and provides a torsion force for reverse rotation when the rotation angle is 100 degrees.

The torque device and balance point are set to function primarily because rotation is prevented from reaching the rotational limit. When the rotation angle is larger, the torsion force is larger, and at the moment, other rotation shafts are likely to rotate first to meet the dragging requirement, so that each shaft can be ensured to make contribution when the dragging is met, and the contribution is relatively average. The balance point is asymmetric mainly because the robot 200 may be limited in a moving environment, such as a right hand obstacle. In this case, he is allowed to rotate as far to the left as possible, and by adjusting the balance point, the probability of turning to the right can be reduced.

When there is an external operation, the external operation must overcome the torsion force of the torsion unit and drag the device to move. When the external operation is removed, the torsion unit returns the rotary unit 10 to the equilibrium point. Returning to the balance point can ensure that the rotating shaft does not stay at the limit position or the position close to the limit.

The torsion unit can provide linear torsion or nonlinear torsion specified by special curves and can be adjusted according to different application requirements. The nonlinearity, such as small rotation angle, small torsion and large rotation angle, can limit the rotation amplitude of a certain rotation shaft and avoid rotation to unnecessary area in space.

Alternatively, the balance points, torsion curves and torsion magnitudes of the torsion units of each rotary unit 10 can be set independently, and can be the same or different, and can be adjusted according to different application requirements. The respective axes of rotation are different and may generally limit the active area of different parts of the robot 200. If the surrounding obstacles are relatively large, the movement range of the shaft at the bottom is usually limited, so that the upper shaft can be strived for to move, and the dragging requirement is met. Because the lower axis of rotation rotates, all parts of the robot 200 are moving, but the upper part rotates with fewer moving parts.

The rotary unit 10 has a bearing 114 therein, and the bearing 114 can provide radial and axial support and provide accurate, continuous and smooth rotation.

Alternatively, two adjacent rotary units 10 are connected, and the rotation axes of the two rotary units 10 are perpendicular or parallel to each other. The different numbers of the rotating units 10 and the different connection modes can be combined to form control equipment with different structures and degrees of freedom, so that the robots 200 with different structures and different degrees of freedom can be controlled.

The number of the rotating units 10 is matched with the number of the mechanical arm joints of the robot 200; the rotation angle degree of each rotation unit 10 is synchronously transmitted to a corresponding joint of the arm of the robot 200. The robot 200 may perform rotation according to the angle information and the setting parameters. The rotation angle of the robot 200 may be equal to the angle of the rotation unit 10 or may be different from the angle of the rotation unit 10. When the two types of the three-dimensional image data are different, the two types of the three-dimensional image data can be in a linear transformation relation or a nonlinear transformation relation, and the two types of the three-dimensional image data are adjusted according to different application requirements.

For the nonlinear situation, for example, an axis is controlled within 30 degrees, the movement angle of the robot 200 is equal and is larger than 30 degrees, and the movement angle of the robot 200 is 2 times of the control angle, which can ensure that the movement range of the robot 200 is enlarged under the same control amplitude while the control fineness is controlled in a small range. When something is needed from time to time, the action of the control end is not needed to be too big.

The robot 200 may perform rotation according to the angle information and the set parameters, and the rotation angle of the robot 200 may be different from the angle of the rotation unit 10. When the angles are different, the small control can be enlarged to the large robot 200 motion, and the large control can be reduced to the small robot 200 motion.

More specifically, for example, two adjacent rotary units 10 may be connected by two connection means.

The first is a vertical connection: the rotational axes of the adjacent two rotary units 10 are perpendicular to each other as shown in fig. 4.

The second is parallel connection: the rotation axes of the adjacent two rotation units 10 are parallel to each other as shown in fig. 5.

For example, the two rotary units 10 are connected by using a horizontal connector 22 or a right angle connector 21 for specific connection.

By combining the above two connection methods, a plurality of rotation units 10 can be combined into a manipulation apparatus with a high degree of freedom. Specifically, the control devices 100 with corresponding degrees of freedom may be formed by combining them as needed.

As shown in fig. 6, the manual operation device 100 with 7 degrees of freedom is composed, and comprises 7 mutually independent rotating units 10, wherein two adjacent shafts are in vertical relation.

Fig. 7 shows a 6-degree-of-freedom manual operating device 100 with 6 mutually independent rotary units 10, wherein the 2 nd and 3 rd axes are in parallel relationship and the other adjacent axes are in perpendicular relationship.

In use, as shown in fig. 8, the operator drags and rotates the control point a to perform control. The manipulation point is located at the forefront of the manipulation apparatus 100 as shown in the following figures. When dragging and rotating A, each rotating shaft rotates to meet the dragging requirement, as shown in FIG. 8.

While operating, the manipulation apparatus 100 synchronously transmits the rotation angle degree of each rotation shaft to the mechanical arm of the robot 200 through a wired or wireless manner, and performs real-time control. Similar to the control device 100 being a driving device, the robot 200 being a driven device, both being synchronously controlled, and being intuitively controlled in real time.

In specific control, as shown in fig. 9, the control system of the robot 200 controls each rotation shaft of the robot 200 to rotate to a corresponding rotation angle degree according to the received rotation angle degree, thereby achieving the purpose of controlling the robot 200.

At the same time, robot 200 also transmits corresponding information to the present device (e.g., force, temperature, attitude, video, etc.), providing more information for the operator to operate.

Accordingly, the torsion unit of the present invention is internally equipped with the angle sensor 123, the communication control module 124, and the torsion device 112. The high-degree-of-freedom control device of different structures can be formed by simply combining a plurality of rotary units 10, and the requirements for controlling different devices can be satisfied. The manipulator 100 itself is of high degree of freedom, which is essentially different from the conventional manipulator of low degree of freedom. The manual dragging mode is very visual and efficient in operation. The robot 200 is not required to be directly operated by an operator, so that the robot is very safe and has wider application range. Coordination cooperation of both hands can be easily realized, and fine operation is realized.

The advantages of the invention are as follows:

1) The internal angle sensor 123 can measure the rotation angle accurately in real time, so that the fine operation of the control device 100 is ensured; the communication module can communicate the angle and other information with the outside in real time in a wired and wireless mode, so that the real-time operation of the control equipment 100 is ensured; when there is a torsion on the outside, the torsion device 112 can resist a part of the external torsion, and can maintain the stress balance of the whole control device 100, so as not to be out of control. When the external torsion is eliminated, the torsion unit can be returned to the initial position. The torsion device 112 provides a self-tending equilibrium point for the entire steering device 100 so that steering is repeatable and controllable, which is necessary for single-handed steering.

2) The multiple rotary units 10 can be simply combined to form the control equipment with high degree of freedom in different structures, so that the requirements for controlling different equipment are met, and the control equipment 100 is more targeted and is closer to reality.

3) Because the manual dragging mode is adopted, compared with the traditional operations of clicking a button, setting parameters, rotating a rotating wheel and the like, the manual dragging type automatic control device is more visual. When the operator desires the robot 200 to move to a point in space, the operator only needs to drag the manipulation apparatus 100 to move to the corresponding position by hand, and when the robot 200 reaches the desired position, the drag operation is stopped. When it is desired to adjust the posture of the robot 200, the operator is required to rotate the hand to adjust the posture of the manipulation apparatus 100, and once the desired posture is reached, the hand operation is stopped. The operator adjusts the hand motions entirely according to the position and posture provided by the manipulation device 100 in real time while moving and twisting the hand, thereby simultaneously adjusting the position and posture. To accomplish such efficient and intuitive operations, the manipulation apparatus 100 must be a high-degree-of-freedom apparatus, and only then can provide information on the position and posture at the same time, providing an intuitive feeling for the next operation of the manipulation person. Especially for continuous, irregular and complex control scenes, the traditional operation mode and the low-degree-of-freedom equipment cannot be achieved.

4) The robot 200 itself is not directly operated by an operator, and long-distance wireless operation can be realized, so that the operation is very safe. For small, large robots 200; the robot can be easily controlled by a common robot 200 and a cooperative robot 200, and is fully applicable to toxic and harmful scenes.

5) Because the operation is performed using one hand, one operator can easily control two robots 200 simultaneously with both hands for coordination. Even more complex collaboration by multiple persons at the same time is possible. And then the precision of the robot 200 is matched, so that the complex matching and fine operation of the multiple robots 200 can be completely realized. If the large robot 200 is matched, the fine and complicated operation on the heavy object can be completely realized.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.

Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (10)

1. A high degree-of-freedom manipulation apparatus, comprising: a control mechanism and a sensor unit;

one end of the control mechanism is a fixed end, and the other end of the control mechanism is a dragging end; the steering mechanism comprises a plurality of rotating units (10); the plurality of rotary units (10) are sequentially connected in a rotary mode to form a control mechanism with high freedom degree;

the sensor units are arranged on each rotating unit (10) and used for collecting the rotating angles of the rotating units and sending the rotating angles to the robot (200) so that the robot (200) can perform real-time actions according to the rotating angles.

2. A high degree of freedom handling device according to claim 1, wherein the rotation unit (10) has a first shaft (11) and a second shaft (12) which rotate relatively, the direction of rotation being in an axial direction.

3. A high degree of freedom handling device according to claim 1, characterized in that the rotation unit (10) further has a torsion device (112) therein, the torsion device (112) being arranged in the first shaft (11) for providing torsion and twisting the second shaft (12) back to a set point of equilibrium.

4. A high degree of freedom handling device according to claim 3, wherein each of the rotary units (10) sets a balance point; the torsion force is a linear or nonlinear force.

5. The high degree of freedom manipulation apparatus of claim 1 wherein the sensor unit comprises an angle sensor (123) and a communication control module (124); the angle sensor (123) and the communication control module (124) are both installed in the rotary unit (10), and the sensor is connected with the communication control module (124).

6. The high-degree-of-freedom manipulation apparatus of claim 5 wherein the communication control module (124) communicates with the robot (200) by wire or wirelessly.

7. A high degree of freedom handling device according to claim 1, characterized in that a central hole for the passage of a cable is provided in the middle of the rotation unit (10).

8. A high degree of freedom handling device according to claim 1, characterized in that two adjacent rotary units (10) are connected by a connection, the axes of rotation of the two rotary units (10) being oblique, perpendicular or parallel to each other.

9. The high degree of freedom manipulation apparatus according to claim 1, wherein the number of rotation units (10) is the same as or different from the number of robot (200) arm joints; the rotation angle degree of each rotation unit (10) is synchronously transmitted to the robot (200) for controlling the corresponding joint of the mechanical arm.

10. The high-degree-of-freedom manipulation apparatus according to claim 9, wherein the robot (200) performs rotation according to the angle information and the set parameter, and the rotation angle of the robot (200) is the same as or different from the angle of the rotation unit (10); when the two types of the images are different, the robot (200) adopts a linear transformation relation or a nonlinear transformation relation to carry out adaptive adjustment.