CN215471092U

CN215471092U - Teleoperation manipulator and rocker arm structure thereof, teleoperation equipment

Info

Publication number: CN215471092U
Application number: CN202122450282.3U
Authority: CN
Inventors: 王重彬; 刘主福; 姜宇; 刘培超
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2022-01-11
Anticipated expiration: 2031-10-12

Abstract

The utility model discloses a teleoperation manipulator, a rocker arm structure thereof and teleoperation equipment, wherein the rocker arm structure comprises: the large arm lever is provided with a hollow cavity; the large arm joint is arranged at one end of the large arm rod; the small arm joint is arranged at the other end of the large arm rod; the small arm first rotating shaft penetrates through the large arm joint and is vertical to the large arm rod; the forearm second rotating shaft penetrates through the forearm joint and is parallel to the forearm first rotating shaft; the first rotating shaft of the small arm and the second rotating shaft of the small arm are driven by a rigid rope in the cavity. According to the utility model, the transmission of the first rotating shaft of the small arm and the second rotating shaft of the small arm is carried out in the hollow cavity of the large arm lever, so that the internal space of the large arm lever is fully utilized, and the rocker arm has a more compact structure and a cleaner appearance.

Description

Teleoperation manipulator and rocker arm structure thereof, teleoperation equipment

Technical Field

The utility model relates to the field of robots, in particular to a teleoperation manipulator, a rocker arm structure of the teleoperation manipulator and teleoperation equipment.

Background

Teleoperation manipulators have been receiving attention and attention from many research institutes and researchers as an important branch of robots. The teleoperation manipulator mainly refers to a remote operation robot which can complete complex operation in an environment difficult to be accessed by people under the control of people, and is generally applied to a plurality of fields such as aviation, medical treatment, rescue, industry and the like. The teleoperation equipment comprises a master manipulator and a slave manipulator, an operator manually controls the master manipulator to enable the slave manipulator to move along with the action of the master manipulator to perform task operation, and meanwhile, the working state of the slave manipulator can be fed back to the master manipulator in real time to enable the operator to sense the working state, so that the operator can make a correct decision conveniently.

Referring to fig. 1-2, patent document CN201510024433.5 discloses a "force sense operator with a mechanical arm", which includes a second joint, a third joint, a large arm link, a small arm link, a second joint driving mechanism and a third joint driving mechanism. Referring to the record of paragraph 0060, the third joint driving mechanism transmits power to the rocker arm of the small arm sequentially through the transmission shaft, the crank, the connecting block and the small arm connecting rod. The small arm connecting rod is positioned on one side of the large arm connecting rod, and the small arm connecting rod, the rocker arm, the crank at the lower end of the small arm connecting rod and the large arm connecting rod are combined to form a parallelogram mechanism, so that the large arm connecting rod and the small arm connecting rod are kept parallel.

Because the forearm connecting rod sets up in the outside of big arm connecting rod, consequently, for avoiding producing the motion interference between forearm connecting rod and the big arm connecting rod, can leave certain space between forearm connecting rod and the big arm connecting rod when the structure design, and the existence in this space then can make whole structure not compact enough.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a rocker arm structure of a teleoperation manipulator, and aims to solve the technical problem that the existing teleoperation manipulator is not compact enough in structure.

In order to achieve the above object, the present invention provides a swing arm structure of a teleoperated manipulator, including:

the large arm lever is provided with a hollow cavity;

the large arm joint is arranged at one end of the large arm rod;

the small arm joint is arranged at the other end of the large arm rod;

the small arm first rotating shaft penetrates through the large arm joint and is perpendicular to the large arm rod; and the combination of (a) and (b),

the forearm second rotating shaft penetrates through the forearm joint and is parallel to the forearm first rotating shaft;

the first rotating shaft of the small arm and the second rotating shaft of the small arm are driven by a rigid rope in the cavity.

Wherein, the rocking arm structure of teleoperation manipulator still includes:

the first driving wheel is arranged on the small arm first rotating shaft;

the second driving wheel is arranged on the small arm second rotating shaft;

the first driving wheel and the second driving wheel are driven by the rigid rope wound on the two wheels.

Wherein two rigid ropes are arranged; the first section and the last section of each rigid rope are respectively wound on the first driving wheel and the second driving wheel, and the first end and the last end of each rigid rope are respectively fixed on the first driving wheel and the second driving wheel; the winding directions of the two rigid ropes are opposite.

Wherein, the rocking arm structure of teleoperation manipulator still includes:

the tensioning shaft penetrates through the forearm joint and is parallel to the second rotating shaft of the forearm; and the combination of (a) and (b),

the tensioning wheel is sleeved on the tensioning shaft.

Wherein, the rocking arm structure of teleoperation manipulator still includes:

the adjusting holes are formed in two opposite side walls of the small arm joint, two ends of the tensioning shaft penetrate through the adjusting holes respectively, and the adjusting holes are perpendicular to the direction of the small arm second rotating shaft and the direction of the large arm rod and are provided with spaces for the tensioning shaft to move.

Wherein, the rocking arm structure of teleoperation manipulator still includes:

the threaded holes are formed in the two opposite side walls of the small arm joint, the axis of each threaded hole is perpendicular to the second small arm rotating shaft and the large arm lever, and the threaded holes are communicated with the adjusting holes;

and the fastening piece is arranged in the threaded hole in a penetrating manner and is abutted against the small arm second rotating shaft.

Wherein, the rocking arm structure of teleoperation manipulator still includes:

and the small arm rod is arranged on one side of the small arm joint, which is far away from the large arm rod.

Wherein the forearm joint comprises:

the first connecting seat is connected with one end of the large arm rod, which is close to the small arm rod;

the second connecting seat is connected with one end of the small arm rod, which is close to the large arm rod;

the two ends of the small arm second rotating shaft penetrate through the side walls of the first connecting seat and the second connecting seat respectively.

The first connecting seat is provided with a large arm connecting end and two first side arms arranged at intervals, and two ends of the small arm second rotating shaft respectively penetrate through the two first side arms and are rotatably connected with the two first side arms;

the second connecting seat is provided with a small arm connecting end and two second side arms arranged at intervals, and two ends of a small arm second rotating shaft penetrate through the two first side arms respectively and then are fixedly connected with the two second side arms.

The two first side arms are located between the two second side arms, the tensioning wheel is located between the two first side arms, and the adjusting hole is located in the first side arm.

One end of the first rotating shaft of the small arm is coaxially arranged with the joint of the large arm and is rotatably connected with the joint of the large arm, and the other end of the first rotating shaft of the small arm is used as a power output/input end.

The large arm joint comprises a large arm rotating shaft and a hollow joint shell, the large arm rotating shaft is fixed on one side of the joint shell, one end of the first small arm rotating shaft is coaxially arranged with the large arm rotating shaft and is in rotating connection with the large arm rotating shaft, and the other end of the first small arm rotating shaft penetrates through the joint shell to extend out.

The present invention further provides a teleoperated manipulator, comprising the above-mentioned rocker arm structure, wherein the rocker arm structure comprises:

the large arm lever is provided with a hollow cavity;

the large arm joint is arranged at one end of the large arm rod;

the small arm joint is arranged at the other end of the large arm rod;

The present invention further provides a teleoperation device comprising a slave manipulator and the teleoperation manipulator described above, the teleoperation manipulator being in communication connection with the slave manipulator, the teleoperation manipulator comprising the rocker structure described above, the rocker structure comprising:

the large arm lever is provided with a hollow cavity;

the large arm joint is arranged at one end of the large arm rod;

the small arm joint is arranged at the other end of the large arm rod;

Compared with the prior art, the embodiment of the utility model has the beneficial technical effects that:

according to the utility model, the transmission of the first rotating shaft of the small arm and the second rotating shaft of the small arm is carried out in the hollow cavity of the large arm lever, and the internal space of the large arm lever is fully utilized, so that the whole rocker arm structure is more compact and the appearance is simple.

Drawings

Fig. 1 is a schematic structural view of a conventional teleoperated manipulator;

fig. 2 is another schematic structural diagram of a conventional teleoperated manipulator;

FIG. 3 is a schematic diagram of a swing arm configuration for a teleoperated manipulator in one embodiment of the present disclosure;

FIG. 4 is a schematic cross-sectional view of the upper arm joint and the upper arm lever of the embodiment of FIG. 3;

FIG. 5 is an exploded view of the upper arm joint of the embodiment of FIG. 3;

FIG. 6 is a schematic structural view of the forearm joint of the embodiment of FIG. 3;

FIG. 7 is an exploded view of the lower arm joint of the embodiment of FIG. 6;

fig. 8 is a schematic structural diagram of a teleoperation manipulator according to an embodiment of the present invention.

Detailed Description

A teleoperation system, which may also be called teleoperation device, force feedback system, or force feedback device, is a remote control device consisting of at least a master manipulator and a slave manipulator. The main manipulator is manually operated by a user, can be arranged in any environment which does not obstruct the movement of the main manipulator, and has at least 3 degrees of freedom to realize the movement of the tail end joint. The slave manipulator and the master manipulator are separated, are manipulator equipment with independent operation capacity, are mainly used as a role operating along with the operation command of the master manipulator after being matched with the master manipulator, and are generally arranged on a working site.

The master manipulator and the slave manipulator may have substantially the same configuration in overall form. For example, in one case, the master manipulator has a base, a number of joints and a handle; every two joints are connected through a joint arm, wherein the joints can comprise a turntable which can horizontally rotate relative to the base, a first joint (which vertically swings on a certain plane relative to the base), a second joint (which swings or rotates on another plane relative to the first joint), or six joints, seven joints and the like; the handle serves as one end for manipulation by the user (contact means such as gripping can be used), and the distal joint of the plurality of joints moves under the manipulation action of the user. The slave manipulator also comprises a base, a plurality of joints and an end effector arranged on the end joint, wherein the base and the joints can adopt the structure consistent with that of the master manipulator, for example, the joint structure, the relative motion mode and the freedom degree are all completely consistent, and only the structure of the end effector is different from that of the handle. The master robot and the slave robot have substantially the same form, and mainly refer to the same structure as the robot.

The master manipulator and the slave manipulator may be different in overall form. For example, in one case, a slave manipulator employs a common six-axis cooperative robot. The main manipulator is provided with a base, six joints and a handle which are arranged on the base and connected in series; every two joints are connected through a joint arm. The first joint can horizontally rotate (also called as a turntable), the joint arm of the second joint can swing or rotate in a vertical plane relative to the first joint, the joint arm of the third joint can swing or rotate in a vertical plane relative to the second joint, the fourth joint can rotate around the joint arm of the third joint, the rotating shaft of the fifth joint is vertical to the rotating shaft of the fourth joint, and the sixth joint can rotate around the joint arm of the fifth joint. In this case, the master manipulator and the slave manipulator are different in structure in the arm portion so that the hand grip connected to the end joint of the master manipulator assumes a posture convenient for gripping operation, and the end effector of the slave manipulator assumes a posture convenient for operation.

The master manipulator and the slave manipulator can be connected and communicated through cables or a remote wireless communication mode is adopted, a user controls the handle at the tail end of the master manipulator to act to reflect data of each joint of the master manipulator, the pose of the handle of the master manipulator is converted into the pose of the tail end actuator of the slave manipulator through a space mapping method such as a proportional mapping method, a position-speed mapping method and a working space block mapping method, the motion of each joint of the slave manipulator is determined through a kinematic inverse equation of the slave manipulator, and therefore motion control of the slave manipulator is achieved, and the tail end actuator of the slave manipulator can execute corresponding action. During the action of the slave manipulator, data information sensed by the force sensing or touch sensing sensors is also fed back to the master manipulator, and the master manipulator drives the handles to act through the joint motors so that a user can obtain force sensing.

The present invention is mainly optimized for the modification of the structure of a master manipulator, and the manipulators mentioned herein are mainly referred to as master manipulators, but it is not excluded that in some cases, slave manipulators and master manipulators adopt the same structure, so the present invention is also applicable to other manipulators adopting the same structure, including slave manipulators.

Referring to fig. 3 and 4, fig. 3 is a schematic diagram illustrating a swing arm structure of a teleoperated manipulator according to an embodiment of the present invention, and fig. 4 is a schematic cross-sectional diagram illustrating a large arm joint and a large arm lever according to the embodiment of fig. 3.

The utility model provides a rocker arm structure of a teleoperation manipulator, which comprises:

the large arm lever 1 is provided with a hollow cavity 11;

the large arm joint 2 is arranged at one end of the large arm rod 1;

the small arm joint 3 is arranged at the other end of the large arm rod 1;

the small arm first rotating shaft 4 penetrates through the large arm joint 2 and is perpendicular to the large arm rod 1; and the combination of (a) and (b),

the forearm second rotating shaft 5 penetrates through the forearm joint 3 and is parallel to the forearm first rotating shaft 4;

wherein, the small arm first rotating shaft 4 and the small arm second rotating shaft 5 are driven by a rigid rope positioned in the cavity 11.

In this embodiment, the large arm lever 1 is hollow, and has one end connected to a large arm joint 2 and the other end connected to a small arm joint 3. A small arm first rotating shaft 4 is installed in the large arm joint 2, a small arm second rotating shaft 5 is installed in the small arm joint 3, the small arm first rotating shaft 4 is parallel to the small arm second rotating shaft 5, the small arm first rotating shaft 4 and the small arm second rotating shaft 5 are in transmission through a rigid rope, and the rigid rope is located in a cavity 11 of the large arm rod 1. Because the rigid rope is positioned in the cavity 11, the internal space of the large arm lever 1 is fully utilized, and therefore the rocker arm structure is compact and neat in appearance.

In this embodiment, the rigid rope is a string that satisfies a certain rigidity requirement and is not easily elastically deformed, and can bear a tensile force of a certain strength and perform winding and other actions. The rigid rope can be a steel wire rope or other ropes mainly made of metal materials. From the view of volume, compared with transmission structures such as a synchronous belt and a gear transmission structure, the rigid rope occupies small space, is particularly suitable for the case that the transmission mechanism is arranged in the limited space in the arm rod, and can utilize the space to the maximum extent; from the perspective of transmission effect, the rigidity rope passes through winding mode, utilizes pulling force to realize the transmission between two pivots, and no matter be corotation or reversal, the rigidity rope all is in the state of tautness all the time, consequently return stroke clearance scheduling problem when can effectively avoid similar gear drive or synchronous belt drive, guarantees the transmission precision of forearm first pivot and forearm second pivot.

Referring to fig. 3 and 4, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a first driving wheel 6 and a second driving wheel 7, the first driving wheel 6 is disposed on the small arm first rotating shaft 4, the second driving wheel 7 is disposed on the small arm second rotating shaft 5, and the first driving wheel 6 and the second driving wheel 7 are driven by a rigid rope wound around the two wheels.

In this embodiment, the first rotating shaft 4 of the small arm is provided with a first driving wheel 6, the second rotating shaft 5 of the small arm is provided with a second driving wheel 7, and the first driving wheel 6 and the second driving wheel 7 are driven by a rigid rope. The first driving wheel 6 is fixedly sleeved on the first rotating shaft 4 of the small arm, and the second driving wheel 7 is fixedly sleeved on the second rotating shaft 5 of the small arm. When operated by external force, the small arm second rotating shaft 5 rotates, and the second transmission wheel 7 is fixed on the small arm second rotating shaft 5, so the second transmission wheel 7 rotates along with the small arm second rotating shaft 5. When the second transmission wheel 7 rotates, the first transmission wheel 6 rotates synchronously through the traction of the rigid rope, and the first transmission wheel 6 is fixed on the small arm first rotating shaft 4, so that the small arm first rotating shaft 4 rotates along with the first transmission wheel 6.

In some embodiments, there are two rigid cords; the first section and the last section of each rigid rope are respectively wound on the first driving wheel 6 and the second driving wheel 7, and the first end and the last end of each rigid rope are respectively fixed on the first driving wheel 6 and the second driving wheel 7; the two rigid ropes are opposite in winding direction.

In this embodiment, the rigid rope may be a steel wire rope, which is merely exemplary and not limiting. The two rigid ropes are respectively wound between the first driving wheel 6 and the second driving wheel 7, the head end and the tail end of each rigid rope are respectively fixedly connected with the first driving wheel 6 and the second driving wheel 7, and the winding directions of the two steel wire ropes are opposite.

Referring to fig. 6, fig. 6 is a schematic structural view of the forearm joint in the embodiment of fig. 3. In some embodiments, the swing arm structure of the teleoperation manipulator further includes a tensioning shaft 8 and a tensioning wheel 9, the tensioning shaft 8 is disposed through the small arm joint 3 and is parallel to the small arm second rotating shaft 5, and the tensioning wheel 9 is sleeved on the tensioning shaft 8.

In this embodiment, a tension shaft 8 and a tension pulley 9 are provided in the forearm joint 3, so that the tension pulley 9 tensions the rigid cord to enhance the degree of tension of the rigid cord. The tensioning shaft 8 penetrates through the small arm joint 3, two ends of the tensioning shaft are fixedly connected with two side walls of the small arm joint 3 respectively, and the tensioning wheel 9 can be rotatably connected with the tensioning shaft 8 through a bearing. Tensioning axle 8 and forearm second pivot 5 parallel arrangement to tensioning axle 8 and forearm second pivot 5 dislocation from top to bottom, have certain interval between the two, and the rigidity rope is located between tensioning axle 8 and forearm second pivot 5.

Referring to fig. 7, fig. 7 is an exploded view of the forearm joint of the embodiment of fig. 6.

In some embodiments, the swing arm structure of the teleoperation manipulator further includes adjusting holes 10 disposed on two opposite side walls of the small arm joint 3, two ends of the tensioning shaft 8 are respectively disposed in the two adjusting holes 10, and the adjusting holes 10 have a space for the tensioning shaft 8 to move in a direction perpendicular to the small arm second rotation shaft 5 and the large arm rod 1.

In this embodiment, in order to make the elasticity of rigidity rope adjustable, be provided with regulation hole 10 on the double-phase relative lateral wall of forearm joint 3, this regulation hole 10 is waist shape hole, and tensioning axle 8 can move in regulation hole 10 to through the mounted position of adjusting tensioning axle 8, realize the elasticity regulation to the rigidity rope. When the rigid rope is loosened, the tensioning shaft 8 can be pushed towards the direction close to the small arm second rotating shaft 5 until the rigid rope is tensioned to a proper tightness by the tensioning wheel 9; when the rigid rope is too tight, the tensioning shaft 8 can be pushed towards the direction away from the small arm second rotating shaft 5 until the rigid rope is tensioned to a proper tightness by the tensioning wheel 9.

Referring to fig. 7, in some embodiments, the swing arm structure of the teleoperated manipulator further includes threaded holes 20 and fasteners 30, the threaded holes 20 are disposed on two opposite sidewalls of the small arm joint 3, and an axis of the threaded hole 20 is perpendicular to the small arm second rotating shaft 5 and the large arm lever 1 and is communicated with the adjusting hole 10; the fastener 30 is inserted into the threaded hole 20 and abuts against the arm second rotating shaft 5.

In this embodiment, the tensioning shaft 8 is fixed by a threaded hole 20 and a fastener 30, the threaded hole 20 is disposed on two opposite side walls of the forearm joint 3, and the axis of the threaded hole 20 is perpendicular to the forearm second rotating shaft 5, and the threaded hole 20 is communicated with the adjusting hole 10. When adjusting the tightness of the rigid cord, the fastening member 30 is screwed into the threaded hole 20, and the inward end of the fastening member 30 abuts against the tension shaft 8, thereby fixing the tension shaft 8 in the adjustment hole 10.

Referring to fig. 1, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a small arm lever 40, and the small arm lever 40 is provided on a side of the small arm joint 3 away from the large arm lever 1.

In this embodiment, one end of the small arm lever 40 is rotatably connected with the large arm lever 1 through the small arm joint 3, and the other end of the small arm lever 40 can be used as a terminal joint connection handle, and can also be provided with other joints to be connected with the handle.

In some embodiments, the forearm arm lever 40 is hollow to facilitate routing.

Referring to fig. 3 and 6, in some embodiments, the lower arm joint 3 includes a first connection seat 31 and a second connection seat 32, the first connection seat 31 is connected to an end of the upper arm lever 1 near the lower arm lever 40, and the second connection seat 32 is connected to an end of the lower arm lever 40 near the upper arm lever 1.

In this embodiment, the first connecting seat 31 is disposed on and connected to the large arm lever 1, the second connecting seat 32 is disposed on and connected to the small arm lever 40, and the first connecting seat 31 and the second connecting seat 32 are rotatably connected.

Referring to fig. 7, in some embodiments, the first connecting seat 31 has a large arm connecting end 311 and two first side arms 312 spaced apart from each other, and two ends of the small arm second rotating shaft 5 respectively penetrate through the two first side arms 312 and are rotatably connected thereto; the second connecting seat 32 has a small arm connecting end 321 and two second side arms 322 arranged at an interval, and two ends of the small arm second rotating shaft 5 respectively penetrate through the two first side arms 312 and then are fixedly connected with the two second side arms 322.

In this embodiment, the first connecting seat 31 includes a large arm connecting end 311 and two first side arms 312, the large arm connecting end 311 is used for being connected with the large arm rod 1, the two first side arms 312 are disposed on the large arm connecting end 311 at intervals and are respectively connected with the large arm connecting end 311, and the large arm connecting end 311 and the two first side arms 312 form a shifting fork shape. The second connecting seat 32 includes a small arm connecting end 321 and two second side arms 322, the small arm connecting end 321 is used for connecting with the small arm rod 40, the two second side arms 322 are arranged on the small arm connecting end 321 at intervals and are respectively connected with the small arm connecting end 321, and the small arm connecting end 321 and the two second side arms 322 form a shifting fork shape. Two ends of the small arm second rotating shaft 5 respectively penetrate through the two first side arms 312 and then are fixedly connected with the two second side arms 322, wherein two ends of the small arm second rotating shaft 5 are respectively rotatably connected with the two first side arms 312. The first connecting seat and the second connecting seat are respectively connected with two ends of the small arm second rotating shaft, so that the small arm second rotating shaft can be stably supported and driven.

Referring to fig. 6 and 7, in some embodiments, the two first side arms 312 are located between the two second side arms 322, the tensioner 9 is located between the two first side arms 312, and the adjustment aperture 10 is located on the first side arms 312.

In this embodiment, the adjusting holes 10 are disposed on the first side arms 312, two ends of the tensioning shaft 8 are respectively fixed in the two adjusting holes 10, and the tensioning shaft 8 is sleeved with the tensioning wheel 9 and is located between the two first side arms 312.

In some embodiments, the forearm joint 3 further includes a spherical shell covering the first connecting seat 31 and the second connecting seat 32, the spherical shell may be an integral structure, or may be two hemispherical shells, and the two hemispherical shells may be detachably connected to each other, specifically, the two hemispherical shells may be half-and-half arranged in the front-back direction, or half-and-half arranged in the left-right direction, including but not limited thereto.

Referring to fig. 3-5, fig. 5 is a schematic diagram of an exploded structure of the upper arm joint in the embodiment of fig. 3.

In some embodiments, one end of the small arm first rotating shaft 4 is coaxially arranged and rotatably connected with the large arm joint 2, and the other end serves as a driving output/input end.

In this embodiment, one end of the small arm first rotating shaft 4 is coaxially disposed and rotatably connected to the large arm joint 2, and the other end of the small arm first rotating shaft 4 serves as a power output/input end. When the small arm lever 40 is operated by external force, the small arm second rotating shaft 5 drives the small arm first rotating shaft 4 to rotate, and at the moment, the other end of the small arm first rotating shaft 4 serves as a power input end. When the forearm motor provides gravity compensation for the forearm arm lever 40, the power output by the forearm motor is input through the other end of the forearm first rotating shaft 4 and is transmitted to the forearm second rotating shaft 5 and the forearm arm lever 40, and at the moment, the other end of the forearm first rotating shaft 4 serves as a power input end.

Referring to fig. 4 and 5, in some embodiments, the large arm joint 2 includes a large arm rotation shaft 21 and a hollow joint housing 22, the large arm rotation shaft 21 is fixed to one side of the joint housing 22, one end of the small arm first rotation shaft 4 is coaxially disposed and rotatably connected to the large arm rotation shaft 21, and the other end thereof protrudes through the joint housing 22.

In this embodiment, the large arm joint 2 includes a large arm rotating shaft 21 and a hollow joint housing 22, wherein the large arm rotating shaft 21 is fixed on one side of the joint housing 22, one end of the small arm first rotating shaft 4 is coaxially sleeved in the large arm rotating shaft 21 and is rotationally connected with the large arm rotating shaft, and during rotation, the large arm rotating shaft 21 and/or the small arm first rotating shaft 4 can be mutually supported, so that the large arm rotating shaft 21 and/or the small arm first rotating shaft 4 can stably rotate, and eccentric rotation is not easy to occur, thereby ensuring the control accuracy of the teleoperation manipulator.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a teleoperation manipulator according to an embodiment of the present invention.

The present invention further provides a teleoperation manipulator including the swing arm structure described in the foregoing embodiments, and the specific structure of the swing arm structure refers to the foregoing embodiments.

Since the teleoperation manipulator adopts all technical schemes of all the embodiments, at least all technical effects brought by the technical schemes of the embodiments are achieved, and no detailed description is given here.

The teleoperation manipulator further comprises a base 100, a rotary table 200, a large arm 300, a small arm 400, a tail end 500 and a handle 600, wherein the rotary table 200 is arranged on the base 100, one end of the large arm 300 is connected with the rotary table 200, the other end of the large arm 300 is connected with one end of the small arm 400, the other end of the small arm 400 is connected with the tail end 500, and the handle 600 is arranged on the tail end 500 and used for controlling the rotary table 200, the large arm 300, the small arm 400 and the tail end 500 to move.

The utility model also provides a teleoperation device, which comprises a slave manipulator and the teleoperation manipulator, wherein the teleoperation manipulator is in communication connection with the slave manipulator or the mechanical arm. The telemanipulator includes the swing arm structure described in the foregoing embodiments, and the specific structure of the swing arm structure refers to the foregoing embodiments. Since the teleoperation device adopts all technical solutions of all the embodiments, at least all technical effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.

Claims

1. A swing arm structure of a teleoperation manipulator is characterized by comprising:

the large arm lever is provided with a hollow cavity;

the large arm joint is arranged at one end of the large arm rod;

the small arm joint is arranged at the other end of the large arm rod;

2. The rocker arm structure of claim 1, further comprising:

the first driving wheel is arranged on the small arm first rotating shaft;

the second driving wheel is arranged on the small arm second rotating shaft;

the first transmission wheel and the second transmission wheel are transmitted through the rigid rope wound on the two wheels.

3. The rocker arm structure of claim 2,

the number of the rigid ropes is two; the first section and the last section of each rigid rope are respectively wound on the first driving wheel and the second driving wheel, and the first end and the last end of each rigid rope are respectively fixed on the first driving wheel and the second driving wheel; the winding directions of the two rigid ropes are opposite.

4. The rocker arm structure of claim 2, further comprising:

the tensioning wheel is sleeved on the tensioning shaft.

5. The rocker arm structure of claim 4, further comprising:

6. The rocker arm structure of claim 5, further comprising:

7. The rocker arm structure of claim 6, further comprising:

8. The rocker arm structure of claim 7 wherein the forearm joint comprises:

9. The rocker arm structure of claim 8,

10. The rocker arm structure of claim 9,

11. The rocker arm structure of any of claims 1-10,

one end of the first rotating shaft of the small arm is coaxially arranged with the joint of the large arm and is rotatably connected with the joint of the small arm, and the other end of the first rotating shaft of the small arm is used as a power output/input end.

12. The rocker arm structure of claim 11,

the big arm joint comprises a big arm rotating shaft and a hollow joint shell, the big arm rotating shaft is fixed on one side of the joint shell, one end of the first rotating shaft of the small arm is coaxially arranged with the big arm rotating shaft and is rotatably connected with the big arm rotating shaft, and the other end of the first rotating shaft of the small arm penetrates through the joint shell to extend out.

13. A teleoperated manipulator comprising a swing arm structure according to any one of claims 1 to 12.

14. Teleoperational device, comprising a slave manipulator and a teleoperational manipulator according to claim 13, the teleoperational manipulator being communicatively connected to the slave manipulator.