阅读说明：本技术 遥操作机械手及其摇臂结构、遥操作设备 (Teleoperation manipulator and rocker arm structure thereof, teleoperation equipment ) 是由 王重彬 刘主福 姜宇 刘培超 于 2021-10-12 设计创作，主要内容包括：本发明公开一种遥操作机械手及其摇臂结构、遥操作设备,该摇臂结构包括：大臂关节,包括大臂关节转轴；小臂第一转轴,穿设于大臂关节转轴内,小臂第一转轴与大臂关节转轴同轴设置并转动连接；以及第一轴承,套设于小臂第一转轴的一端,第一轴承的内圈与小臂第一转轴连接,第一轴承的外圈与大臂关节转轴连接。本发明的小臂第一转轴穿设于大臂关节转轴中,与其同轴设置并转动连接。由于小臂第一转轴穿设在大臂关节转轴中,并且二者以转动连接的方式保持相互连接和支撑,因而能够在各自的转动过程中始终保持同轴,也就是说,经过遥操作机械手长时间的运动后,大臂关节与小臂关节能够始终保持在预设的相对角度,从而保证了大小臂的传动精度。(The invention discloses a teleoperation manipulator, a rocker arm structure thereof and teleoperation equipment, wherein the rocker arm structure comprises: the large arm joint comprises a large arm joint rotating shaft; the small arm first rotating shaft penetrates through the large arm joint rotating shaft and is coaxially arranged with the large arm joint rotating shaft and is in rotating connection with the large arm joint rotating shaft; and the first bearing is sleeved at one end of the first rotating shaft of the small arm, the inner ring of the first bearing is connected with the first rotating shaft of the small arm, and the outer ring of the first bearing is connected with the joint rotating shaft of the large arm. The first rotating shaft of the small arm is arranged in the rotating shaft of the large arm joint in a penetrating way, is coaxially arranged with the rotating shaft and is connected with the rotating shaft in a rotating way. Because the first rotating shaft of the small arm penetrates through the rotating shaft of the large arm joint and the first rotating shaft of the small arm and the rotating shaft of the large arm joint are mutually connected and supported in a rotating connection mode, the first rotating shaft and the second rotating shaft can always keep coaxial in respective rotating processes, namely, after the long-time movement of the teleoperation manipulator, the large arm joint and the small arm joint can always keep a preset relative angle, and therefore the transmission precision of the large arm and the small arm is guaranteed.)

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

the large arm joint comprises a large arm joint rotating shaft;

the small arm first rotating shaft penetrates through the large arm joint rotating shaft, and is coaxially arranged with and rotatably connected with the large arm joint rotating shaft; and

the first bearing is sleeved at one end of the first rotating shaft of the small arm, the inner ring of the first bearing is connected with the first rotating shaft of the small arm, and the outer ring of the first bearing is connected with the rotating shaft of the large arm joint.

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

and the large arm driving wheel is connected to one side of the large arm joint rotating shaft.

3. The rocker arm structure of claim 2,

a first step is formed on the outer wall of the first rotating shaft of the small arm, a second step is formed on the inner wall of the rotating shaft of the large arm joint, and the first step and the second step are arranged oppositely;

a first boss is formed on one side, facing the large arm joint rotating shaft, of the large arm driving wheel, penetrates into the large arm joint rotating shaft, and abuts against two sides of an outer ring of the first bearing in an opposite manner with the second step; the first step and the second step are located on the same side of the first bearing and are abutted to the inner ring of the first bearing.

4. The rocker arm structure of claim 3, further comprising:

a first mounting bracket;

the second mounting frame is arranged at an interval with the first mounting frame;

and two ends of the large arm joint are respectively and rotatably connected with the first mounting frame and the second mounting frame.

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

the second bearing is arranged between one end of the large arm joint and the first mounting frame, an inner ring of the second bearing is connected with the large arm joint through a rotating shaft, and an outer ring of the second bearing is connected with the first mounting frame;

the third bearing is arranged at the other end of the large arm joint and between the second mounting frames, the inner ring of the third bearing is connected with the large arm joint, and the outer ring of the third bearing is connected with the second mounting frames.

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

the fourth bearing is sleeved at the other end of the first rotating shaft of the small arm, the inner ring of the fourth bearing is connected with the first rotating shaft of the small arm, and the outer ring of the fourth bearing is connected with the joint of the large arm.

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

the bearing pressing block is arranged on one side of the large arm joint and connected with the large arm joint;

a third step is further formed on the outer wall of the small arm first rotating shaft;

the third step and the bearing pressing block oppositely abut against the inner ring and the outer ring of the fourth bearing from two sides of the fourth bearing respectively.

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

the fifth bearing is sleeved on the small arm first rotating shaft and is arranged at an interval with the fourth bearing, the inner ring of the fifth bearing is connected with the small arm first rotating shaft, and the outer ring of the fifth bearing is connected with the large arm joint;

a first sleeve located between the fourth bearing and the fifth bearing;

the second sleeve is sleeved on the first sleeve;

the two ends of the first sleeve are respectively abutted with the inner rings of the fourth bearing and the fifth bearing, the two ends of the second sleeve are respectively abutted with the outer rings of the fourth bearing and the fifth bearing, the fifth bearing is located between the fourth bearing and the bearing pressing block, and the bearing pressing block is abutted with the outer ring of the fifth bearing.

9. The rocker arm structure of claim 8,

the first sleeve and the second sleeve have an axial length difference.

10. The rocker arm structure of claim 8, further comprising:

and the small arm driving wheel is connected to one side of the first rotating shaft of the small arm, which is far away from the large arm joint rotating shaft.

11. The rocker arm structure of claim 10,

a fourth step is formed on the inner side of the large arm joint, and the fourth step and the third step are arranged up and down along the direction vertical to the first rotating shaft of the small arm;

a second boss is formed on one side of the small arm transmission wheel, which faces the small arm first rotating shaft;

the third step and the fourth step are abutted against one end of the fourth bearing, and the second boss and the bearing press block are abutted against one end of the fifth bearing.

12. The rocker arm structure of claim 11, further comprising:

the first encoder is connected to the large arm transmission wheel; and/or the presence of a gas in the gas,

and the second encoder is connected to the small arm driving wheel.

13. The rocker arm structure of claim 12, further comprising:

one end of the first connecting shaft is connected with the large arm driving wheel, and the other end of the first connecting shaft is connected with the first encoder; and/or the presence of a gas in the gas,

one end of the second connecting shaft is connected with the small arm driving wheel, and the other end of the second connecting shaft is connected with the second encoder.

14. The rocker arm structure of claim 13, further comprising:

the coded disc of the first encoder is connected with the first connecting shaft, and the reading head of the first encoder is connected with the first mounting seat; and/or the presence of a gas in the gas,

and the coded disc of the second encoder is connected with the second connecting shaft, and the reading head of the second encoder is connected with the second mounting seat.

15. The rocker arm structure of any of claims 1-14,

the upper arm joint further comprises a joint shell which is arranged in a hollow mode, the rotating shaft of the upper arm joint is arranged on one side of the joint shell, and the first rotating shaft of the lower arm is located in the joint shell.

16. The rocker arm structure of claim 15, further comprising:

and the first driving wheel is arranged on the first rotating shaft of the small arm and is positioned in the inner cavity of the joint shell.

17. The rocker arm structure of claim 16, further comprising:

one end of the large arm lever is connected with the joint shell;

the small arm joint is connected with the other end of the large arm rod;

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

18. A teleoperated manipulator comprising a swing arm structure according to any one of claims 1 to 17.

19. Teleoperational device, comprising a slave manipulator and a teleoperational manipulator according to claim 18, the teleoperational manipulator being communicatively connected to the slave manipulator.

Technical Field

The invention 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 generally refers to a remote operation robot which can complete complex operations in an environment difficult to be accessed by people under the control of people, and is mainly applied to numerous fields of 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, patent document CN201510024433.5 discloses a "force sense manipulator with mechanical arm", which includes an angle measuring shaft as a driving shaft of a large arm joint and a small arm transmission shaft as a driving shaft of a small arm joint in cooperation with a link mechanism. The angle measuring shaft and the small arm transmission shaft are supported and rotate coaxially through two independent supports, namely a left support and a right support, and the two shafts are easy to deviate from the common axis direction through long-time movement, so that the axes are staggered mutually, and the transmission precision of the teleoperation main manipulator is influenced.

Disclosure of Invention

The invention mainly aims to provide a rocker arm structure of a teleoperation manipulator, aiming at solving the technical problem that the driving shafts of the large arm and the small arm of the existing teleoperation manipulator are easy to deviate from the common axial direction.

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

the large arm joint comprises a large arm joint rotating shaft;

the small arm first rotating shaft penetrates through the large arm joint rotating shaft and is coaxially arranged with and rotatably connected with the large arm joint rotating shaft; and

the first bearing is sleeved at one end of the first rotating shaft of the small arm, the inner ring of the first bearing is connected with the first rotating shaft of the small arm, and the outer ring of the first bearing is connected with the rotating shaft of the large arm joint.

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

the large arm driving wheel is connected to one side of the large arm joint rotating shaft.

The outer wall of the first rotating shaft of the small arm is provided with a first step, the inner wall of the rotating shaft of the large arm joint is provided with a second step, and the first step and the second step are arranged oppositely;

a first boss is constructed on one side of the large arm transmission wheel, which faces the large arm joint rotating shaft, penetrates into the large arm joint rotating shaft, and abuts against two sides of an outer ring of the first bearing in an opposite manner with the second step; the first step and the second step are positioned at the same side of the first bearing and are abutted against the inner ring of the first bearing.

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

a first mounting bracket;

the second mounting frame is arranged at intervals with the first mounting frame;

the two ends of the large arm joint are respectively and rotatably connected with the first mounting frame and the second mounting frame.

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

the second bearing is arranged between one end of the large arm joint and the first mounting frame, the inner ring of the second bearing is connected with the large arm joint rotating shaft, and the outer ring of the second bearing is connected with the first mounting frame;

the third bearing is arranged between the other end of the large arm joint and the second mounting frame, the inner ring of the third bearing is connected with the large arm joint, and the outer ring of the third bearing is connected with the second mounting frame.

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

the fourth bearing is sleeved at the other end of the first rotating shaft of the small arm, the inner ring of the fourth bearing is connected with the first rotating shaft of the small arm, and the outer ring of the fourth bearing is connected with the joint of the large arm.

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

the bearing pressing block is arranged on one side of the large arm joint and connected with the large arm joint;

a third step is also formed on the outer wall of the first rotating shaft of the small arm;

the third step and the bearing pressing block oppositely prop against the inner ring and the outer ring of the fourth bearing from two sides of the fourth bearing respectively.

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

the fifth bearing is sleeved on the first rotating shaft of the small arm and is arranged at an interval with the fourth bearing, the inner ring of the fifth bearing is connected with the first rotating shaft of the small arm, and the outer ring of the fifth bearing is connected with the joint of the large arm;

the first sleeve is positioned between the fourth bearing and the fifth bearing;

the second sleeve is sleeved on the first sleeve;

the two ends of the first sleeve are respectively abutted with the inner rings of the fourth bearing and the fifth bearing, the two ends of the second sleeve are respectively abutted with the outer rings of the fourth bearing and the fifth bearing, the fifth bearing is located between the fourth bearing and the bearing pressing block, and the bearing pressing block is abutted with the outer rings of the fifth bearing.

Wherein the first sleeve and the second sleeve have an axial length difference.

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

and the small arm transmission wheel is connected to one side of the first rotating shaft of the small arm, which is far away from the large arm joint rotating shaft.

The inner side of the large arm joint is provided with a fourth step, and the fourth step and the third step are arranged up and down along the direction vertical to the first rotating shaft of the small arm; a second boss is formed on one side of the small arm transmission wheel, which faces the small arm first rotating shaft; the third step and the fourth step are abutted against one end of the fourth bearing, and the second boss and the bearing press block are abutted against one end of the fifth bearing.

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

the first encoder is connected with the large arm transmission wheel; and/or the presence of a gas in the gas,

and the second encoder is connected to the small arm driving wheel.

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

one end of the first connecting shaft is connected with the large arm driving wheel, and the other end of the first connecting shaft is connected with a first encoder; and/or the presence of a gas in the gas,

one end of the second connecting shaft is connected with the small arm driving wheel, and the other end of the second connecting shaft is connected with a second encoder.

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

the coded disc of the first encoder is connected with the first connecting shaft, and the reading head of the first encoder is connected with the first mounting seat; and/or the presence of a gas in the gas,

and the coded disc of the second encoder is connected with a second connecting shaft, and the reading head of the second encoder is connected with the second mounting seat.

The big arm joint further comprises a joint shell which is arranged in a hollow mode, a rotating shaft of the big arm joint is arranged on one side of the joint shell, and a first rotating shaft of the small arm is located in the joint shell.

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

the first transmission wheel is arranged on the first rotating shaft of the small arm and is positioned in the inner cavity of the joint shell.

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

one end of the large arm lever is connected with the joint shell;

the small arm joint is connected with the other end of the large arm rod;

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

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

the large arm joint comprises a large arm joint rotating shaft;

the small arm first rotating shaft penetrates through the large arm joint rotating shaft and is coaxially arranged with and rotatably connected with the large arm joint rotating shaft; and

the first bearing is sleeved at one end of the first rotating shaft of the small arm, the inner ring of the first bearing is connected with the first rotating shaft of the small arm, and the outer ring of the first bearing is connected with the rotating shaft of the large arm joint.

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 joint comprises a large arm joint rotating shaft;

the small arm first rotating shaft penetrates through the large arm joint rotating shaft and is coaxially arranged with and rotatably connected with the large arm joint rotating shaft; and

the first bearing is sleeved at one end of the first rotating shaft of the small arm, the inner ring of the first bearing is connected with the first rotating shaft of the small arm, and the outer ring of the first bearing is connected with the rotating shaft of the large arm joint.

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

the first rotating shaft of the small arm is arranged in the rotating shaft of the large arm joint in a penetrating way, is coaxially arranged with the rotating shaft and is connected with the rotating shaft in a rotating way. Because the first rotating shaft of the small arm penetrates through the rotating shaft of the large arm joint and the first rotating shaft of the small arm and the rotating shaft of the large arm joint are mutually connected and supported in a rotating connection mode, the first rotating shaft and the second rotating shaft can always keep coaxial in respective rotating processes, namely, after the long-time movement of the teleoperation manipulator, the large arm joint and the small arm joint can always keep a preset relative angle, and therefore the transmission precision of the large arm and the small arm is guaranteed.

Drawings

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

FIG. 2 is a schematic diagram of a swing arm configuration for a teleoperated manipulator in one embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of the rocker arm structure of the embodiment of FIG. 2;

FIG. 4 is another cross-sectional schematic view of the rocker arm structure of the embodiment of FIG. 2;

FIG. 5 is an exploded view of the rocker arm structure of the embodiment of FIG. 2;

FIG. 6 is a schematic diagram of a swing arm configuration for a teleoperated manipulator in accordance with an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a teleoperation manipulator according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" or "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

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 is used as one end for being controlled by a user (a contact mode such as holding can be adopted), is arranged at the tail end joint of the joints and can move under the control 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.

How to realize interaction between the master manipulator and the slave manipulator: the master manipulator and the slave manipulator can be connected and communicated through cables or adopt a remote wireless communication mode, a user controls the handle to act, data of each joint of the master manipulator are reflected and transmitted to the slave manipulator, and the slave manipulator converts the Cartesian space pose of the handle of the master manipulator into the Cartesian space pose of the end effector of the slave manipulator through space mapping methods such as a proportional mapping method, a position-speed mapping method and a working space block mapping method so as to execute corresponding actions. 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 are of the same construction, and therefore the present invention may also be applied to other manipulators of the same construction, including slave manipulators.

Referring to fig. 2-5, fig. 2 is a schematic diagram illustrating a swing arm structure of a teleoperated manipulator according to an embodiment of the present invention, fig. 3 is a schematic cross-sectional view illustrating the swing arm structure of the embodiment of fig. 2, fig. 4 is another schematic cross-sectional view illustrating the swing arm structure of the embodiment of fig. 2, and fig. 5 is a schematic diagram illustrating an exploded structure of the swing arm structure of the embodiment of fig. 2.

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

the large arm joint 1 comprises a large arm joint rotating shaft 11;

the small arm first rotating shaft 2 penetrates through the large arm joint rotating shaft 11, is coaxially arranged with the large arm joint rotating shaft 11 and is in rotating connection with the large arm joint rotating shaft; and

the first bearing 3 is sleeved at one end of the small arm first rotating shaft 2, the inner ring of the first bearing 3 is connected with the small arm first rotating shaft 2, and the outer ring of the first bearing 3 is connected with the large arm joint rotating shaft 11.

In this embodiment, a cavity is formed inside the upper arm joint 1, and the cavity is used for mounting the lower arm first rotating shaft 2. The first rotation shaft 2 of forearm is worn to locate in this cavity to with big arm joint pivot 11 coaxial rotation connection, form the support between first rotation shaft 2 of forearm and the big arm joint pivot 11.

In this embodiment, the large arm joint 1 is used as a second joint of the manipulator, and can swing or rotate relative to a turntable of the teleoperated manipulator with the large arm joint rotating shaft 11 as an axis, and the small arm first rotating shaft 2 is used as a power transmission component for connecting the small arm joint and the small arm driving mechanism, and is coaxial with the large arm joint rotating shaft 11, so that the axes of the large arm joint 1 and the small arm joint can be always kept at a preset relative angle (or relative position), for example, the axis of the large arm joint 1 and the axis of the small arm joint are kept parallel or perpendicularly crossed.

In some embodiments, referring to fig. 3 and 5, the upper arm joint 1 may be configured as a hollow structure including a hollow joint housing 12, the upper arm joint rotation shaft 11 may be configured at a side or inside of the joint housing 12, and the lower arm first rotation shaft 2 is located inside the joint housing 12.

The small arm first rotating shaft 2 is arranged in the large arm joint rotating shaft 11 in a penetrating way, is coaxially arranged with the large arm joint rotating shaft and is connected with the large arm joint rotating shaft in a rotating way. Because the first rotating shaft 2 of the small arm penetrates through the rotating shaft 11 of the large arm joint and the two are mutually connected and supported in a rotating connection mode, the first rotating shaft and the second rotating shaft can always keep coaxial in respective rotating processes, namely, after the long-time movement of the teleoperation manipulator, the large arm joint 1 and the small arm joint can always keep a preset relative angle, and therefore the transmission precision of the large arm and the small arm is guaranteed.

In this embodiment, the first rotation shaft 2 of forearm is connected with the rotation of big arm joint pivot 11 through first bearing 3, and first bearing 3 not only can realize the rotation between first rotation shaft 2 of forearm and big arm joint pivot 11 and be connected, can also guarantee the axiality between first rotation shaft 2 of forearm and big arm joint pivot 11.

Referring to fig. 3-5, in some embodiments, the swing arm structure of the teleoperated manipulator further comprises a large arm transmission wheel 4, the large arm transmission wheel 4 being connected to one side of the large arm joint rotation shaft 11. In this embodiment, the large arm transmission wheel 4 is connected to the large arm joint rotation shaft 11, and the large arm transmission wheel 4 may transmit power to the large arm motor through a synchronous belt or a wire rope, including but not limited thereto.

Referring to fig. 3 and 4, in some embodiments, a first step 5 is formed on an outer wall of the lower arm first rotating shaft 2, a second step 6 is formed on an inner wall of the upper arm joint rotating shaft 11, and the first step 5 is opposite to the second step 6; a first boss 7 is formed on one side of the large arm transmission wheel 4 facing the large arm joint rotating shaft 11, and the first boss 7 penetrates into the large arm joint rotating shaft 11 and abuts against two sides of the outer ring of the first bearing 3 opposite to the second step 6; the first step 5 and the second step 6 are located on the same side of the first bearing 3 and abut against the inner ring of the first bearing 3.

In this embodiment, two sides of the outer ring of the first bearing 3 are respectively abutted by the first boss 7 and the second step 6, and the inner ring of the first bearing 3 is abutted by the first step 5, wherein the first step 5 and the second step 6 are arranged oppositely up and down along the direction perpendicular to the forearm first rotating shaft 2. First bearing 3 is fixed through first step 5, second step 6 and first boss 7, simultaneously, can subdue the play of first bearing 3 through first step 5, second step 6 and first boss 7 for the play of first bearing 3 is close to zero, thereby guarantees the steady rotation of the interior outer lane of first bearing 3, and then guarantees the steady rotation of big arm joint pivot 11 and the first pivot 2 of forearm. The first step 5 and the second step 6 are annular steps, which are exemplary only and not limiting.

Referring to fig. 2, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a first mounting bracket 8 and a second mounting bracket 9, the second mounting bracket 9 is spaced apart from the first mounting bracket 8, and two ends of the large arm joint 1 are rotatably connected to the first mounting bracket 8 and the second mounting bracket 9, respectively.

Referring to fig. 3 and 4, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a second bearing 10 and a third bearing 20, the second bearing 10 is disposed between one end of the large arm joint 1 and the first mounting bracket 8, an inner ring of the second bearing 10 is connected to the large arm joint rotation shaft 11, and an outer ring of the second bearing 10 is connected to the first mounting bracket 8; the third bearing 20 is arranged between the other end of the large arm joint 1 and the second mounting frame 9, the inner ring of the third bearing 20 is connected with the large arm joint 1, and the outer ring of the third bearing 20 is connected with the second mounting frame 9.

In this embodiment, the large arm joint rotating shaft 11 is rotatably connected with the first mounting frame 8 through the second bearing 10, the large arm joint 1 is rotatably connected with the second mounting frame 9 through the third bearing 20, the second bearing 10 and the third bearing 20 are respectively located at two ends of the large arm joint 1, two ends of the large arm joint 1 are rotatably connected with the first mounting frame 8 and the second mounting frame 9 through the second bearing 10 and the third bearing 20, and the rocker arm structure is mounted on a turntable of the teleoperation manipulator through the first mounting frame 8 and the second mounting frame 9.

Referring to fig. 3 and 5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a fourth bearing 30, the fourth bearing 30 is sleeved on the other end of the small arm first rotating shaft 2, an inner ring of the fourth bearing 30 is connected to the small arm first rotating shaft 2, and an outer ring of the fourth bearing 30 is connected to the large arm joint 1.

In this embodiment, one end of the first small arm rotating shaft 2 is rotatably connected to the large arm joint rotating shaft 11 through the first bearing 3, and the other end is rotatably connected to the large arm joint 1 through the fourth bearing 30, so that the large arm joint 1 and the first small arm rotating shaft 2 can rotate relatively.

Referring to fig. 3 to 5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a bearing pressing block 40, the bearing pressing block 40 is disposed at one side of the large arm joint 1 and connected thereto, a third step 50 is further formed on an outer wall of the small arm first rotating shaft 2, and the third step 50 and the bearing pressing block 40 are respectively pressed against an inner ring and an outer ring of the fourth bearing 30 from both sides of the fourth bearing 30 in an opposite direction.

In this embodiment, the third step 50 is configured on the first rotating shaft 2 of the small arm, the third step 50 is used for abutting against the inner ring of the fourth bearing 30, the bearing pressing block 40 on one side of the large arm joint 1 is used for abutting against the outer ring of the fourth bearing 30, the inner ring and the outer ring of the fourth bearing 30 are respectively abutted from two sides of the fourth bearing 30 through the third step 50 and the bearing pressing block 40, so that the fourth bearing 30 is fixed, meanwhile, the clearance of the fourth bearing 30 can be reduced, so that the inner ring and the outer ring of the fourth bearing 30 can rotate more stably, and therefore stable rotation between the first rotating shaft 2 of the small arm and the large arm joint 1 is ensured.

In the present embodiment, the third step 50 is an annular step protruding outwards along the outer wall of the first rotation shaft of the small arm, which is only exemplary, but not limiting.

In some embodiments, the third step 50 and the bearing pressing block 40 respectively abut against the inner ring and the outer ring of the fourth bearing 30 from two sides of the fourth bearing 30, the inner ring of the fourth bearing 30 is connected with the small arm first rotating shaft 2, and the outer ring of the fourth bearing 30 is connected with the large arm joint 1, so that the small arm first rotating shaft 2 and the large arm joint 1 can be further limited to move in the axial direction by the third step 50 and the bearing pressing block 40, and the small arm first rotating shaft 2 and the large arm joint 1 are prevented from moving in the axial direction when rotating.

Referring to fig. 3 and 5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a fifth bearing 60, a first sleeve 70 and a second sleeve 80, the fifth bearing 60 is sleeved on the small arm first rotating shaft 2 and spaced apart from the fourth bearing 30, an inner ring of the fifth bearing 60 is connected with the small arm first rotating shaft 2, and an outer ring of the fifth bearing 60 is connected with the large arm joint 1; the first sleeve 70 is located between the fourth bearing 30 and the fifth bearing 60, and the second sleeve 80 is sleeved on the first sleeve 70.

In this embodiment, the first rotation shaft 2 of forearm and the first rotation shaft 2 of forearm are connected through two bearing rotation, and stability is higher, and it is fourth bearing 30 and fifth bearing 60 respectively, and fourth bearing 30 sets up with fifth bearing 60 interval to be located between the first rotation shaft 2 of forearm joint 1 and forearm. A first sleeve 70 and a second sleeve 80 are arranged between the fourth bearing 30 and the fifth bearing 60, the second sleeve 80 is located outside the first sleeve 70, inner rings of the fourth bearing 30 and the fifth bearing 60 are respectively abutted through two ends of the first sleeve 70, outer rings of the fourth bearing 30 and the fifth bearing 60 are respectively abutted through two ends of the second sleeve 80, and when the fourth bearing 30 and the fifth bearing 60 rotate, the first sleeve 70 and the second sleeve 80 can rotate along with the rotation. The fourth bearing 30 and the fifth bearing 60 are fixed by the third step 50, the first sleeve 70, the second sleeve 80 and the bearing press block 40, and meanwhile, the size of the play of the fourth bearing 30 and the fifth bearing 60 can be adjusted by selecting the first sleeve 70 and the second sleeve 80 with different sizes. That is, the first sleeve 70 and the second sleeve 80 have a length difference in the axial direction, and those skilled in the art can select the length difference according to actual conditions to control the play between the fourth bearing 30 and the fifth bearing 60 within a preset range.

Referring to fig. 3-5, in some embodiments, the swing arm structure of the teleoperated manipulator further comprises a small arm drive wheel 90, the small arm drive wheel 90 being connected to the side of the small arm first pivot 2 remote from the large arm joint pivot 11.

In this embodiment, the small arm driving wheel 90 is connected to the small arm first rotating shaft 2, and the small arm driving wheel 90 may transmit power to the small arm motor through a timing belt or a wire rope, but is not limited thereto.

Referring to fig. 3-5, in some embodiments, the medial side of the large arm joint 1 is configured with a fourth step 100, the fourth step 100 and the third step 50 being disposed one above the other in a direction perpendicular to the small arm first axis of rotation 2; a second boss 200 is formed on one side of the small arm transmission wheel 90 facing the small arm first rotating shaft 2; the third step 50 and the fourth step 100 are abutted against one end of the fourth bearing 30, and the second boss 200 and the bearing press block 40 are abutted against one end of the fifth bearing 60.

In the present embodiment, a fourth step 100 is formed inside the upper arm joint 1, and the fourth step 100 and the third step 50 are vertically provided in a direction perpendicular to the lower arm first rotation axis 2, wherein the third step 50 is adapted to abut against an inner ring on the side of the fourth bearing 30, and the fourth step 100 is adapted to abut against an outer ring on the side of the fourth bearing 30. A second boss 200 is configured on one side of the small arm transmission wheel 90 facing the small arm first rotating shaft 2, the second boss 200 and the bearing press block 40 are abutted against one end of the fifth bearing 60, wherein the second boss 200 is abutted against an inner ring of the fifth bearing 60, and the bearing press block 40 is abutted against an outer ring of the fifth bearing 60. The fourth step 100 is an annular step, which is exemplary only and not limiting.

Referring to fig. 3 and 5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a first encoder 300 and/or a second encoder 400, the first encoder 300 being coupled to the large arm transmission wheel 4, and the second encoder 400 being coupled to the small arm transmission wheel 90.

In this embodiment, the first encoder 300 is connected to the large arm transmission wheel 4, the large arm transmission wheel 4 is connected to the large arm joint rotation shaft 11, the large arm joint rotation shaft 11 and the large arm transmission wheel 4 rotate synchronously, and the rotation data of the large arm joint rotation shaft 11 and the large arm transmission wheel 4 are the same, so that the rotation data of the large arm joint rotation shaft 11 can be detected by the first encoder 300 connected to the large arm transmission wheel 4. The second encoder 400 is connected to the small arm driving wheel 90, the small arm driving wheel 90 is connected to the small arm first rotating shaft 2, the small arm first rotating shaft 2 and the small arm driving wheel 90 rotate synchronously, and the rotation data of the small arm first rotating shaft 2 and the small arm first rotating shaft 90 are the same, so that the rotation data of the small arm first rotating shaft 2 can be detected through the second encoder 400 connected to the small arm driving wheel 90.

In some embodiments, the first encoder 300 and the second encoder 400 are single-turn absolute value encoders, which are exemplary only and not limiting. It should be noted that, no matter the large arm joint rotating shaft 11 or the small arm first rotating shaft 2, the rotation angle thereof does not exceed 360 °, so only the single-turn rotation angle values of the large arm joint rotating shaft 11 and the small arm first rotating shaft 2 need to be recorded, and the number of rotation turns need not to be recorded, and meanwhile, in order to ensure that the teleoperation manipulator can obtain the current position immediately after being powered on, and need not to zero the current position, therefore, the single-turn absolute value encoder is selected in this embodiment.

Referring to fig. 3 and 5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a first connecting shaft 500 and/or a second connecting shaft 600, one end of the first connecting shaft 500 is connected to the large arm transmission wheel 4, and the other end is connected to the first encoder 300; one end of the second connecting shaft 600 is connected to the small arm driving wheel 90, and the other end is connected to the second encoder 400.

In this embodiment, the large arm driving wheel 4 is provided with a first connecting shaft 500, the small arm driving wheel 90 is provided with a second connecting shaft 600, the first encoder 300 is connected to the first connecting shaft 500, the second encoder 400 is connected to the second connecting shaft 600, the first encoder 300 is used for detecting rotation data of the first connecting shaft 500, and the second encoder 400 is used for detecting rotation data of the second connecting shaft 600.

Referring to fig. 3 and 5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a first mount 700 and/or a second mount 800, the code wheel of the first encoder 300 is connected with the first connection shaft 500, the read head of the first encoder 300 is connected with the first mount 700, the code wheel of the second encoder 400 is connected with the second connection shaft 600, and the read head of the second encoder 400 is connected with the second mount 800.

In this embodiment, the code wheel of the first encoder 300 is connected to the first connecting shaft 500 and can rotate along with the first connecting shaft 500, the reading head of the first encoder 300 is connected to the first mounting base 700 and fixed by the first mounting base 700, and when the first connecting shaft 500 rotates, the reading head of the first encoder 300 can read data on the code wheel of the first encoder 300. The code wheel of the second encoder 400 is connected with the second connecting shaft 600 and can rotate along with the second connecting shaft 600, the reading head of the second encoder 400 is connected with the second mounting base 800 and fixed through the second mounting base 800, and when the second connecting shaft 600 rotates, the reading head of the second encoder 400 can read data on the code wheel of the second encoder 400.

Referring to fig. 3-5, in some embodiments, the swing arm structure of the teleoperated manipulator further includes a first transmission wheel 900, and the first transmission wheel 900 is disposed on the small arm first rotating shaft 2 and located in the inner cavity of the joint housing 12.

In the present embodiment, a first driving wheel 900 is disposed on the first rotating shaft 2 of the arm, and the first driving wheel 900 is located in the middle of the first rotating shaft 2 of the arm and can transmit power, such as a steel cable, through a driving belt or a driving rope, which is only exemplary and not limiting, and can be designed by those skilled in the art according to the actual situation.

Referring to fig. 6, fig. 6 is a schematic diagram of a swing arm structure of a teleoperation manipulator according to an embodiment of the present invention.

In some embodiments, the swing arm structure of the teleoperated manipulator further includes a large arm lever 1000, a small arm joint 2000, and a small arm lever 3000, one end of the large arm lever 1000 is connected to the joint housing 12, the other end is connected to the small arm joint 2000, and the small arm lever 3000 is disposed at a side of the small arm joint 2000 away from the large arm lever 1000 and connected thereto. In this embodiment, two ends of the arm lever 1000 are respectively connected to the joint housing 12 and the small arm joint 2000, the small arm joint 2000 is further connected to the arm lever 3000, and the arm lever 3000 is rotatably connected to the arm lever 1000 through the small arm joint 2000.

Referring to fig. 7, fig. 7 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, which includes the rocker arm structure described in the foregoing embodiments, and the specific structure of the rocker arm structure refers to the foregoing embodiments.

Wherein, teleoperation manipulator still includes base 1A, revolving stage 2A, big arm 3A, forearm 4A, end 5A, handle 6A, revolving stage 2A sets up on base 1A, big arm 3A's one end is connected with revolving stage 2A, big arm 3A's the other end is connected with forearm 4A's one end, forearm 4A's the other end is connected with end 5A, handle 6A sets up on end 5A for control revolving stage 2A, big arm 3A, forearm 4A and end 5A move.

The invention further 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 teleoperation manipulator comprises the rocker arm structure described in the foregoing embodiments, and the specific structure of the rocker arm structure refers to the foregoing embodiments, and since the teleoperation device adopts all technical solutions of all the foregoing embodiments, the teleoperation manipulator at least has all technical effects brought by the technical solutions of the foregoing embodiments, and details are not repeated 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.