CN113618756A - Teleoperation manipulator and handle and teleoperation equipment thereof - Google Patents
Teleoperation manipulator and handle and teleoperation equipment thereof Download PDFInfo
- Publication number
- CN113618756A CN113618756A CN202111185828.5A CN202111185828A CN113618756A CN 113618756 A CN113618756 A CN 113618756A CN 202111185828 A CN202111185828 A CN 202111185828A CN 113618756 A CN113618756 A CN 113618756A
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- Prior art keywords
- manipulator
- handle
- teleoperation
- circuit board
- control circuit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a teleoperation manipulator, a handle thereof and teleoperation equipment, wherein the handle of the teleoperation manipulator comprises a hand-held part and a connecting part; the handheld part is connected with the connecting part and arranged in an included angle; the connecting part is used for being connected with a tail end joint of the teleoperation manipulator; the handheld part is provided with a first control key at the inner corner side of the included angle. The handle is connected with the tail end joint of the teleoperation manipulator through the connecting part, and an operator can hold the hand-held part arranged at an included angle with the connecting part to drive the teleoperation manipulator to act; in addition, the first control key arranged on the inner corner side of the included angle of the handheld part can be operated to control the teleoperation manipulator, so that an operator can conveniently use the handheld manipulator in a handheld mode.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a teleoperation manipulator, a handle thereof and teleoperation equipment.
Background
Teleoperation robots have been receiving attention and attention from many research institutes and researchers as an important branch of robots. The teleoperation robot is mainly a remote operation robot which can complete complex operation in an environment where people are difficult to access under the control of people, and is generally applied to numerous fields of aviation, medical treatment, rescue, industry and the like.
The teleoperation robot comprises a master manipulator and a slave manipulator, an operator manually controls the master manipulator, the slave manipulator can 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, so that the operator can make a correct decision conveniently.
The main manipulator comprises a base, a rotary table, a large arm, a small arm, a tail end and the like, and an operator generally manipulates the tail end of the main manipulator to make the tail end move. However, the structure of the handle at the end of the main manipulator is different, for example, a master-slave manipulator disclosed in CN202022003943.3 application number controls the main hand, specifically referring to fig. 1, the handle 2 is in a block shape; and a low gravity center multifunctional master hand device disclosed in CN201710828927.8, specifically referring to fig. 2, the handle 400 is ring-shaped, which is not convenient for the operator to use.
Disclosure of Invention
The invention mainly aims to provide a handle of a teleoperation manipulator, and aims to solve the technical problem that the existing handle at the tail end of the teleoperation manipulator is inconvenient for an operator to hold for use.
In order to achieve the above object, the present invention provides a handle of a teleoperation manipulator, which comprises a hand-held part and a connecting part;
the handheld part is connected with the connecting part and arranged in an included angle;
the connecting part is used for being connected with a tail end joint of the teleoperation manipulator;
the handheld part is provided with a first control key at the inner corner side of the included angle.
Wherein, the outer corner side of handheld portion in the contained angle is equipped with a plurality of second control keys.
Wherein the included angle is an obtuse angle.
Wherein, the handle is whole to be pistol formula appearance, and first control key is the trigger form.
The handle further comprises a first control circuit board;
the first control circuit board is arranged in the handheld part and close to the first control key;
the first control key is electrically connected with the first control circuit board.
The handle further comprises a second control circuit board;
the second control circuit board is arranged in the handheld part and close to the second control key;
the second control key is electrically connected with the second control circuit board.
Wherein, a first mounting plate and a second mounting plate are arranged in the hand-held part;
the first control circuit board is arranged on the first mounting plate;
the second control circuit board is mounted on the second mounting plate.
The hand-held part and the connecting part form a shell of the handle, and the shell is formed by two half shells which are detachably connected.
Wherein, the one end that connecting portion kept away from handheld portion is constructed there is the assembly plate, and the assembly plate can be through terminal joint of connecting piece connection.
The assembling plate is provided with a shaft connecting part and a shell assembling cavity, the shell assembling cavity is arranged around the shaft connecting part, the shaft connecting part can be connected with a rotating shaft of the tail end joint, and the shell assembling cavity can be used for inserting and rotating a shell of the tail end joint.
The shell assembly cavity is internally provided with a stop block for limiting the rotation angle of the shell of the tail end joint in the shell assembly cavity.
Wherein the first mounting plate and the second mounting plate are both provided with a first wire passing port,
one end of the connecting part far away from the handheld part is provided with a second wire passing port.
The invention also provides a teleoperation manipulator, which comprises a tail end joint and the handle of the teleoperation manipulator, wherein the tail end joint comprises a rotating shaft, and the connecting part is connected with the rotating shaft.
The invention also provides a teleoperation device, which comprises a slave manipulator and the teleoperation manipulator described above, wherein the teleoperation manipulator is in communication connection with the slave manipulator.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the handle is provided with a connecting part and a handheld part which are connected with the tail end joint of the teleoperation manipulator, and the handheld part and the connecting part form an included angle, so that an operator can hold the handle conveniently to drive the teleoperation manipulator to act; meanwhile, the hand-held part is provided with a first control key at the inner angle side of the included angle, the first control key can be used for controlling the manipulator, when an operator holds the hand-held part, the index finger of the operator is just close to the position of the first control key, and the manual control operation of the operator is very convenient.
Drawings
FIG. 1 is a schematic diagram of a teleoperated manipulator of the prior art;
FIG. 2 is a schematic diagram of another prior art teleoperated manipulator;
FIG. 3 is a schematic view of a handle of a teleoperated manipulator according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of the handle of the teleoperated manipulator of the embodiment of FIG. 3 from another perspective;
FIG. 5 is an exploded view of the handle of the teleoperated manipulator of the embodiment of FIG. 3;
FIG. 6 is a schematic view of the handle of the teleoperated manipulator of the embodiment of FIG. 3 from a further perspective;
FIG. 7 is a schematic view of a distal joint of a teleoperated manipulator according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a teleoperation manipulator according to an embodiment of the present invention.
Detailed Description
In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall 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 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 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. 3 and 4, fig. 3 is a schematic structural diagram of a handle of a teleoperation manipulator in an embodiment of the present invention, and fig. 4 is a schematic structural diagram of the handle of the teleoperation manipulator in the embodiment of fig. 3 from another view angle:
in the present embodiment, the present invention provides a handle 100 of a teleoperation manipulator, which includes a hand-held portion 110 and a connecting portion 120;
the handheld part 110 is connected with the connecting part 120 and arranged at an included angle;
the connecting part 120 is used for connecting with a terminal joint 200 of the teleoperation manipulator;
the handheld portion 110 is provided with a first control key 1 at an inner corner side of the included angle.
The handle 100 of the present invention is an operation member of a teleoperation manipulator, which is an end for a user to manipulate, and is provided at a distal joint 200 among a plurality of joints of the teleoperation manipulator, and is movable by a manipulation motion of the user. The handle 100 of the present embodiment is composed of a handle portion 110 and a connecting portion 120, wherein the handle portion 110 is connected to the connecting portion 120 and is disposed at an included angle. The hand-held part 110 and the connecting part 120 may be integrally formed or detachably connected; the connecting portion 120 and the handle portion 110 may have a cylindrical or rectangular configuration, and may be provided according to the actual situation, but is not limited thereto. Referring to fig. 4, the angle formed by the connection between the handle portion 110 and the connecting portion 120 is an obtuse angle, that is: greater than 90 degrees, less than 180 degrees, for example: 91 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 150 degrees, 160 degrees, 170 degrees, 175 degrees, or 179 degrees. In the present handle 100, the connecting portion 120 is used to connect with the end joint 200 of the teleoperation manipulator, and the hand-held portion 110 is used to be held by the operator.
The use function of the first control key 1 can be set according to actual requirements. For example, joint resetting, the joint of the teleoperation manipulator is manually operated to return to the initial position by pressing the first control key 1, and the teleoperation slave manipulator is still in the original position and does not follow the motion of the teleoperation manipulator. Of course, this use function of the first control key 1 is merely exemplary and not restrictive. The number of the first control keys 1 includes but is not limited to one, and may be two or more adjacent, and accordingly, the functions may be increased accordingly, and the first control keys 1 may be buttons or other structures. The first control key 1 is located at the inner corner of the hand-held portion 110, and an operator can hold the hand-held portion 110 with one hand and perform a key operation.
Compared with the handle 100 at the tail end of the existing teleoperation manipulator, the handle 100 of the embodiment is connected with the tail end joint 200 of the teleoperation manipulator through the connecting part 120, and an operator can hold the hand-holding part 110 which forms an included angle with the connecting part 120 to drive the teleoperation manipulator to move; in addition, the first control key 1 disposed at the inner corner side of the included angle of the handheld portion 110 can be operated to control the teleoperation manipulator, so that the manipulator can use the manipulator by hand.
In some embodiments, the handle 110 has a plurality of second control keys 2 on the outer corner side of the included angle. The function of the second control key 2 can be set according to actual requirements. For example, the joints are locked, the second control keys 2 correspond to the joints for controlling the telemanipulator, and when the second control keys 2 are pressed, the corresponding joints are locked and cannot rotate. This joint locking function can avoid the joint of required motion when making the action, and other need not to move the joint and also moving and the malfunction appears, help promoting the accurate nature of control action, make things convenient for the operator to control the use. Of course, this use function of the second control key 2 is merely exemplary and not restrictive. Wherein, the keys of the second control key 2 can adopt the structural form of buttons. The number of the second control keys 2 is set according to actual conditions, as shown in fig. 3, the number of the second control keys 2 is set to 5, including but not limited to.
In some embodiments, the included angle is an obtuse angle. In this embodiment, the included angle between the handheld portion 110 and the connecting portion 120 is set to be an obtuse angle, so that the handheld portion 110 has a better handheld angle, and the handheld portion is in accordance with the ergonomic design, suitable for being held by an operator, and beneficial to improving the control comfort. Wherein the obtuse angle is preferably 120 °.
In some embodiments, the handle 100 is in the form of a pistol and the first control 1 is in the form of a trigger. In this embodiment, the handle 100 is in a pistol-type shape as a whole, the connecting portion 120 corresponds to a barrel of a pistol, the handle portion 110 corresponds to a grip seat of the pistol, and the first control key 1 corresponds to a trigger; except that can provide comfortable holding sense for the operator, have the practicality, as the handle 100 of teleoperation manipulator, appearance novel structure is unique, has stronger use degree of discernment, helps promoting the operator and uses the experience.
Referring to fig. 5, fig. 5 is an exploded view of the handle of the teleoperated manipulator of the embodiment of fig. 3:
in some embodiments, the handle 100 further includes a first control circuit board 130;
the first control circuit board 130 is disposed in the handheld portion 110 at a position close to the first control key 1;
the first control key 1 is electrically connected to the first control circuit board 130.
In this embodiment, the first control circuit board 130 is configured to process the key signal of the first control key 1 and send the key signal to the main control circuit board of the teleoperation manipulator. The circuit components on the first control circuit board 130 need to be specifically designed according to the use function of the first control key 1, and are not limited herein.
In some embodiments, the handle 100 further comprises a second control circuit board 140;
the second control circuit board 140 is disposed in the handheld portion 110 at a position close to the second control key 2;
the second control key 2 is electrically connected to the second control circuit board 140.
In this embodiment, the second control circuit board 140 is configured to process the key signals of the plurality of second control keys 2 and send the key signals to the main control circuit board of the teleoperation manipulator. The circuit components on the second control circuit board 140 need to be specifically designed according to the use functions of the second control keys 2, and are not limited herein.
In some embodiments, a first mounting plate 10 and a second mounting plate 20 are provided within the handpiece 110;
the first control circuit board 130 is mounted on the first mounting plate 10;
the second control circuit board 140 is mounted on the second mounting plate 20.
In this embodiment, the shape and size of the first mounting plate 10 are adapted to the first control circuit board 130, and the first control circuit board 130 is detachably locked to the first mounting plate 10 by screws; as shown in fig. 4, the first control circuit board 130 is rectangular, the first mounting plate 10 is correspondingly rectangular, and a plurality of connecting holes corresponding to each other in position and used for screws to pass through are formed in the first control circuit board 130 and the first mounting plate 10. The shape and size of the second mounting plate 20 are matched with those of a second control circuit board, and the second control circuit board is detachably locked on the second mounting plate 20 through screws; as shown in fig. 4, the second control circuit board is circular, the second mounting plate 20 is correspondingly configured to be circular, and a plurality of screw connection holes corresponding to each other in position and used for screws to pass through are formed in the second control circuit board and the second mounting plate 20.
In some embodiments, the hand-held portion 110 and the connecting portion 120 form a housing for the handle 100, which is formed by two half-shells 101 that are removably connected. In this embodiment, the two half shells 101 may be of a symmetrical or asymmetrical shell structure, and the two half shells 101 are assembled in a butt joint manner to form a shell of the handle 100, and accordingly form the hand-held portion 110 and the connecting portion 120. Wherein, the housing can be made of plastic or other suitable materials without limitation; the two half-shells 101 can be connected by means of a number of screws and thus removable. As preferred, the butt joint edge of two half shells 101 can correspond and set up public tang and female tang to form the tang cooperation, the assembly is firm and can eliminate the structure clearance, and the leakproofness is good.
Preferably, the first mounting plate 10 and the second mounting plate 20 are integrally formed on one of the two half-shells 101; or the like, or, alternatively,
the first mounting plate 10 is integrally formed with one of the two half-shells 101 and the second mounting plate 20 is integrally formed with the other of the two half-shells 101.
The first and second mounting plates 10 and 20 are integrally formed with the half shell 101, so that the structure is compact, and the number of parts assembling processes for assembling the handle 100 can be reduced, thereby reducing the cost.
Preferably, the plurality of second control keys 2 are respectively provided with a key identifier.
Specifically, the 5 second control keys 2 are respectively provided with a key identifier A, B, C, D, E so that the operator can recognize the use. Of course, the key identification may be in other forms besides letters, such as words or figures.
Referring to fig. 6 and 7, fig. 6 is a schematic structural view of the handle of the teleoperation manipulator in the embodiment of fig. 3 from another view angle, and fig. 7 is a schematic structural view of the end joint of the teleoperation manipulator in the embodiment of the present invention:
in some embodiments, an end of the connecting portion 120 remote from the handle portion 110 is configured with a mounting plate 121, and the mounting plate 121 can be connected to the end joint 200 by a connecting member.
In this embodiment, the mounting plate 121 is located at an end of the connecting portion 120 away from the handheld portion 110, and the end joint 200 is connected to the mounting plate 121 in an abutting manner to achieve connection with the connecting portion 120. The mounting plate 121 may have various structures, and may be a planar plate, or other structures may be disposed on the planar plate. Specifically, the connecting member may be a screw, and may be provided in plurality, including but not limited thereto.
In some embodiments, the fitting plate 121 is configured with a shaft coupling portion 121a and a case fitting cavity 121b, the case fitting cavity 121b is disposed around the shaft coupling portion 121a, the shaft coupling portion 121a can be coupled with the rotation shaft 210 of the end joint 200, and the case fitting cavity 121b can allow the housing 220 of the end joint 200 to be inserted and rotated.
In this embodiment, the assembly plate 121 is provided with two small and large annular protrusions, the small annular protrusion is located in the large annular protrusion, the two annular protrusions form a shaft connecting portion 121a and a housing assembling cavity 121b on the assembly plate 121, the shaft connecting portion 121a is a middle circular portion of the assembly plate, the housing assembling cavity 121b is an annular cavity between the two annular protrusions and is disposed around the shaft connecting portion 121a, the rotating shaft 210 of the end joint 200 is connected with the shaft connecting portion 121a of the assembly plate 121, and the housing 220 of the end joint 200 is correspondingly inserted into the housing assembling cavity 121b of the assembly plate 121 and can rotate in the housing assembling cavity 121 b.
In some embodiments, a stop block 121c is disposed in the housing assembly cavity 121b to limit the rotation angle of the housing 220 of the distal joint 200 in the housing assembly cavity 121 b. In this embodiment, the stop block 121c in the housing assembly cavity 121b is located on the relative rotation path of the position-limiting portion 221 corresponding to the housing 220 of the end joint 200, and when the handle 100 rotates relative to the end joint 200 and rotates to a certain angle, the stop block 121c abuts against the position-limiting portion 221 to stop, thereby limiting the handle 100 from continuing to rotate. The two stop blocks 121c may be spaced apart, and the rotation angle range is defined by the position distance between the two stop blocks 121 c.
In some embodiments, the first and second mounting plates 10 and 20 are provided with a first wire passing port 30,
the end of the connecting part 120 away from the handheld part 110 is provided with a second wire passing port 40.
In this embodiment, the cables of the first control circuit board 130 and the second control circuit board 140 respectively pass through the first wire passing ports 30 of the first mounting plate 10 and the second mounting plate 20, and pass through the second wire passing port 40 of the connecting portion 120, so as to be routed to the end joint 200 of the teleoperated manipulator. The calibers of the first wire passing port 30 and the second wire passing port 40 are set according to actual conditions. The first wire passing port 30 and the second wire passing port 40 can enable cables of the first control circuit board 130 and the second control circuit board 140 to be routed orderly. In combination with the above embodiments, the second wire passing hole 40 may be disposed on the mounting plate 121.
Referring to fig. 7 and 8, fig. 8 is a schematic structural diagram of a teleoperation manipulator in an embodiment of the present invention:
the present invention further provides a teleoperation manipulator, which includes a terminal joint 200 and the handle 100 of the teleoperation manipulator described in the foregoing embodiments, where the terminal joint 200 includes a rotating shaft 210, and the connecting portion 120 is connected to the rotating shaft 210, and the specific structure of the handle 100 of the teleoperation manipulator refers to the foregoing embodiments, and since the teleoperation manipulator 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 user operates the handle 100 to rotate on the rotation plane of the rotation shaft 210 of the end joint 200, so as to drive the rotation shaft 210 of the end joint 200 to rotate therewith.
The invention further provides a teleoperation device, which comprises a slave manipulator and the teleoperation manipulator described in the foregoing embodiment, wherein the teleoperation manipulator is in communication connection with the slave manipulator or the mechanical arm. The specific structure of the teleoperation manipulator refers to the above embodiments, and since the teleoperation device adopts all technical solutions of all the above embodiments, the teleoperation device at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
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 (14)
1. A handle of a teleoperation manipulator is characterized by comprising a hand-held part and a connecting part;
the handheld part is connected with the connecting part and forms an included angle;
the connecting part is used for being connected with a tail end joint of the teleoperation manipulator;
the handheld portion is provided with a first control key on the inner corner side of the included angle.
2. The handle according to claim 1, wherein the hand-held portion is provided with a plurality of second control keys on outer corner sides of the included angle.
3. The handle of claim 1, wherein the included angle is an obtuse angle.
4. The handle according to claim 1, 2 or 3,
the handle is in a pistol shape integrally, and the first control key is in a trigger shape.
5. The handle of claim 2, further comprising a first control circuit board;
the first control circuit board is arranged in the handheld part and close to the first control key;
the first control key is electrically connected with the first control circuit board.
6. The handle of claim 5, further comprising a second control circuit board;
the second control circuit board is arranged in the handheld part and close to the second control key;
the second control key is electrically connected with the second control circuit board.
7. The handle according to claim 6,
a first mounting plate and a second mounting plate are arranged in the handheld part;
the first control circuit board is mounted on the first mounting plate;
the second control circuit board is mounted on the second mounting plate.
8. The handle of claim 7,
the handheld portion with the connecting portion constitute the shell of handle, the shell comprises two half shells that can dismantle the connection.
9. The handle according to claim 1,
one end of the connecting part, which is far away from the handheld part, is constructed with an assembly plate, and the assembly plate can be connected with the tail end joint through a connecting piece.
10. The handle according to claim 9, wherein the mounting plate is configured with a shaft connecting portion and a housing mounting cavity, the housing mounting cavity being disposed around the shaft connecting portion, the shaft connecting portion being connectable with a rotating shaft of the distal joint, the housing mounting cavity being insertable and rotatable with a housing of the distal joint.
11. The handle of claim 10, wherein a stop is disposed in the shell assembly cavity to limit the angle of rotation of the shell of the distal joint in the shell assembly cavity.
12. The handle according to any of claims 7-8,
the first mounting plate and the second mounting plate are both provided with a first wire passing port,
one end of the connecting part, which is far away from the handheld part, is provided with a second wire passing port.
13. Teleoperated manipulator, characterized in that it comprises an end joint comprising a rotation shaft and a handle of a teleoperated manipulator according to any of claims 1-12, said connecting part being connected to said rotation shaft.
14. Teleoperated device, characterized in that it comprises a slave manipulator and a teleoperated manipulator according to claim 13, which teleoperated manipulator is in communicative connection with the slave manipulator.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111185828.5A CN113618756A (en) | 2021-10-12 | 2021-10-12 | Teleoperation manipulator and handle and teleoperation equipment thereof |
| CN202220853761.1U CN217494275U (en) | 2021-10-12 | 2022-04-13 | Teleoperation manipulator and handle and teleoperation equipment thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111185828.5A CN113618756A (en) | 2021-10-12 | 2021-10-12 | Teleoperation manipulator and handle and teleoperation equipment thereof |
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| CN113618756A true CN113618756A (en) | 2021-11-09 |
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| CN202111185828.5A Pending CN113618756A (en) | 2021-10-12 | 2021-10-12 | Teleoperation manipulator and handle and teleoperation equipment thereof |
| CN202220853761.1U Active CN217494275U (en) | 2021-10-12 | 2022-04-13 | Teleoperation manipulator and handle and teleoperation equipment thereof |
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| CN202220853761.1U Active CN217494275U (en) | 2021-10-12 | 2022-04-13 | Teleoperation manipulator and handle and teleoperation equipment thereof |
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Cited By (1)
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| CN114639561A (en) * | 2022-03-14 | 2022-06-17 | 深圳市大族机器人有限公司 | Key device and robot with same |
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- 2022-04-13 CN CN202220853761.1U patent/CN217494275U/en active Active
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| WO2011137970A1 (en) * | 2010-05-06 | 2011-11-10 | Kuka Roboter Gmbh | Handheld device and method for controlling and/or programming a manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114639561A (en) * | 2022-03-14 | 2022-06-17 | 深圳市大族机器人有限公司 | Key device and robot with same |
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| CN217494275U (en) | 2022-09-27 |
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