CN114569251A - Double-arm manipulator system - Google Patents

Abstract

The invention provides a double-arm manipulator system, comprising: the manipulator comprises a support crossbeam, a plurality of manipulator arms and a plurality of manipulator mechanisms, wherein the support crossbeam is provided with two groups of manipulator arms in a sliding manner, the two groups of manipulator arms are symmetrically arranged, and each group of manipulator arms is provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and a manipulator mechanism; the operation hand mechanism includes operation hand support, operation hand ring cover, tongs and cuts degree of freedom drive handle, the operation hand support sets up with rotating the front end of forearm mechanism, operation hand ring cover sets up with rotating on the operation hand support, the inner circle of operation hand ring cover sets up with rotating on the outer lane of operation hand ring cover, the tongs is fixed to be set up the inner circle of operation hand ring cover, it articulates through the lever fulcrum on the tongs to cut the degree of freedom handle, the both ends of shearing the degree of freedom handle all are provided with the drive opening, two be connected with two shearing drive steel wires in the drive opening respectively.

Description

Dual Arm Manipulator System

technical field

The invention relates to the technical field of medical devices, in particular to a dual-arm operating hand system.

Background technique

Surgical robots are used more and more widely in surgical operations. Surgical robots can assist doctors to perform more precise operations. During surgical operations using surgical robots, doctors receive motion by operating the main manipulator mechanical arm, and the robot arm is used in the main operation. The corresponding operations are performed under the control of the manipulator arm. In order to accurately receive the movements of the doctor, some surgical robots are equipped with a double-arm manipulator system. Each main manipulator mechanical arm of the double-arm manipulator system is equipped with a master manipulator, and the master manipulator is used to directly receive the doctor's hand. Movement plays a vital role in the surgical procedure. Most of the main operators of the existing dual-arm operator system receive the doctor's action through an electrical signal device, and transmit the action to the robot's actuator through an electric signal. Realize precise motion conduction and force feedback.

SUMMARY OF THE INVENTION

The present invention provides a double-arm manipulator system, which aims to solve the problem that the main manipulator of the existing two-arm manipulator system cannot realize precise motion transmission by receiving the doctor's motion through electrical signal equipment.

In order to achieve the above object, an embodiment of the present invention provides a dual-arm operating hand system, including:

The support beam, two sets of manipulator mechanical arms are slidably arranged on the support beam, the two sets of manipulator manipulators are symmetrically arranged, and each set of manipulator manipulators is provided with a shoulder joint mechanism, a large arm mechanism, a small The arm mechanism and the operating hand mechanism, the shoulder joint mechanism, the big arm mechanism, the small arm mechanism and the operating hand mechanism are connected one by one;

The operating hand mechanism includes an operating hand support, an operating hand ring cover, a gripper and a shearing freedom driving handle, the operating hand support is rotatably arranged at the front end of the forearm mechanism, and the operating hand ring cover It is rotatably arranged on the operating hand support, the inner ring of the operating hand ring sleeve is rotatably arranged on the outer ring of the operating hand ring sleeve, and the gripper is fixedly arranged on the outer ring of the operating hand ring sleeve. In the inner ring, the shearing degree of freedom handle is hinged on the gripper through a lever fulcrum, the two ends of the shearing degree of freedom handle are provided with driving holes, and two shears are respectively connected in the two driving holes. Cut the drive wire.

Wherein, the shoulder joint mechanism includes a mechanical arm connecting part, a shoulder joint seat and a shoulder joint shaft, and the shoulder joint seat is rotatably arranged in the mechanical arm connecting part through the shoulder joint shaft;

The boom mechanism includes an arm telescopic drive link, an arm up and down drive link and an arm rocker, one end of the arm rocker is rotatably arranged in the shoulder joint seat, and the other end of the arm rocker is rotatably arranged in the shoulder joint seat. is rotatably connected with the upper end of the arm up and down drive link, and the upper end of the arm telescopic drive link is rotatably arranged in the shoulder joint seat;

Wherein, the forearm mechanism includes a forearm main body and a telescopic arm, the telescopic arm is slidably arranged in the forearm main body, and the lower end of the arm telescopic drive link is rotatably connected to the rear end of the forearm main body The lower end of the upper and lower drive link of the arm is rotatably connected to the middle part of the forearm main body, and the operator support is rotatably arranged at the front end of the telescopic arm.

Wherein, the arm rotation drive wire is arranged around the shoulder joint shaft, the wrist rotation drive wire is arranged on the operating hand support, and the wrist up and down rotation drive wire is arranged on the outer ring of the operation hand ring cover. The inner ring of the bracelet sleeve is provided with a whole rotating driving steel wire of the wrist.

Wherein, an arm telescopic drive shaft is rotatably arranged in the shoulder joint seat, and the arm telescopic drive link is rotatably arranged in the shoulder joint seat through the arm telescopic drive shaft, and the arm telescopic drive shaft is arranged around the arm telescopic drive shaft. There is an arm telescopic drive wire; the shoulder joint seat is fixedly provided with an arm telescopic freedom degree balance motor, and the arm telescopic freedom degree balance motor is fixedly connected with the arm telescopic drive shaft.

Wherein, the upper and lower drive shafts of the arm are rotatably arranged in the shoulder joint seat, and the arm rocker is rotatably arranged in the shoulder joint seat through the upper and lower driving shafts of the arms, and the upper and lower driving shafts of the arms are provided with arms around them. The upper and lower driving wires; the shoulder joint seat is fixedly provided with a motor for balancing the upper and lower degrees of freedom of the arm, and the motor for balancing the upper and lower degrees of freedom of the arm is fixedly connected with the upper and lower drive shafts of the arm.

Wherein, the support beam is provided with a translation linear guide rail and a translation locking support shaft, the manipulator manipulator is slidably arranged on the support beam through the translation linear guide rail, and the manipulator manipulator is provided with a translation A locking mechanism, the manipulator mechanical arm is connected with the translation locking support shaft through the translation locking mechanism.

Wherein, the translation locking mechanism includes a braking mechanism, the braking mechanism is provided on the top side of the manipulator arm, the braking mechanism is provided with a first braking lever and a second braking lever, the first braking lever and the second brake lever are both rotatably arranged on the rotating pin shaft, the first ends of the first brake lever and the second brake lever are arranged in close contact with the translation locking support shaft, the first brake lever and the second brake lever A translational braking preload spring is arranged between the second ends of the brake lever.

Wherein, the translation locking mechanism further includes an unlocking mechanism, the unlocking mechanism is provided on one side of the shoulder joint seat, the unlocking mechanism is provided with an unlocking handle, the unlocking handle is connected to one end of the unlocking wire, and the unlocking wire is The other end is connected to the bottom of the second end of the first brake lever.

The above-mentioned scheme of the present invention has the following beneficial effects:

The dual-arm manipulator system of the present invention is provided with a support beam and two sets of manipulator arms slidably arranged on the support beam, and the manipulator manipulator is provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and an operating hand mechanism , the mechanical arm can realize the arm rotation movement through the shoulder joint mechanism, the big arm mechanism can drive the forearm mechanism to move up and down and back and forth, the manipulator mechanism can realize the left and right rotation of the wrist, the up and down rotation and the overall rotation movement, the shearing set by the manipulator mechanism The degree of freedom handle can be used to transmit shearing motion, the manipulator manipulator of the present invention can adjust the position on the support beam through the translation locking mechanism, and the seven degrees of freedom of each manipulator manipulator are completely decoupled, and can be adjusted through the translation locking mechanism. Drive steel wire transmission, each degree of freedom does not interfere with each other when the main manipulator manipulator moves, and can move independently.

Description of drawings

1 is a schematic structural diagram of a dual-arm operating hand system of the present invention;

2 is a schematic structural diagram of a manipulator manipulator of the dual-arm manipulator system of the present invention;

3 is a schematic structural diagram of a shoulder joint mechanism, a large arm mechanism and a small arm mechanism of the dual-arm operating hand system of the present invention;

4 is a schematic diagram of the shoulder joint mechanism of the dual-arm operating hand system of the present invention;

5 is a schematic diagram 1 of the connection between the shoulder joint mechanism and the boom mechanism of the dual-arm operating hand system of the present invention;

6 is a schematic diagram 2 of the connection between the shoulder joint mechanism and the boom mechanism of the dual-arm operating hand system of the present invention;

7 is a schematic structural diagram of the operating hand mechanism of the dual-arm operating hand system of the present invention;

8 is a schematic diagram of the connection between the manipulator mechanical arm and the support beam of the dual-arm manipulator system of the present invention;

9 is a schematic diagram of a partial connection between the manipulator mechanical arm and the support beam of the dual-arm manipulator system of the present invention;

10 is a schematic structural diagram of the brake mechanism of the dual-arm operating hand system of the present invention;

FIG. 11 is a schematic structural diagram of the unlocking mechanism of the dual-arm operating hand system of the present invention.

[Description of reference numerals]

1-Support beam; 2-Manipulator arm; 10-Translation linear guide; 11-Translation locking support shaft; 100-Shoulder joint mechanism; 101-Robot arm connecting part; 102-Shoulder joint seat; 103-Shoulder joint shaft ;104-arm rotation drive wire; 200-boom mechanism; 201-arm telescopic drive link; 202-arm up and down drive link; 203-arm rocker; 204-arm telescopic drive shaft; 205-arm telescopic drive wire; 206-arm telescopic degree of freedom balance motor; 207- arm up and down drive shaft; 208- arm up and down drive wire; 209- arm up and down degree of freedom balance motor; 210- arm telescopic drive roller; 211- arm up and down drive roller; 300- forearm Mechanism; 301- forearm main body; 302- telescopic arm; 303- fastening bolt; 400- operating hand mechanism; 401- operating hand support; 402- operating hand ring cover; 403- shearing degree of freedom drive handle; 404- 405-Wrist rotating drive wire left and right; 405-Wrist rotating drive wire up and down; 406-Wrist whole rotating drive wire; 407-Gripper; 408- Shearing drive wire; 500-Translation locking mechanism; 501-Brake mechanism; 503-Second brake lever; 504-Rotation pin; 505-Translation brake preload spring; 506-Unlock mechanism; 507-Unlock mount; 508-Unlock handle; 509-Unlock wire; 510-Guide roller.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

Aiming at the problem of the existing main manipulator manipulator, the present invention provides a double-arm manipulator system.

As shown in FIG. 1 to FIG. 7 , an embodiment of the present invention provides a dual-arm manipulator system, including: a support beam 1 , and two sets of manipulator mechanical arms 2 are slidably arranged on the support beam 1 . The manipulator mechanical arms 2 are symmetrically arranged, and each group of the manipulator manipulators 2 is provided with a shoulder joint mechanism 100, a large arm mechanism 200, a small arm mechanism 300 and an operating hand mechanism 400. The arm mechanism 200 , the forearm mechanism 300 and the operating hand mechanism 400 are connected one by one; the operating hand mechanism 400 includes the operating hand support 401 , the operating hand ring cover 402 , the gripper 407 and the shearing degree of freedom driving handle 403, the operating hand support 401 is rotatably arranged on the front end of the telescopic arm 302, the operating hand ring cover 402 is rotatably arranged on the operating hand support 401, and the inner part of the operating hand ring cover 402 The ring is rotatably arranged on the outer ring of the operating hand ring sleeve 402 , the gripper 407 is fixedly arranged on the inner ring of the operating hand ring sleeve 402 , and the shearing freedom handle 403 is hinged on the lever fulcrum 408 . On the gripper, both ends of the shearing degree of freedom handle 403 are provided with driving holes, and two shearing driving wires 408 are respectively connected in the two driving holes, and the shearing driving wires 408 are used for Connect the shear implementation mechanism of the surgical robot.

A shoulder joint mechanism 100, the shoulder joint mechanism 100 includes a mechanical arm connecting portion 101, a shoulder joint seat 102 and a shoulder joint shaft 103, the shoulder joint seat 102 is rotatably provided with the mechanical arm connecting portion through the shoulder joint shaft 103 101; the boom mechanism 200, the boom mechanism 200 includes an arm telescopic drive link 201, an arm up and down drive link 202 and an arm rocker 203, one end of the arm rocker 203 is rotatably arranged on the shoulder joint In the seat 102, the other end of the arm rocker 203 is rotatably connected with the upper end of the arm up and down drive link 202, and the upper end of the arm telescopic drive link 202 is rotatably arranged in the shoulder joint seat 102; Forearm mechanism 300, the forearm mechanism 300 includes a forearm main body 301 and a telescopic arm 302, the telescopic arm 302 is slidably arranged in the forearm main body 301, and the lower end of the arm telescopic drive link 201 rotates The rear end of the forearm main body 301 is connected, and the lower end of the upper and lower arm driving link 202 is rotatably connected to the middle of the forearm main body 301;

The dual-arm manipulator system according to the embodiment of the present invention is installed on the support beam of the robot through the mechanical arm connecting part 101 , the shoulder joint shaft 103 is arranged in the mechanical arm connecting part 101 through a bearing, and the shoulder joint shaft The bottom of 103 is a shoulder joint seat 102, and the shoulder joint shaft 103 can realize the overall rotational motion of the mechanical arm by rotating relative to the mechanical arm connecting part 101; the arm telescopic drive link 201, the arm up and down drive link 202, the arm swing The rod 203 and the forearm main body 301 together form a quadrilateral mechanism. When the arm telescopic drive link 201 rotates in the shoulder joint seat 102, it can drive the forearm main body 301 to move back and forth, so as to realize the front and rear telescopic movement of the mechanical arm. When the arm rocker 203 rotates in the shoulder joint seat 102, it will drive the arm up and down drive link 202 to lift and then drive the front end of the forearm structure 3 to lift up and down to realize the up and down movement of the mechanical arm. The mechanism 400 is used to receive the movement of the wrist, the shearing degree of freedom driving handle 403 can move around the gripper 407 through the lever fulcrum 408, and the shearing driving wires 408 at both ends thereof are respectively used to receive and transmit the shearing and cutting of the operator's finger. The opening movement, wherein the upward rotation is shearing, and the downward rotation is opening; the bottom of the forearm main body 301 is provided with a fastening bolt 303 for fastening the sliding position of the telescopic arm 302 .

Wherein, the shoulder joint shaft 103 is provided with an arm rotation driving wire 104, the operating hand support 401 is provided with a wrist left and right rotation driving wire 404, and the outer ring of the operating hand ring cover 402 is provided with a wrist up and down rotation driving Steel wire 405, the inner ring of the operating wristband cover 402 is provided with a whole wrist rotation driving wire 406.

The shoulder joint shaft 103 is provided with the arm rotation driving wire 104, and both ends of the arm rotation driving wire 104 are respectively drawn out from two through holes on the mechanical arm connecting part 101, and follow the shoulder joint shaft. 103 rotates, the two ends of the arm rotation drive wire 104 can move in opposite directions respectively; the bottom of the operator support 401 is fixedly provided with the operator support shaft, and the operator support shaft is rotatably arranged on the At the front end of the telescopic arm 302, the rotating shaft of the manipulator support is provided with a wrist left and right rotation driving wire 404. With the rotation of the rotating shaft of the operating hand support, the two ends of the left and right rotating driving steel wires 404 of the wrist can move in opposite directions respectively; The rotating shafts on both sides of the outer ring of the sleeve 402 are respectively rotatably arranged on both sides of the operating hand support 401 through deep groove ball bearings, and the rotating shaft on one side of the operating hand ring sleeve 402 is equipped with the wrist to rotate up and down. The steel wire 405, the two ends of the wrist up and down rotation driving steel wire 405 are drawn out from the two through holes at the front end of one side of the operating hand support 401, and the operating hand ring cover 402 rotates relative to the operating hand support 401 , the two ends of the upper and lower wrist rotating driving steel wire 405 can move in opposite directions respectively; two sets of deep groove ball bearings are arranged between the inner ring and the outer ring of the operating wristband sleeve 402, and the operating wristband sleeve 402 The inner ring is provided with the wrist integral rotation driving wire 406, and the two ends of the wrist integral rotation driving wire 406 are respectively drawn out from the through holes on both sides of the operating hand support 401. The inner ring and the outer ring of 402 rotate relative to each other, and the two ends of the overall rotational driving wire 406 of the wrist can move in opposite directions respectively;

As shown in FIGS. 4 and 5 , an arm telescopic drive shaft 204 is rotatably disposed in the shoulder joint seat 102 , and the arm telescopic drive link 201 is rotatably disposed on the shoulder joint through the arm telescopic drive shaft 204 . Inside the seat 102, the arm telescopic drive shaft 204 is provided with an arm telescopic drive wire 205 around it.

Wherein, the shoulder joint seat 102 is fixedly provided with an arm telescopic freedom balance motor 206 , and the arm telescopic freedom balance motor 206 is fixedly connected with the arm telescopic drive shaft 204 .

The upper and lower arm drive shafts 207 are rotatably arranged in the shoulder joint seat 102, and the arm rocker 203 is rotatably arranged in the shoulder joint seat 102 through the upper and lower arm drive shafts 207, and the arm is driven up and down. The shaft 207 is provided with an arm up and down driving wire 208 around it.

Wherein, the shoulder joint seat 102 is fixedly provided with a motor 209 for balancing the upper and lower degrees of freedom of the arm.

In the dual-arm operating hand system according to the embodiment of the present invention, the arm telescopic drive shaft 204 and the arm up and down drive shaft 207 are both rotatably arranged in the shoulder joint seat 102 through bearings, and the motor is balanced by the arm telescopic freedom degree. 206 balances the gravity of the arm telescopic drive link 201, and balances the gravity of the arm up and down drive link 202 through the arm up and down freedom balance motor 209; the arm telescopic drive shaft 204 is provided with an arm telescopic drive roller outside 210, the arm telescopic drive wire 205 is wound around the arm telescopic drive roller 210, and as the arm telescopic drive link 201 rotates relative to the shoulder joint seat 102, both ends of the arm telescopic drive wire 205 The upper and lower arm drive shafts 207 are provided with arm up and down drive rollers 211, and the arm up and down drive wires 208 are wound around the arm up and down drive rollers 211, along with the arm rocker 203 When rotated relative to the shoulder joint seat 102 , the two ends of the upper and lower driving wires 208 of the arm will move in opposite directions respectively.

As shown in FIGS. 1 , 8 , 9 , 10 and 11 , the support beam 1 is provided with a translation linear guide 10 and a translation locking support shaft 11 , and the manipulator arm 2 slides through the translation linear guide 10 . On the support beam 1 , the manipulator mechanical arm 2 is provided with a translation locking mechanism 500 , and the manipulator manipulator 2 is connected with the translation locking support shaft 11 through the translation locking mechanism 500 .

Wherein, the translation locking mechanism 500 includes a braking mechanism 501, the braking mechanism 501 is provided on the top side of the manipulator arm 2, and the braking mechanism 501 is provided with a first braking lever 502 and a second braking lever 503 , the first brake lever 502 and the second brake lever 503 are both rotatably arranged on the rotation pin 504, and the first ends of the first brake lever 502 and the second brake lever 503 are in close contact with the translation locking support The shaft 11 is provided, and a translational braking preload spring 505 is provided between the second ends of the first brake lever 502 and the second brake lever 503 .

Wherein, the translation locking mechanism further includes an unlocking mechanism 506, the unlocking mechanism 506 is provided on one side of the shoulder joint seat 102, the unlocking mechanism 506 is provided with an unlocking mounting seat 507, and the unlocking mounting seat 507 is hinged on the There is an unlocking handle 508 , one end of the unlocking handle 508 is connected to one end of the unlocking wire 509 , and the other end of the unlocking wire 509 is connected to the bottom of the second end of the first brake lever 502 .

In the dual-arm manipulator system of the present invention, the manipulator arm 2 is provided with a slider on the manipulator connecting portion 101, and the slider is set on the translation linear guide 10, the first brake lever 502 and the first brake lever 502 and the second The first ends of the two brake levers 503 are clamped and locked on the translation locking support shaft 11 , and the first brake lever 502 and the second brake lever 503 form a clip-like structure by rotating the pin shaft 504 . The tight spring 505 can make the first brake lever 502 and the second brake lever 503 always clamp on the translation locking support shaft 11 without external force, and at this time, the manipulator mechanical arm 2 cannot move along the support shaft. The beam 1 slides; the unlocking handle 508 is a lever-like structure, and the unlocking wire 509 is provided on the upper end of the unlocking handle 508, and the unlocking wire 509 is guided to the braking mechanism 501 along the guide roller 510 in the unlocking mounting seat 507, Passing from the second end of the second brake lever 503 to the bottom of the second end connected to the first brake lever 502, when the lower end of the unlocking handle 508 is pressed, the unlocking wire 509 is driven to move, thereby driving the unlocking wire 509 to move. The second end of the second brake lever 503 moves downward to compress the translational brake preload spring 505, and at the same time the first brake lever 502 and the second brake lever 503 unlock the translational locking support shaft 11. The manipulator arm 2 can freely slide along the support beam 1 .

The dual-arm manipulator system of the present invention can adjust the position of the manipulator mechanical arm on the support beam through the translation locking mechanism, and the manipulator manipulator can realize the overall rotational movement of the arm, the telescopic, up-and-down, and front-and-rear movement of the forearm mechanism. The hand mechanism can realize the left and right rotation of the wrist, the up and down rotation and the overall rotation movement. The shearing drive mechanism set by the operating hand mechanism can be used to transmit the shearing motion. Transmission, each degree of freedom does not interfere with each other when the main manipulator manipulator moves, and can move independently.

The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A dual-arm operating hand system, characterized in that, comprising: The support beam, two sets of manipulator mechanical arms are slidably arranged on the support beam, the two sets of manipulator manipulators are symmetrically arranged, and each set of manipulator manipulators is provided with a shoulder joint mechanism, a large arm mechanism, a small The arm mechanism and the operating hand mechanism, the shoulder joint mechanism, the big arm mechanism, the small arm mechanism and the operating hand mechanism are connected one by one; The operating hand mechanism includes an operating hand support, an operating hand ring cover, a gripper and a shearing freedom driving handle, the operating hand support is rotatably arranged at the front end of the forearm mechanism, and the operating hand ring cover It is rotatably arranged on the operating hand support, the inner ring of the operating hand ring sleeve is rotatably arranged on the outer ring of the operating hand ring sleeve, and the gripper is fixedly arranged on the outer ring of the operating hand ring sleeve. In the inner ring, the shearing degree of freedom handle is hinged on the gripper through a lever fulcrum, the two ends of the shearing degree of freedom handle are provided with driving holes, and two shears are respectively connected in the two driving holes. Cut the drive wire. 2 . The dual-arm operating hand system according to claim 1 , wherein the shoulder joint mechanism comprises a mechanical arm connecting part, a shoulder joint seat and a shoulder joint shaft, and the shoulder joint seat rotates through the shoulder joint shaft. 3 . is arranged in the connecting portion of the mechanical arm. 3 . The dual-arm operating hand system according to claim 2 , wherein the boom mechanism comprises an arm telescopic drive link, an arm up-down drive link and an arm rocker, one end of the arm rocker is rotatable. 4 . is arranged in the shoulder joint seat, the other end of the arm rocker is rotatably connected with the upper end of the arm up and down driving link, and the upper end of the arm telescopic driving link is rotatably arranged in the shoulder joint seat . 4. The dual-arm operating hand system according to claim 3, wherein the forearm mechanism comprises a forearm main body and a telescopic arm, the telescopic arm is slidably arranged in the forearm main body, and the arm The lower end of the telescopic drive link is rotatably connected to the rear end of the arm body, the lower end of the arm up and down drive link is rotatably connected to the middle of the arm body, and the operator support is rotatably arranged on the arm body. Front end of telescopic boom. 5 . The dual-arm operating hand system according to claim 4 , wherein an arm rotation driving wire is arranged around the shoulder joint shaft, and a wrist left and right rotation driving wire is arranged on the operating hand support. 5 . The outer ring of the wristband cover is provided with a wrist up-and-down rotation driving steel wire, and the inner ring of the operating wristband cover is provided with a whole wrist rotation driving steel wire. 6 . The dual-arm operating hand system according to claim 3 , wherein an arm telescopic drive shaft is rotatably provided in the shoulder joint seat, and the arm telescopic drive link is rotatably rotated through the arm telescopic drive shaft. 7 . It is arranged in the shoulder joint seat, and the arm telescopic drive shaft is provided with an arm telescopic driving wire; the shoulder joint seat is fixedly provided with an arm telescopic freedom degree balance motor, and the arm telescopic freedom degree balance motor is connected with the arm telescopic freedom degree balance motor. The arm telescopic drive shaft is fixedly connected. 7 . The dual-arm operating hand system according to claim 3 , wherein an upper and lower arm drive shaft is rotatably arranged in the shoulder joint seat, and the arm rocker is rotatably arranged on the upper and lower arm drive shafts through the arm upper and lower drive shaft. 8 . In the shoulder joint seat, the upper and lower drive shafts of the arm are provided with upper and lower driving wires for the arm; the shoulder joint seat is fixedly provided with a motor for balancing the upper and lower degrees of freedom of the arm, and the motor for balancing the upper and lower degrees of freedom of the arm is connected to the upper and lower arms of the arm. The drive shaft is fixedly connected. 8 . The dual-arm manipulator system according to claim 1 , wherein a translation linear guide rail and a translation locking support shaft are arranged on the support beam, and the manipulator arm slides through the translation linear guide rail. 9 . On the support beam, the manipulator mechanical arm is provided with a translation locking mechanism, and the manipulator manipulator is connected with the translation locking support shaft through the translation locking mechanism. 9 . The dual-arm manipulator system according to claim 8 , wherein the translation locking mechanism comprises a braking mechanism, and the braking mechanism is provided on the top side of the manipulator mechanical arm, and the braking mechanism is provided with the There are a first brake lever and a second brake lever, the first brake lever and the second brake lever are both rotatably arranged on the rotating pin shaft, and the first ends of the first brake lever and the second brake lever are in close contact with each other. The translation locking support shaft is provided, and a translation braking pre-tightening spring is provided between the second ends of the first brake lever and the second brake lever. 10 . The dual-arm operating hand system according to claim 9 , wherein the translation locking mechanism further comprises an unlocking mechanism, the unlocking mechanism is provided on one side of the shoulder joint seat, and the unlocking mechanism is provided with 10 . The unlocking handle is connected to one end of the unlocking wire, and the other end of the unlocking wire is connected to the bottom of the second end of the first brake lever.

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