Teleoperation manipulator and rocker arm structure thereof, and teleoperation equipment

Abstract

The invention discloses a teleoperation manipulator and a rocker arm structure thereof, and teleoperation equipment. The rocker arm structure comprises a big arm joint comprising a big arm joint rotating shaft, a small arm first rotating shaft arranged in the large arm joint rotating shaft in a penetrating mode and coaxially arranged and rotatably connected with the large arm joint rotating shaft, and a first bearing sleeving one end of the small arm first rotating shaft, wherein an inner ring of the first bearing is connected to the small arm first rotating shaft, and an outer ring of the first bearing is connected to the big arm joint rotating shaft. According to the rocker arm structure, the small arm first rotating shaft is arranged in a large arm joint rotating shaft in a penetrating mode, and coaxially arranged and rotatably connected to the large arm joint rotating shaft. The small arm first rotating shaft is arranged in the big arm joint rotating shaft in a penetrating mode, and the small arm first rotating shaft and the big arm joint rotating shaft are rotatably connected and supported mutually; therefore, the small arm first rotating shaft and the big arm joint rotating shaft can be kept coaxial all the time in the respective rotating process, namely that after long-time movement of the teleoperation manipulator, a large arm joint and a small arm joint can be kept at a preset relative angle all the time; and therefore the transmission precision of a large arm and a small arm is ensured.

Description

technical field [0001] The invention relates to the field of robots, in particular to a remote operation manipulator, a rocker arm structure and a remote operation device. Background technique [0002] As an important branch of robotics, teleoperated manipulators have been concerned and valued by many research institutions and researchers. Teleoperated manipulators generally refer to a remote-operated robot that can complete complex operations in an environment that is inaccessible to humans under the control of humans. It is mainly used in many fields such as aviation, medical care, rescue, and industry. [0003] The teleoperation equipment includes a master manipulator and a slave manipulator. The operator manually controls the master manipulator so that the slave manipulator follows the movement of the master manipulator to perform task operations. At the same time, the working status of the slave manipulator can be fed back to the master manipulator in real time to allow...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to propose a rocker arm structure of a teleoperated manipulator, aiming to solve the technical problem that the drive shafts of the large and small arms of the existing teleoperated manipulator tend to deviate from their common axis direction

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