A hand remote control arm for simulation training

Abstract

The present invention discloses a hand remote control arm for simulation training, including a control panel, a rotating base installed above the control panel, a large arm hinged between the rotating base, a small arm hinged to the large arm, and a handle hinged to the small arm. The large arm, the small arm, and the handle are all provided with wiring slots inside, and a plurality of wiring slots are connected. The present invention provides a hand remote control device for simulation training, the selected potentiometer is small in size, the device structure is compact, human-computer interaction is realized through the control panel, the segmented structure makes it easy to disassemble and maintain, meets ergonomic requirements, and better single-handed control. The driver can realize effective control of the simulation training action through the state of the hand remote control arm and the display state of the control panel.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a hand remote control arm for simulation training. Background Art

[0002] At present, the widespread application of robotic arms has given rise to the profession of robotic arm drivers. In the professional training of robotic arm drivers, simulated operation training of robotic arms is indispensable. Simulation training can not only improve the driver's proficiency in driving robotic arms, but also simulate emergencies and improve the driver's emergency response capabilities.

[0003] The robotic arm is controlled by the main arm. The proficiency in the main arm determines the familiarity with the operation of the robotic arm. Currently, there are various main arm structures on the market, and the corresponding simulation training is also varied.

[0004] In the prior art, the simulated hand remote control arm of the seven-degree-of-freedom main arm has many wiring potentiometers, resulting in a large volume, lacks an integrated control panel, has a complex structure, is difficult to maintain and has high costs, and the handle is mostly cylindrical, lacking structural beauty and ergonomic design. For the seven-degree-of-freedom main arm, the present invention provides a hand remote control arm structure design scheme for simulation training, which is used to meet the needs of specific driver main arm simulation training. Summary of the invention

[0005] The object of the present invention is to provide a hand remote control arm for simulation training to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A hand remote control arm for simulation training, comprising a control panel, a rotating base installed above the control panel, a large arm hinged to the rotating base, a small arm hinged to the large arm, and a handle hinged to the small arm, wherein the large arm, the small arm, and the handle are all provided with wiring slots inside, and a plurality of wiring slots are connected to each other;

[0008] Preferably, the control panel includes an upper cover and a lower cover, the bottom of the inner wall of the lower cover is connected to multiple nylon columns, panel buttons and glass are installed above the upper cover, one side of the upper cover is provided with an arc groove, one side of the lower cover is an arc structure, one side of the arc structure of the lower cover is provided with a plug interface, and the arc groove of the upper cover and the arc structure of the lower cover are combined to form a wiring cavity.

[0009] Preferably, the rotating base includes a base installed at the edge of the lower cover, a turntable rotatably connected to the top of the base, and a rotating ball connected to the turntable, a first connecting member and a second connecting member are connected to the top of the turntable, a first groove and a second groove are respectively opened on one side of the first connecting member and the second connecting member, a first potentiometer and a first bearing are respectively embedded in the first groove and the second groove, and a first outer shaft is rotatably connected between the first bearing and the first potentiometer.

[0010] Preferably, a threaded barrel is provided below the base, a second potentiometer is connected inside the threaded barrel, a button cover is threadedly matched on the circumferential side of the outer wall of the threaded barrel, through holes are provided through the upper and lower axial parts of the base, an inner shaft passing through the second potentiometer and the button cover is installed in a parallel direction of the through holes, and a mounting hole matching the inner shaft is provided below the turntable.

[0011] Preferably, the first connecting member and the second connecting member include a connecting rod connected above the turntable, a connecting ring is connected above the connecting rod, a turntable end cover is installed on one side of the first connecting member by means of screws, a retaining ring is connected between the first bearing and the turntable end cover, and the rotating ball is connected to the first connecting member and the second connecting member by means of screws.

[0012] Preferably, the upper arm includes a joint, the first end of the joint is connected to a threaded shaft located inside the rotating ball space, and the threaded shaft is threadedly connected to a first outer shaft located inside the rotating ball, and a first arc groove for sliding of the joint is provided on one side of the rotating ball.

[0013] Preferably, a first straight groove is formed at the second end of the joint, a first notch is formed at the first side of the inner wall of the first straight groove, a first placement groove is formed at the second side of the inner wall of the first straight groove, a third potentiometer is embedded in the first notch, a second bearing is embedded in the first placement groove, a second outer shaft is connected between the second bearing and the third potentiometer, a first installation groove is formed at one side of the first placement groove, and a first end cover is installed at one side of the first installation groove by screws.

[0014] Preferably, the forearm includes an elbow and a joint, the first end of the elbow is connected to a first rotating middle piece, a second slot is provided in the middle portion of the first rotating middle piece, a fourth potentiometer is embedded in the second slot, a rotating drive mechanism is connected to the space in the hollow portion of the elbow, and the output end of the rotating drive mechanism is connected to the joint portion through the fourth potentiometer.

[0015] Preferably, the second end of the elbow is connected to a first hinge, and the first hinge is located inside the first straight slot, and the second outer axis is located in the middle through hole of the first hinge, and two mutually clamped wrist guards are connected between the upper and lower parts of the joint by screws.

[0016] Preferably, a second straight groove is provided on one side of the joint part, a third slot is provided on the first side of the inner wall of the second straight slot, a fifth potentiometer is embedded in the third slot, a second placement slot is provided on the second side of the inner wall of the straight slot, a third bearing is embedded in the second placement slot, a third outer shaft is rotatably connected between the fifth potentiometer and the third bearing, a second installation slot is provided on one side of the first placement slot, and a second end cover is connected to the first installation slot by means of screws.

[0017] Preferably, the handle includes a first shell and a second shell, a fourth slot is opened at the first end between the first shell and the second shell, a sixth potentiometer is installed in the fourth slot, a second rotating intermediate piece is connected to one side of the fifth potentiometer, a second hinge is connected to one end of the second rotating intermediate piece, a second rotating drive mechanism is connected to the space of the second hinge, an output end of the second rotating drive mechanism passes through the second rotating intermediate piece and the seventh potentiometer, the second hinge is located in the second straight slot, and the third external shaft is located in the through hole of the second hinge.

[0018] Preferably, a second arc groove is provided between the first shell and the second shell, a trigger rotates in the second arc groove, a fifth outer shaft is connected to the opposite side of the sixth potentiometer, a first gear is connected to the circumferential side of the second outer shaft, a positioning groove is provided on one side of the inner wall of the groove, a sixth outer shaft connected to the trigger rotates between the two positioning grooves, a second gear meshing with the first gear is connected to the circumferential side of the sixth outer shaft, a fixing rod is connected to one side of the second arc groove, a hook is connected to one side of the trigger, and a spring is connected between the hook and the fixing rod.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention provides a hand remote control device for simulation training, the potentiometer selected is small in size, the device structure is compact, human-computer interaction is realized through a control panel, and the segmented structure makes it easy to disassemble and maintain, meets ergonomic requirements, and better single-handed control. The driver can effectively control the simulation training action through the hand remote control arm state and the control panel display state. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the control arm of the present invention;

[0022] Figure 2 This is an exploded view of the rotating base of the present invention;

[0023] Figure 3 It is a cross-sectional schematic diagram of the rotating base of the present invention;

[0024] Figure 4 This is an exploded view of the upper arm of the present invention;

[0025] Figure 5 It is a schematic cross-sectional view of the upper arm of the present invention;

[0026] Figure 6 This is one of the exploded views of the forearm of the present invention;

[0027] Figure 7 This is the second exploded view of the forearm of the present invention;

[0028] Figure 8 It is a cross-sectional schematic diagram of the forearm of the present invention;

[0029] Fig. 9 This is one of the exploded views of the handle of the present invention;

[0030] Fig.10 This is the second exploded view of the handle of the present invention;

[0031] Fig.11 yes Fig. 9 Schematic diagram of the structure at A in the middle;

[0032] Fig.12 This is an exploded view of the control panel of the present invention;

[0033] Fig.13 This is a schematic diagram of the cross-sectional structure of the control arm of the present invention;

[0034] Fig.14 yes Figure 3 Schematic diagram of the structure at point B in the middle.

[0035] In the figure: 1. control panel; 2. rotating base; 3. upper arm; 4. lower arm; 5. handle; 6. upper cover; 7. lower cover; 8. nylon column; 9. panel button; 10. glass; 11. arc groove; 12. plug interface; 13. base; 14. turntable; 15. rotating ball; 16. first groove; 17. first potentiometer; 18. first bearing; 19. first outer shaft; 20. threaded barrel; 21. second potentiometer; 22. button cover; 23. inner shaft; 24. connecting rod; 25. connecting ring; 26. turntable end cover; 27. retaining ring; 28. joint; 29. ​​threaded shaft; 30. first arc groove; 31. first straight groove; 32. third potentiometer; 33. second bearing; 34. second outer Axis; 35. first end cover; 36. elbow; 37. joint; 38. first rotating middle piece; 39. fourth potentiometer; 40. first hinge; 41. wrist guard; 42. second straight slot; 43. third notch; 44. fifth potentiometer; 45. third bearing; 46. third outer shaft; 47. second end cover; 48. sixth potentiometer; 49. second hinge; 50. seventh potentiometer; 52. first housing; 53. second housing; 54. fourth notch; 56. second rotating middle piece; 58. second arc slot; 59. trigger; 60. first gear; 61. fifth outer shaft; 62. sixth outer shaft; 63. second gear; 64. spring; 65. hook; 66. wiring slot. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-14 As shown, a hand remote control arm for simulation training includes a control panel 1, a rotating base 2 installed above the control panel 1, a large arm 3 hinged to the rotating base 2, a small arm 4 hinged to the large arm 3, a handle 5 hinged to the small arm 4, and interconnecting wiring holes are arranged between the large arm 3, the small arm 4, and the handle 5, and wiring slots 66 are arranged inside the large arm 3, the small arm 4, and the handle 5, and a plurality of wiring slots 66 are connected to each other;

[0038] The control panel 1 includes an upper cover 6 and a lower cover 7. The bottom of the inner wall of the lower cover 7 is connected with a plurality of nylon columns 8. A panel button 9 and a glass 10 are installed above the upper cover 6. A circular arc groove 11 is provided on one side of the upper cover 6. A circular arc structure is provided on one side of the lower cover 7. A plug-in interface 12 is provided on one side of the circular arc structure of the lower cover 7. The circular arc groove 11 of the upper cover 6 and the circular arc structure of the lower cover are combined to form a wiring cavity. The setting of the wiring cavity facilitates the contact of the line at the control arm with the control panel 1, which is convenient for personnel to use. The program can be controlled by pressing the buttons on the circuit board through the panel buttons, and the indication signal of the display screen on the circuit board can be clearly seen through the glass 10. In order to fix the circuit board, the gap between the glass 10 and the panel button 9 is filled with glass 10 glue. The wires extending from the rotating base 2 of the present application pass through the wire cavity of the lower cover 7 of the control panel 1 and are connected to the circuit board. Therefore, the circuit board can power each potentiometer and accurately capture the signal of each potentiometer and feed it back to the display screen. The external power supply and the external signal receiving device are connected to the circuit board through the socket of the lower cover 7 of the control panel 1.

[0039] The rotating base 2 includes a base 13 installed at the edge of the lower cover 7, a turntable 14 rotatably connected to the top of the base 13, and a rotating ball 15 connected to the turntable 14. A first connecting member and a second connecting member are connected to the top of the turntable 14. A first groove 16 and a second groove are respectively formed on one side of the first connecting member and the second connecting member. A first potentiometer 17 and a first bearing 18 are respectively embedded in the first groove 16 and the second groove. A first outer shaft 19 is rotatably connected between the first bearing 18 and the first potentiometer 17.

[0040] A threaded barrel 20 is provided below the base 13, and a second potentiometer 21 is connected inside the threaded barrel 20. A button cover 22 is threadedly fitted on the outer wall circumference of the threaded barrel 20. Through holes are provided at the upper and lower axial parts of the base 13, and an inner shaft 23 passing through the second potentiometer 21 and the button cover 22 is installed in a parallel direction of the through holes. A mounting hole matching the inner shaft 23 is provided below the turntable 14.

[0041] The first connecting member and the second connecting member include a connecting rod 24 connected to the top of the turntable 14, a connecting ring 25 is connected to the top of the connecting rod 24, a turntable end cover 26 is installed on one side of the first connecting member by means of screws, a retaining ring 27 is connected between the first bearing 18 and the turntable end cover 26, and the rotating ball 15 is connected to the first connecting member and the second connecting member by means of screws. The wires extend from the three-section outlet hole of the big arm and the potentiometer through the long holes of the turntable 14 and the base 13, coil around the inner cavity of the base 13, and then extend to the control panel 1, the inner shaft 23 passes through the hole of the base 13, the retaining ring 27 limits the sliding of the inner shaft 23, one end of the inner shaft 23 is fixed to the turntable 14 by screws, and the limit column of the base 13 is aligned with the groove of the turntable 14, the other end of the inner shaft 23 passes through the potentiometer, the button cover 22 is screwed to the base 13, and the screws are tightened to prevent the potentiometer from sliding out of the inner shaft 23.

[0042] The upper arm 3 includes a joint 28, a first end of the joint 28 is connected to a threaded shaft 29 located inside the space of the rotating ball 15, and the threaded shaft 29 is threadedly connected to the first outer shaft 19 located inside the rotating ball 15, and a first arc groove 30 for the joint 28 to slide is opened on one side of the rotating ball 15;

[0043] A first straight slot 31 is formed at the second end of the joint 28, a first notch is formed at the first side of the inner wall of the first straight slot 31, a first placement slot is formed at the second side of the inner wall of the first straight slot 31, a third potentiometer 32 is embedded in the first notch, a second bearing 33 is embedded in the first placement slot, a second outer shaft 34 is connected between the second bearing 33 and the third potentiometer 32, a first installation slot is formed at one side of the first placement slot, a first end cover 35 is installed at one side of the first installation slot by screws, and the first end cover 35 is connected by screws.

[0044] The forearm 4 includes an elbow 36 and a joint 37. The first end of the elbow 36 is connected to a first rotating intermediate piece 38. A second notch is provided in the middle of the first rotating intermediate piece 38. A fourth potentiometer 39 is embedded in the second notch. A rotating drive mechanism is connected to the space in the hollow part of the elbow 36. The output end of the rotating drive mechanism passes through the fourth potentiometer 39 and is connected to the joint 37.

[0045] The second end of the elbow 36 is connected to a first hinge 40, and the first hinge 40 is located inside the first straight slot 31, and the second outer shaft 34 is located in the middle through hole of the first hinge 40. Two mutually clamped wrist guards 41 are connected between the upper and lower parts of the joint 37 by screws.

[0046] A second straight groove 42 is provided on one side of the joint portion 37, a third notch 43 is provided on the first side of the inner wall of the second straight groove 42, a fifth potentiometer 44 is embedded in the third notch 43, a second placement groove is provided on the second side of the inner wall of the straight groove, a third bearing 45 is embedded in the second placement groove, a third outer shaft 46 is rotatably connected between the fifth potentiometer 44 and the third bearing 45, a second mounting groove is provided on one side of the first placement groove, a second end cap 47 is connected to the first mounting groove by means of screws, the wires of the forearm 4 extend from the wire outlet holes of the potentiometer and the handle 5, extend to the inner cavity of the lower wrist joint 28, pass through the first rotating middle piece 38, spiral in the inner cavity of the elbow 36, and extend from the wire outlet hole of the elbow 36 to the upper arm 3;

[0047] The handle 5 includes a first shell 52 and a second shell 53, and a fourth slot 54 is opened at the first end between the first shell 52 and the second shell 53, and a sixth potentiometer 48 is installed in the fourth slot 54. A second rotating intermediate piece 56 is connected to one side of the fifth potentiometer 44, and a second hinge 49 is connected to one end of the second rotating intermediate piece 56. A second rotating drive mechanism is connected to the space of the second hinge 49, and an output end of the second rotating drive mechanism passes through the second rotating intermediate piece 56 and the seventh potentiometer 50, and the second hinge 49 is located in the second straight slot 42, and the third outer shaft 46 is located in the through hole of the second hinge 49.

[0048] A second arc groove 58 is provided on one side of the first shell 52, and a trigger 59 rotates in the second arc groove 58. A fifth outer shaft 61 is connected to the opposite side of the sixth potentiometer 48, and a first gear 60 is connected to the circumferential side of the second outer shaft 34. A positioning groove is provided on one side of the inner wall of the groove, and a sixth outer shaft 62 connected to the trigger 59 rotates between the two positioning grooves, and a second gear 63 meshing with the first gear 60 is connected to the circumferential side of the sixth outer shaft 62. A fixing rod is connected to one side of the second arc groove 58, and a hook 65 is connected to one side of the trigger 59. A spring 64 is connected between the hook 65 and the fixing rod. The wires of the forearm 4 are extended from the potentiometer, pass through the first shell 52 and the second shell 53, and extend from the wire outlet hole of the upper joint of the wrist to the forearm 4.

[0049] The upper and lower sides of the outer shaft are both planar structures. This arrangement allows the peripheral drive hinge to rotate, thus preventing the outer shaft from rotating randomly.

[0050] Specifically, each moving part has a limiting mechanism. The swing angle of the trigger 59 is 57° and the swing range is within the 57° second arc groove 58 of the first shell 52, and the spring 64 will rebound the trigger 59; the rotation angle of the handle 5 is 360°, which is determined by the limiting column below the second rotating middle piece 56; the swing angle between the handle 5 and the forearm 4 is 120°, which is determined by the 120° limiting structure of the lower joint of the wrist; the rotation angle of the forearm 4 is 180°, which is determined by the 180° limiting column of the elbow 36; the swing angle between the forearm 4 and the upper arm 3 is 120°, which is determined by the 120° limiting structure of the upper arm 3; the swing angle between the upper arm 3 and the rotating base 13 is 120°, and the upper arm 3 swings within the 120° first arc groove 30 of the rotating ball 15; the rotation angle of the rotating base 13 is 120°, and the limiting column of the base 13 can rotate with the turntable 14 in the limiting groove of the turntable 14.

[0051] Specifically, the first rotating middle piece 38 and the second rotating middle piece 56 are connected to the bottom with limiting columns, and two baffles are provided in the space between the elbow 36 and the second hinge 49. The limiting columns rotate in the space between the two baffles. The rotating middle piece can rotate as much as the angle between the baffles.

[0052] Working principle: When working, plug the power cord and signal cable into the socket of the lower cover 7 of the control panel 1, connect to the computer program, press the panel buttons of the control panel 1 to set the parameters, hold the handle 5, press the trigger 59 with the index finger, and press the button of the handle 5 with the thumb to switch between the activation and freeze states. When in the activated state, the program simulates the movement of the robot arm and follows the movement of the remote control arm.

[0053] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hand remote control arm for simulation training, characterized in that: It includes a control panel (1), and a device installed on the control panel (1). A rotating base (2) at the top, a large arm (3) hinged to the rotating base (2), a small arm (4) hinged to the large arm (3), and a handle (5) hinged to the small arm (4); the large arm (3), the small arm (4), and the handle (5) are all provided with wiring grooves (66) inside, and the plurality of wiring grooves (66) are connected to each other; The rotating base (2) comprises a base (13) installed at the edge of the lower cover (7), a turntable (14) rotatably connected to the top of the base (13), and a rotating ball (15) connected to the turntable (14); a first connecting member and a second connecting member are connected to the top of the turntable (14); a first groove (16) and a second groove are respectively formed on one side of the first connecting member and the second connecting member; a first potentiometer (17) and a first bearing (18) are respectively embedded in the first groove (16) and the second groove; a first outer shaft (19) is rotatably connected between the first bearing (18) and the first potentiometer (17); A threaded barrel (20) is arranged below the base (13), a second potentiometer (21) is connected inside the threaded barrel (20), a button cover (22) is threadedly matched on the outer wall circumference of the threaded barrel (20), through holes are provided at the upper and lower axial parts of the base (13), an inner shaft (23) passing through the second potentiometer (21) and the button cover (22) is installed in a parallel direction of the through holes, and a mounting hole matching the inner shaft (23) is provided below the turntable (14); The handle (5) comprises a first shell (52) and a second shell (53), a fourth slot (54) is provided at the first end between the first shell (52) and the second shell (53), a sixth potentiometer (48) is installed in the fourth slot (54), a second rotating intermediate piece (56) is connected to one side of the fifth potentiometer (44), a second hinge (49) is connected to one end of the second rotating intermediate piece (56), a second rotating drive mechanism is connected to the space of the second hinge (49), an output end of the second rotating drive mechanism passes through the second rotating intermediate piece (56) and the seventh potentiometer (50), the second hinge (49) is located in the second straight slot (42), and the third outer shaft (46) is located in the through hole of the second hinge (49); A second arc groove (58) is provided between the first housing (52) and the second housing (53), a trigger (59) is rotated in the second arc groove (58), a fifth outer shaft (61) is connected to the opposite side of the sixth potentiometer (48), a first gear (60) is connected to the peripheral side of the second outer shaft (34), a positioning groove is provided on one side of the inner wall of the groove, a sixth outer shaft (62) connected to the trigger (59) is rotated between the two positioning grooves, a second gear (63) meshing with the first gear (60) is connected to the peripheral side of the sixth outer shaft (62), a fixing rod is connected to one side of the second arc groove (58), a hook (65) is connected to one side of the trigger (59), and a spring (64) is connected between the hook (65) and the fixing rod.

2. The hand remote control arm for simulation training according to claim 1, characterized in that: The control panel (1) comprises an upper cover (6) and a lower cover (7); a plurality of nylon columns (8) are connected to the bottom of the inner wall of the lower cover (7); a panel button (9) and a glass (10) are installed above the upper cover (6); a circular arc groove (11) is provided on one side of the upper cover (6); a circular arc structure is provided on one side of the lower cover (7); a plug-in interface (12) is provided on one side of the circular arc structure of the lower cover (7); and the circular arc groove (11) of the upper cover (6) and the circular arc structure of the lower cover are combined to form a wiring cavity.

3. A hand remote control arm for simulation training according to claim 2, characterized in that: The first connecting member and the second connecting member comprise a connecting rod (24) connected to the top of the turntable (14); a connecting ring (25) is connected to the top of the connecting rod (24); a turntable end cover (26) is installed on one side of the first connecting member by means of screws; a retaining ring (27) is connected between the first bearing (18) and the turntable end cover (26); and the rotating ball (15) is connected to the first connecting member and the second connecting member by means of screws.

4. The hand remote control arm for simulation training according to claim 3, characterized in that: The upper arm (3) comprises a joint (28), a first end of the joint (28) is connected to a threaded shaft (29) located inside the space of the rotating ball (15), and the threaded shaft (29) is threadedly connected to a first outer shaft (19) located inside the rotating ball (15), and a first arc groove (30) for sliding of the joint (28) is provided on one side of the rotating ball (15); A first straight groove (31) is formed at the second end of the joint (28); a first notch is formed at a first side of an inner wall of the first straight groove (31); a first placement groove is formed at a second side of an inner wall of the first straight groove (31); a third potentiometer (32) is embedded in the first notch; a second bearing (33) is embedded in the first placement groove; a second outer shaft (34) is connected between the second bearing (33) and the third potentiometer (32); a first mounting groove is formed at one side of the first placement groove; and a first end cover (35) is mounted on one side of the first mounting groove by screws.

5. The hand remote control arm for simulation training according to claim 4, characterized in that: The forearm (4) comprises an elbow (36) and a joint (37); a first end of the elbow (36) is connected to a first rotating intermediate piece (38); a second notch is provided in the middle of the first rotating intermediate piece (38); a fourth potentiometer (39) is embedded in the second notch; a space connecting shaft is provided in the hollow part of the elbow (36); the connecting shaft passes through the fourth potentiometer (39) and is connected to the joint (37); The second end of the elbow (36) is connected to a first hinge (40), and the first hinge (40) is located inside the first straight groove (31), and the second outer shaft (34) is located in the middle through hole of the first hinge (40), and two mutually clamped wrist guards (41) are connected between the upper and lower parts of the joint (37) by screws.

6. The hand remote control arm for simulation training according to claim 5, characterized in that: A second straight groove (42) is provided on one side of the joint portion (37); a third notch (43) is provided on the first side of the inner wall of the second straight groove (42); a fifth potentiometer (44) is embedded in the third notch (43); a second placement groove is provided on the second side of the inner wall of the straight groove; a third bearing (45) is embedded in the second placement groove; a third outer shaft (46) is rotatably connected between the fifth potentiometer (44) and the third bearing (45); a second installation groove is provided on one side of the first placement groove; a second end cover (47) is connected in the first installation groove by means of screws.

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