Teleoperated arm with magnetorheological flexible joint

Abstract

This invention relates to the field of robotic arm technology, and more particularly to a teleoperated arm with a magnetorheological flexible joint, comprising a lifting bracket, a mounting frame rotatably connected to the top outer wall of the lifting bracket, and a pair of symmetrically distributed shoulder joints rotatably connected to the outer walls of both ends of the mounting frame. The invention utilizes a first protective mechanism that, when the second angular velocity sensor detects a preset value, an electromagnet is energized, thereby enhancing the damping effect of the magnetorheological fluid. At this time, the electromagnet's magnetic force pushes a permanent magnet away from the hook, allowing the upper arm and forearm to be relatively limited when the limiting post is inserted into the limiting groove on the forearm. Simultaneously, a protrusion on the shoulder joint inserts into a groove on the slider, achieving relative limitation of the upper arm and shoulder joint, preventing multi-joint bending of the teleoperated arm that could lead to operator arm injury. A spring-released slider enables rapid response to abnormal situations, further improving the reliability of the device.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to a teleoperated arm with a magnetorheological flexible joint. Background Technology

[0002] Teleoperated arms are the core execution carriers for human-machine interaction. They can complete various tasks in target scenarios through remote control. The core relies on joint components to realize the transmission of motion and force, and has the advantages of operation precision, flexible adaptation and dynamic response. It is a key piece of equipment connecting operators and the working environment. Among them, the magnetorheological flexible joint teleoperated arm uses magnetorheological fluid as an intelligent driving medium. When there is no external magnetic field, it exhibits low stiffness Newtonian fluid characteristics. After applying a magnetic field, it transforms into a solid-like state in milliseconds, and the shear torque is significantly improved. By adjusting the magnetic field strength, the joint stiffness and damping can be continuously adjusted to achieve dynamic load adaptation, collision protection and precise operation. The working principle of a teleoperated arm is to use force feedback technology to feed back the actual force situation of the remote robot to the teleoperated arm, so as to realize the force control operation of the remote robot. This means that when the remote robotic arm is hit or overloaded, the force will be fed back to the teleoperated arm and shake, which will cause the end of the teleoperated arm to swing. For wearable teleoperated arms, the teleoperated arm will cause the operator's arm to shake synchronously, which poses a significant risk to the operator's personal safety. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies by proposing a magnetorheological flexible joint teleoperated arm. This invention utilizes a first protective mechanism that, when the second angular velocity sensor detects a preset value, energizes the electromagnet, thereby enhancing the damping effect of the magnetorheological fluid. At this time, the electromagnet's magnetic force pushes the permanent magnet away from the hook, allowing the upper arm and forearm to be relatively limited when the limiting post is inserted into the limiting groove on the forearm. Simultaneously, the protrusion on the shoulder joint inserts into the groove on the slider, achieving relative limitation of the upper arm and shoulder joint, preventing multi-joint bending of the teleoperated arm that could lead to operator arm injury. A spring-released slider enables rapid response to abnormal situations, further improving the reliability of the device.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a teleoperated arm of a magnetorheological flexible joint, comprising a lifting bracket, a mounting frame rotatably connected to the top outer wall of the lifting bracket, a pair of symmetrically distributed shoulder joints rotatably connected to the outer walls of both ends of the mounting frame, a large arm rotatably connected to the end of each shoulder joint away from the mounting frame, an elbow joint mounted on the outer wall of the end of the large arm away from the shoulder joint, a forearm rotatably connected to the outer wall of the elbow joint, a first protective mechanism provided on the elbow joint, and a second protective mechanism provided on the mounting frame. The first protective mechanism includes a liquid cavity formed within the elbow joint and filled with magnetorheological fluid. A resistance plate is rotatably connected to the inner part of the arm via a rotating shaft. The forearm is fixed on the rotating shaft on the resistance plate. An installation groove coaxial with the liquid cavity is provided inside the elbow joint. An electromagnet with a magnetic field covering the liquid cavity is installed in the installation groove. A permanent magnet with the same pole and repulsion to the electromagnet is slidably connected in the installation groove. Several equidistant circumferentially distributed limiting posts are provided on the outer wall of the permanent magnet. A limiting groove is provided on the inner wall of the forearm. A second angular velocity sensor is installed on the outer wall of the forearm. A cavity is provided axially inside the upper arm. A second electric push rod is installed on the bottom inner wall of the cavity. The second electric push rod and the electromagnet are both connected to the second angular velocity sensor via electrical signals.

[0005] Preferably, a slider is slidably connected inside the cavity, a plurality of protrusions are provided on the outer wall of the shoulder joint, a groove is provided on the top outer wall of the slider, and a spring is provided between the top outer wall of the slider and the inner wall of the cavity.

[0006] Preferably, the outer wall of the slider is provided with an interception groove, and the outer wall of the output end of the second electric push rod is provided with an interception block that is slidably inserted into the interception groove.

[0007] Preferably, the outer wall of the slider is provided with a hook extending into the mounting groove, and the outer wall of the permanent magnet is provided with a hook groove, so that the permanent magnet can be attracted to the hook.

[0008] Preferably, the second protective mechanism includes a pair of push blocks slidably connected to the outer wall of the mounting frame, and each of the shoulder joints has a locking block on its outer wall, and each of the push blocks has a locking groove on its outer wall.

[0009] Preferably, a pair of first electric push rods are installed on the outer wall of the mounting frame, and the output ends of the two first electric push rods are respectively fixed on the outer wall of the two push blocks. A first angular velocity sensor is provided on the outer wall of the mounting frame, and the first angular velocity sensor is electrically connected to the first electric push rod through a controller signal.

[0010] Preferably, the connection between the lifting bracket and the mounting frame is provided with a waist joint that can rotate in all directions, and a pair of symmetrically distributed balance push rods are rotatably connected to the outer wall of the lifting bracket, with the output end of the balance push rods rotatably connected to the outer wall of the mounting frame.

[0011] Preferably, a wrist joint is rotatably connected to the outer wall of the forearm, and an operating handle is provided on the outer wall of the wrist joint.

[0012] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention, through the setting of a first protective mechanism, ensures that when the detection value of the second angular velocity sensor reaches a preset value, the electromagnet is energized, thereby improving the damping effect of the magnetorheological fluid. At this time, the magnetic force of the electromagnet will push the permanent magnet away from the hook, so that when the limiting post is inserted into the limiting groove on the forearm, the upper arm and forearm are relatively limited. At the same time, the protrusion on the shoulder joint is inserted into the groove on the slider to achieve relative limitation of the upper arm and shoulder joint, avoiding the situation where the remote control arm bends at multiple joints, which could lead to injury to the operator's arm. The slider is released by a spring, achieving a rapid response to abnormalities, further improving the reliability of the device.

[0013] 2. This invention mimics the human body structure through multiple joint connections. In use, the operator simply passes their arm through the wrist joint and grasps the operating handle. The operating handle is equipped with drive buttons and a joystick. By gripping the handle, the remote control arm moves synchronously with the operator's arm, allowing for relative freedom of movement between the remote control arm and the human arm. Compared to directly fixing the remote control arm to the arm, this invention enables rapid separation of the operator and the device in case of malfunction, ensuring the operator's safety. Furthermore, its unique design makes it very convenient to wear; the time required for single-person operation is comparable to putting on a jacket.

[0014] 3. The present invention, through the second protective mechanism, initially has the first electric push rod in a retracted state. The first electric push rod drives the push block away from the shoulder joint. The rotation speed of the waist joint is detected by the first angular velocity sensor. When the value detected by the first angular velocity sensor reaches a preset value, it indicates that the remote robot has been impacted by an external force or is overloaded, resulting in an excessive rotation speed fed back to the waist joint by the remote robot. At this time, the first angular velocity sensor drives the first electric push rod to extend through a control signal, so that the slot on the push block abuts against the block on the shoulder joint, thereby limiting the rotation tendency of the shoulder joint relative to the mounting frame and further improving the protection effect on the operator's arm. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the overall structure proposed in this invention; Figure 2 This is a three-dimensional schematic diagram of the mounting bracket proposed in this invention; Figure 3 This is a three-dimensional schematic diagram of the second protective mechanism proposed in this invention; Figure 4 A three-dimensional schematic diagram of the first protective mechanism proposed in this invention. Figure 1 ; Figure 5 A three-dimensional schematic diagram of the first protective mechanism proposed in this invention. Figure 2 ; Figure 6 This is a three-dimensional schematic diagram of the wrist joint proposed in this invention; Figure 7 This is a three-dimensional cross-sectional view of the slider proposed in this invention.

[0016] Legend: 1. Lifting bracket; 11. Waist joint; 12. Mounting bracket; 13. Balance push rod; 14. First angular velocity sensor; 15. First electric push rod; 16. Push block; 161. Slot; 2. Shoulder joint; 21. Slot; 22. Protrusion; 3. Elbow joint; 31. Upper arm; 311. Cavity; 32. Second electric push rod; 321. Interception block; 33. Liquid cavity; 34. Mounting slot; 341. Electromagnet; 35. Permanent magnet; 351. Hook slot; 352. Limiting post; 4. Slider; 41. Groove; 42. Interception slot; 43. Hook; 44. Spring; 5. Wrist joint; 51. Forearm; 52. Limiting slot; 53. Second angular velocity sensor; 54. Operating handle; 55. Resistance plate. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] See Figures 1 to 7As shown, a teleoperated arm of a magnetorheological flexible joint includes a lifting bracket 1. A mounting frame 12 is rotatably connected to the top outer wall of the lifting bracket 1. A pair of symmetrically distributed shoulder joints 2 are rotatably connected to the outer walls of both ends of the mounting frame 12. A large arm 31 is rotatably connected to the end of each shoulder joint 2 away from the mounting frame 12. An elbow joint 3 is installed on the outer wall of the end of the large arm 31 away from the shoulder joint 2. A forearm 51 is rotatably connected to the outer wall of the elbow joint 3. A first protective mechanism is provided on the elbow joint 3. A second protective mechanism is provided on the mounting frame 12. A waist joint 11 capable of omnidirectional rotation is provided at the connection between the lifting bracket 1 and the mounting frame 12. A pair of symmetrically distributed balance push rods 13 are rotatably connected to the outer wall of the lifting bracket 1. The output end of the balance push rod 13 is rotatably connected to the outer wall of the mounting frame 12. A wrist joint 5 is rotatably connected to the outer wall of the forearm 51. An operating handle 54 is provided on the outer wall of the wrist joint 5.

[0019] It should be noted that this device mimics the human body structure through multiple joint connections. When in use, the operator simply passes their arm through the wrist joint 5 and grasps the operating handle 54. The operating handle 54 is equipped with a drive button and a joystick. By gripping the handle, the remote control arm moves synchronously with the operator's arm, allowing for relative freedom of movement between the remote control arm and the human arm. Compared to directly fixing the remote control arm to the arm, this invention enables rapid separation of the operator and the device in case of malfunction, ensuring the operator's safety. Furthermore, its unique design makes it very convenient to wear; the time required to put it on is similar to the time required to put on a coat.

[0020] The first protective mechanism includes a liquid cavity 33 filled with magnetorheological fluid within the elbow joint 3. A resistance plate 55 is rotatably connected to the liquid cavity 33 via a rotating shaft. The forearm 51 is fixed to the rotating shaft on the resistance plate 55. An mounting groove 34, coaxially distributed with the liquid cavity 33, is provided within the elbow joint 3. An electromagnet 341, whose magnetic field covers the liquid cavity 33, is installed within the mounting groove 34. A permanent magnet 35, with the same pole repelling the electromagnet 341, is slidably connected within the mounting groove 34. Several equidistant circularly distributed limiting posts 352 are provided on the outer wall of the permanent magnet 35. A limiting groove 52 is provided on the inner wall of the forearm 51. A second angular velocity sensor 53 is installed on the outer wall of the forearm 51. A cavity 311 is axially formed within the upper arm 31. The bottom of the cavity 311... A second electric push rod 32 is installed on the inner wall of the part. The second electric push rod 32 and the electromagnet 341 are both connected to the second angular velocity sensor 53 by electrical signals. A slider 4 is slidably connected in the cavity 311. Several protrusions 22 are provided on the outer wall of the shoulder joint 2. A groove 41 is provided on the top outer wall of the slider 4. A spring 44 is provided between the top outer wall of the slider 4 and the inner wall of the cavity 311. An interception groove 42 is provided on the outer wall of the slider 4. An interception block 321 is provided on the outer wall of the output end of the second electric push rod 32 and is slidably inserted into the interception groove 42. A hook 43 is provided on the outer wall of the slider 4 and extends into the mounting groove 34. A hook groove 351 is provided on the outer wall of the permanent magnet 35. The permanent magnet 35 can be attracted to the hook 43.

[0021] It should be noted that the elbow joint 3 is a magnetorheological flexible joint, which has a coil inside for changing the state of the magnetorheological fluid. In the initial state, the slider 4 is located on the side near the bottom of the cavity 311, the spring 44 is in a compressed state, and the electromagnet 341 is not energized. At this time, under the action of magnetic force, the permanent magnet 35 slides to the side near the hook 43, so that the hook 43 is inserted into the hook groove 351. The permanent magnet 35 drives the limiting post 352 to retract into the mounting groove 34, and the second electric push rod 32 is in an extended state. The hook 43 is made of a compatible material that can be magnetically attracted to the permanent magnet 35.

[0022] The angular velocity of the forearm 51 is detected by the second angular velocity sensor 53. When the detected value of the second angular velocity sensor 53 reaches a preset value, it indicates that the remote robot has been impacted by an external force or is overloaded, resulting in an excessive rotational speed fed back to the forearm 51 by the remote robot. At this time, the second angular velocity sensor 53 activates the electromagnet 341 through a control signal. After the electromagnet 341 is energized, the magnetic field of the magnetorheological fluid in the liquid cavity 33 is enhanced, thereby improving the damping effect of the magnetorheological fluid. Furthermore, since the like poles of the electromagnet 341 and the permanent magnet 35 repel each other, the magnetic force between the electromagnet 341 and the permanent magnet 35 overcomes the magnetic force between the permanent magnet 35 and the hook 43. At this time, the magnetic force of the electromagnet 341 will push the permanent magnet 35 away from the hook 43. This causes the permanent magnet 35 to drive the limiting post 352 to extend out of the mounting groove 34. When the limiting post 352 is inserted into the limiting groove 52 on the forearm 51, it relatively limits the upper arm 31 and the forearm 51, preventing the remote control arm from swinging and affecting the operator's personal safety. At the same time, when the permanent magnet 35 is disengaged from the hook 43, the slider 4 is released under the action of the spring 44 and quickly moves towards the shoulder joint 2, so that the protrusion 22 on the shoulder joint 2 is inserted into the groove 41 on the slider 4, thereby achieving relative limitation of the upper arm 31 and the shoulder joint 2, preventing the remote control arm from bending at multiple joints and causing injury to the operator's arm. The release of the slider 4 by the spring 44 achieves abnormally fast response and further improves the reliability of this device.

[0023] Once the aforementioned abnormal angular velocity issue is resolved, the second electric push rod 32 is retracted. As the second electric push rod 32 retracts, it drives the intercepting block 321 to move synchronously. Under the combined action of the intercepting block 321 and the intercepting groove 42, the second electric push rod 32 drives the slider 4 to slide towards the side where the elbow joint 3 is located and compresses the spring 44 again. When the slider 4 drives the hook 43 into the mounting groove 34, the electromagnet 341 is de-energized. At this time, under the action of magnetic force, the permanent magnet 35 slides to the side close to the hook 43, so that the hook 43 is inserted into the hook groove 351. The permanent magnet 35 drives the limiting post 352 to retract into the mounting groove 34, thereby unlocking the upper arm 31 and the forearm 51. Then, the second electric push rod 32 is extended to prepare for the next release and reset of the slider 4.

[0024] The second protective mechanism includes a pair of push blocks 16 slidably connected to the outer wall of the mounting frame 12. Each shoulder joint 2 has a locking block 21 on its outer wall. Each push block 16 has a locking groove 161 on its outer wall. A pair of first electric push rods 15 are mounted on the outer wall of the mounting frame 12. The output ends of the two first electric push rods 15 are respectively fixed to the outer walls of the two push blocks 16. A first angular velocity sensor 14 is mounted on the outer wall of the mounting frame 12. The first angular velocity sensor 14 is electrically connected to the first electric push rod 15 through a controller signal.

[0025] It should be noted that in the initial state, the first electric push rod 15 is in the retracted state. The first electric push rod 15 drives the push block 16 away from the shoulder joint 2. The rotation speed of the waist joint 11 is detected by the first angular velocity sensor 14. When the detection value of the first angular velocity sensor 14 reaches the preset value, it indicates that the remote robot has been impacted by an external force or is overloaded, resulting in an excessive rotation speed fed back to the waist joint 11 by the remote robot. At this time, the first angular velocity sensor 14 drives the first electric push rod 15 to extend through the control signal, so that the slot 161 on the push block 16 abuts against the block 21 on the shoulder joint 2, thereby limiting the rotation tendency of the shoulder joint 2 relative to the mounting frame 12 and further improving the protection effect on the operator's arm.

[0026] Among them, the first angular velocity sensor 14 and the second angular velocity sensor 53 can be Epson XV7001BB single-axis quartz gyroscopes, which have advantages such as low temperature sensitivity and strong resistance to shock and vibration. The first electric actuator 15 and the second electric actuator 32 can be Huiling EP-42ZS-100 models, which are integrated with drive and control and have built-in absolute encoders. They are suitable for small collaborative arms and medical robotic arms, and can meet the different usage scenarios of remote operating arms.

[0027] Working principle: This device mimics the human body structure through multiple joint connections. When in use, the operator simply passes their arm through the wrist joint 5 and grasps the operating handle 54. The operating handle 54 is equipped with a drive button and a joystick. By gripping the handle, the remote control arm moves synchronously with the operator's arm, allowing for relative freedom of movement between the remote control arm and the human arm. Compared to directly fixing the remote control arm to the arm, this invention enables rapid separation of the operator from the device in case of malfunction, ensuring the operator's safety. Furthermore, its unique design makes it very convenient to wear; the time required to put it on is similar to the time required to put on a coat. Under the action of the first protective mechanism, the angular velocity of the forearm 51 is detected by the second angular velocity sensor 53. When the detected value of the second angular velocity sensor 53 reaches the preset value, it indicates that the remote robot has been impacted by an external force or is overloaded, resulting in an excessive rotational speed fed back to the forearm 51 by the remote robot. At this time, the second angular velocity sensor 53 activates the electromagnet 341 through a control signal. After the electromagnet 341 is energized, the magnetic field of the magnetorheological fluid in the liquid cavity 33 is enhanced, thereby improving the damping effect of the magnetorheological fluid. Furthermore, since the like poles of the electromagnet 341 and the permanent magnet 35 repel each other, the magnetic force of the electromagnet 341 will push the permanent magnet 35 away from the hook 43, causing the permanent magnet 35 to move towards the limit position. The post 352 extends from the mounting groove 34, thereby limiting the relative movement of the upper arm 31 and the lower arm 51 when the limiting post 352 is inserted into the limiting groove 52 on the forearm 51, preventing the remote control arm from swinging and affecting the operator's personal safety. At the same time, when the permanent magnet 35 disengages from the hook 43, the slider 4 is released under the action of the spring 44 and quickly moves towards the shoulder joint 2, so that the protrusion 22 on the shoulder joint 2 is inserted into the groove 41 on the slider 4, thereby limiting the relative movement of the upper arm 31 and the shoulder joint 2, preventing the remote control arm from bending at multiple joints and causing injury to the operator's arm. The release of the slider 4 by the spring 44 achieves an abnormally fast response, further improving the reliability of this device. Under the action of the second protective mechanism, in the initial state, the first electric push rod 15 is in a retracted state. The first electric push rod 15 drives the push block 16 away from the shoulder joint 2. The rotation speed of the waist joint 11 is detected by the first angular velocity sensor 14. When the detection value of the first angular velocity sensor 14 reaches the preset value, it indicates that the remote robot has been impacted by an external force or is overloaded, resulting in an excessive rotation speed fed back to the waist joint 11 by the remote robot. At this time, the first angular velocity sensor 14 drives the first electric push rod 15 to extend through the control signal, so that the slot 161 on the push block 16 abuts against the block 21 on the shoulder joint 2, thereby limiting the rotation tendency of the shoulder joint 2 relative to the mounting frame 12 and further improving the protection effect on the operator's arm.

[0028] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A teleoperated arm with a magnetorheological flexible joint, comprising a lifting support (1), characterized in that: A mounting frame (12) is rotatably connected to the top outer wall of the lifting bracket (1). A pair of symmetrically distributed shoulder joints (2) are rotatably connected to the outer walls of both ends of the mounting frame (12). A large arm (31) is rotatably connected to the end of each shoulder joint (2) away from the mounting frame (12). An elbow joint (3) is installed on the outer wall of the end of the large arm (31) away from the shoulder joint (2). A forearm (51) is rotatably connected to the outer wall of the elbow joint (3). A first protective mechanism is provided on the elbow joint (3), and a second protective mechanism is provided on the mounting frame (12). The first protective mechanism includes a liquid cavity (33) filled with magnetorheological fluid and located within the elbow joint (3). A resistance plate (55) is rotatably connected to the liquid cavity (33) via a rotating shaft. The forearm (51) is fixed to the rotating shaft on the resistance plate (55). An installation groove (34) coaxially distributed with the liquid cavity (33) is provided within the elbow joint (3). An electromagnet (341) with a magnetic field covering the liquid cavity (33) is installed in the installation groove (34). A permanent magnet with the same pole repulsive to the electromagnet (341) is slidably connected within the installation groove (34). 35), the outer wall of the permanent magnet (35) is provided with a number of equidistant circularly distributed limiting posts (352), the inner wall of the forearm (51) is provided with a limiting groove (52), the outer wall of the forearm (51) is installed with a second angular velocity sensor (53), the inner wall of the upper arm (31) is provided with a cavity (311) along the axial direction, the bottom inner wall of the cavity (311) is installed with a second electric push rod (32), the second electric push rod (32) and the electromagnet (341) are both connected to the second angular velocity sensor (53) by electrical signal.

2. The teleoperated arm of a magnetorheological flexible joint according to claim 1, characterized in that: A slider (4) is slidably connected inside the cavity (311). Several protrusions (22) are provided on the outer wall of the shoulder joint (2). A groove (41) is provided on the top outer wall of the slider (4). A spring (44) is provided between the top outer wall of the slider (4) and the inner wall of the cavity (311).

3. The teleoperated arm of a magnetorheological flexible joint according to claim 2, characterized in that: An interception groove (42) is provided on the outer wall of the slider (4), and an interception block (321) is provided on the outer wall of the output end of the second electric push rod (32) and is slidably inserted into the interception groove (42).

4. The teleoperated arm of a magnetorheological flexible joint according to claim 3, characterized in that: The outer wall of the slider (4) is provided with a hook (43) extending into the mounting groove (34), and the outer wall of the permanent magnet (35) is provided with a hook groove (351), and the permanent magnet (35) can be attracted to the hook (43).

5. The teleoperated arm of a magnetorheological flexible joint according to claim 1, characterized in that: The second protective mechanism includes a pair of push blocks (16) slidably connected to the outer wall of the mounting bracket (12), and each of the shoulder joints (2) is provided with a locking block (21) on the outer wall, and each of the push blocks (16) is provided with a locking groove (161) on the outer wall.

6. The teleoperated arm of a magnetorheological flexible joint according to claim 5, characterized in that: A pair of first electric push rods (15) are installed on the outer wall of the mounting bracket (12). The output ends of the two first electric push rods (15) are respectively fixed on the outer wall of the two push blocks (16). A first angular velocity sensor (14) is provided on the outer wall of the mounting bracket (12). The first angular velocity sensor (14) is electrically connected to the first electric push rods (15) through a controller signal.

7. The teleoperated arm of a magnetorheological flexible joint according to claim 1, characterized in that: The connection between the lifting bracket (1) and the mounting frame (12) is provided with a waist joint (11) that can rotate in all directions. A pair of symmetrically distributed balance push rods (13) are rotatably connected to the outer wall of the lifting bracket (1). The output end of the balance push rod (13) is rotatably connected to the outer wall of the mounting frame (12).

8. The teleoperated arm of a magnetorheological flexible joint according to claim 1, characterized in that: A wrist joint (5) is rotatably connected to the outer wall of the forearm (51), and an operating handle (54) is provided on the outer wall of the wrist joint (5).

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