Teleoperation master hand and teleoperation system

Abstract

The utility model provides a teleoperation master manipulator and a teleoperation system, the teleoperation master manipulator comprises a plurality of front modules, a plurality of rear modules and a transmission mechanism, two adjacent front modules are rotatably connected, each front module comprises a front rotating shaft, a front power-off brake and a front encoder, the front power-off brake is used for holding or loosening the front rotating shaft, and the front encoder is connected with the front rotating shaft; the rear modules are rotatably connected, each rear module comprises a rear rotating shaft, a rear power-off brake and a rear encoder, the rear power-off brakes are used for holding or loosening the rear rotating shafts, and the rear encoders are connected with the rear rotating shafts; and the transmission mechanism is rotatably connected with the plurality of front modules and the plurality of rear modules. The cost of the teleoperation master hand can be reduced, and the structure is simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the remote operation robot technology, and particularly to a remote operation master hand and a remote operation system. BACKGROUND

[0002] The remote operation system can enable a user to remotely operate another device through a network to achieve remote management and control. At the user operation end, the user can operate, for example, through a remote operation master hand, which senses the force and hand position applied by the user and also provides real-time force feedback to the user to enable the user to have a force sense of presence.

[0003] In the related art, the remote operation master hand generally uses a motor to provide pose holding, gravity compensation, and force feedback and other force interaction functions. However, the above solution has high cost and complex structure. UTILITY MODEL CONTENT

[0004] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a remote operation master hand and a remote operation system, which can reduce the cost of the remote operation master hand and simplify the structure.

[0005] In one aspect, the present application provides a remote operation master hand, comprising:

[0006] A plurality of front modules, two adjacent front modules are rotatably connected, the front module comprises a front rotating shaft, a front power-off brake, and a front encoder, the front power-off brake is used to hold or release the front rotating shaft, and the front encoder is connected with the front rotating shaft;

[0007] A plurality of rear modules, a plurality of rear modules are rotatably connected, the rear module comprises a rear rotating shaft, a rear power-off brake, and a rear encoder, the rear power-off brake is used to hold or release the rear rotating shaft, and the rear encoder is connected with the rear rotating shaft;

[0008] A transmission mechanism, the transmission mechanism is rotatably connected with a plurality of front modules and a plurality of rear modules.

[0009] In one possible implementation, the plurality of front modules comprises a first front module, a second front module, and a third front module, the second front module and the third front module are rotatably connected with the first front module, and the second front module and the third front module are rotatably connected with the transmission mechanism.

[0010] In one possible implementation, it further comprises a front module mounting seat, the front module mounting seat comprises a first connecting plate, a second connecting plate, and a third connecting plate, the second connecting plate and the third connecting plate are oppositely arranged on both sides of the first connecting plate;

[0011] The front rotating shaft of the first front mold module is rotatably connected with the first connecting plate, and the second front mold module and the third front mold module are fixedly connected with the second connecting plate and the third connecting plate respectively.

[0012] In a possible implementation, the front mold module further comprises a front mold module shell and a speed reducer, the front rotating shaft, the front power-off brake, the front encoder and the speed reducer are arranged in the front mold module shell, the output end of the front rotating shaft is connected with the speed reducer, the front encoder is connected with the input end of the front rotating shaft, and the front power-off brake is arranged close to the front encoder.

[0013] In a possible implementation, the plurality of rear mold modules comprises a first rear mold module, a second rear mold module and a third rear mold module, the first rear mold module is rotatably connected with the second rear mold module, the second rear mold module is rotatably connected with the third rear mold module, and the third rear mold module is rotatably connected with the transmission mechanism.

[0014] In a possible implementation, the first rear mold module is fixedly connected with a first connecting piece, the first connecting piece is rotatably connected with the second rear mold module, the second rear mold module is fixedly connected with a second connecting piece, the second connecting piece is rotatably connected with the third rear mold module, and the third rear mold module is rotatably connected with the transmission mechanism.

[0015] In a possible implementation, the rear mold module further comprises a rear mold module shell, the rear rotating shaft, the rear power-off brake and the rear encoder are arranged in the rear mold module shell, the rear encoder is connected with the input end of the rear rotating shaft, and the rear power-off brake is arranged close to the rear encoder.

[0016] In a possible implementation, the transmission mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the front rotating shaft of the second front mold module is rotatably connected with the first end of the first connecting rod, the front rotating shaft of the third front mold module is rotatably connected with the first end of the second connecting rod, the second end of the second connecting rod is rotatably connected with the first end of the third connecting rod, the second end of the third connecting rod is rotatably connected with the first end of the fourth connecting rod, the second end of the fourth connecting rod is rotatably connected with the third rear mold module, and the second end of the first connecting rod is rotatably connected with the middle part of the fourth connecting rod.

[0017] In a possible implementation, the base is further provided with a fixing seat, the first front mold module is fixedly connected with the fixing seat, and the fixing seat is fixedly connected with the base.

[0018] In another aspect, the application provides a teleoperation system, comprising a control device, a remote execution device, and the teleoperation master as described in any of the above, the remote execution device and the teleoperation master are in communication connection with the control device.

[0019] The application provides a teleoperation master and a teleoperation system. The teleoperation master comprises a plurality of front modules, a plurality of rear modules, and a transmission mechanism. Adjacent two front modules are rotatably connected. The front module comprises a front rotating shaft, a front power-off brake, and a front encoder. The front power-off brake is used to hold or release the front rotating shaft. The front encoder is connected with the front rotating shaft. The plurality of rear modules are rotatably connected. The rear module comprises a rear rotating shaft, a rear power-off brake, and a rear encoder. The rear power-off brake is used to hold or release the rear rotating shaft. The rear encoder is connected with the rear rotating shaft. The transmission mechanism is rotatably connected with the plurality of front modules and the plurality of rear modules. The application removes the motors in the front modules and the rear modules. The front power-off brake and the rear power-off brake provide the pose holding function in the power-off state for the front modules and the rear modules after the operator leaves the hand, thereby reducing the risk of out-of-control. The front encoder and the rear encoder are used to detect the real-time positions of the front modules and the rear modules, respectively. In this way, the structure of the teleoperation master can be simplified, and the cost of the teleoperation master can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0021] Figure 1 A structure diagram of the teleoperation master in a first perspective view according to an embodiment of the application is shown in FIG. 1.

[0022] Figure 2 A structure diagram of the teleoperation master in a second perspective view according to an embodiment of the application is shown in FIG. 2.

[0023] Figure 3 A structure diagram of the front module according to an embodiment of the application is shown in FIG. 3. Figure 2 A local enlarged view of the A part in FIG. 3 is shown in FIG. 4.

[0024] Figure 4 A structure diagram of the rear module according to an embodiment of the application is shown in FIG. 5.

[0025] Figure 5 A structure diagram of the rear module according to an embodiment of the application is shown in FIG. 5.

[0026] LIST OF REFERENCE NUMBERS

[0027] 100 - front module; 101 - front rotating shaft; 102 - front power-off brake; 103 - front encoder; 104 - front module housing; 1041 - first front module housing; 1042 - second front module housing; 105 - speed reducer; 106 - front bearing;

[0028] 110 - first front module; 120 - second front module; 130 - third front module; 140 - front module mounting seat; 141 - first connecting plate; 142 - second connecting plate; 143 - third connecting plate;

[0029] 200 - rear module; 201 - rear rotating shaft; 202 - rear power-off brake; 203 - rear encoder; 204 - rear module housing; 2041 - first rear module housing; 2042 - second rear module housing; 205 - rear bearing;

[0030] 210 - first rear module; 220 - second rear module; 230 - third rear module; 240 - first connecting piece; 250 - second connecting piece;

[0031] 300 - transmission mechanism; 310 - first connecting rod; 320 - second connecting rod; 330 - third connecting rod; 340 - fourth connecting rod;

[0032] 400 - base;

[0033] 500 - fixing seat. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application.

[0035] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application. The embodiments described below and the features in the embodiments can be combined with each other without conflict.

[0036] As described in the background, in the related art, the master hand of teleoperation provides pose holding, gravity compensation and force feedback and other force interaction functions through a motor, so there are risks of high cost, complex structure, high energy loss and out of control.

[0037] Therefore, the embodiment of the present application aims to provide a teleoperation master hand and a teleoperation system, which removes the motors in the front module and the rear module, and realizes preliminary force feedback through the size of the braking force applied by the front power-off brake and the rear power-off brake; the front power-off brake and the rear power-off brake can respectively provide the pose holding function in the power-off state for the front module and the rear module, thereby reducing the risk of out-of-control; the front encoder and the rear encoder respectively detect the real-time positions of the front module and the rear module. Compared with the scheme in the related art, the present application can reduce the cost of the teleoperation master hand, simplify the structure, and reduce the energy loss and the risk of out-of-control.

[0038] The content of the embodiment of the present application will be described in detail below with reference to the drawings, so that those skilled in the art can understand the content of the present application in more detail.

[0039] Please refer to Figures 1-5 The embodiment provides a teleoperation master hand, comprising:

[0040] A plurality of front modules 100 are arranged at one end away from the user's arm, and adjacent two front modules 100 are rotatably connected, so that the teleoperation master hand has a plurality of different degrees of freedom. It can be understood that the specific number of the front modules 100 can be set as needed. As shown in the figure, Figure 4 The front module 100 comprises a front rotating shaft 101, a front power-off brake 102 and a front encoder 103. The front power-off brake 102 is used to tighten or loosen the front rotating shaft 101, and the size of the braking force applied by the front power-off brake 102 can realize preliminary force feedback. The front encoder 103 is connected with the front rotating shaft 101, and the front encoder 103 can realize the function of position detection based on the amount of rotation of the front rotating shaft 101.

[0041] A plurality of rear modules 200 are arranged at one end of the user's arm, and the plurality of rear modules 200 are rotatably connected, so that the teleoperation master hand has a plurality of different degrees of freedom. It can be understood that the specific number of the rear modules 200 can be set as needed. As shown in the figure, Figure 5 The rear module 200 comprises a rear rotating shaft 201, a rear power-off brake 202 and a rear encoder 203. The rear power-off brake 202 is used to tighten or loosen the rear rotating shaft 201, and the size of the braking force applied by the rear power-off brake 202 can realize preliminary force feedback. The rear encoder 203 is connected with the rear rotating shaft 201, and the rear encoder 203 can realize the function of position detection based on the amount of rotation of the rear rotating shaft 201.

[0042] A transmission mechanism 300 is rotatably connected with the plurality of front modules 100 and the plurality of rear modules 200, so that the degree of freedom of the teleoperation master hand is the sum of the number of the plurality of front modules 100 and the number of the plurality of rear modules 200.

[0043] It can be known from the above description that the motor in the front module 100 and the rear module 200 is removed in the embodiment, and the preliminary force feedback is realized by the size of the braking force applied by the front power-off brake 102 and the rear power-off brake 202; the front power-off brake 102 and the rear power-off brake 202 can respectively provide the pose holding function in the power-off state for the front module 100 and the rear module 200, thereby reducing the risk of out-of-control; the front encoder 103 and the rear encoder 203 respectively detect the real-time positions of the front module 100 and the rear module 200. Compared with the scheme in the related art, the embodiment can reduce the cost of the teleoperation master hand and simplify the structure.

[0044] Please continue to refer to Figure 1 and Figure 2 The plurality of front modules 100 of the embodiment include a first front module 110, a second front module 120 and a third front module 130, the second front module 120 and the third front module 130 are rotatably connected with the first front module 110, and the second front module 120 and the third front module 130 are rotatably connected with the transmission mechanism 300. Through the above structure, the second front module 120 and the third front module 130 of the embodiment can rotate relative to the first front module 110, and the second front module 120 and the third front module 130 can be rotatably connected with the plurality of rear modules 200 through the transmission mechanism 300, so as to apply the rotation amount of the plurality of rear modules 200 to the plurality of front modules 100.

[0045] Specifically, as Figure 3 indicated, the plurality of front modules 100 of the embodiment further include a front module mounting seat 140, the front module mounting seat 140 includes a first connecting plate 141, a second connecting plate 142 and a third connecting plate 143, the second connecting plate 142 and the third connecting plate 143 are oppositely arranged on the two sides of the first connecting plate 141, for example, the second connecting plate 142 and the third connecting plate 143 can be respectively arranged vertically at the two ends of the first connecting plate 141.

[0046] The front rotating shaft 101 of the first front module 110 is rotatably connected with the first connecting plate 141, and the second front module 120 and the third front module 130 are respectively fixedly connected with the second connecting plate 142 and the third connecting plate 143. The second front module 120 and the third front module 130 can be rotatably connected with the first front module 110 through the first connecting plate 141. Moreover, the second front module 120 and the third front module 130 are respectively fixed on the second connecting plate 142 and the third connecting plate 143, and the second front module 120 and the third front module 130 are arranged in parallel with the first front module 110, so that the center of mass of the entire front module 100 is close, which is beneficial to reduce the rotational inertia of the teleoperation master hand.

[0047] Please continue to refer to Figure 4The front module group 100 of the embodiment further comprises a front module shell 104 and a reducer 105, and the front rotating shaft 101, the front power-off brake 102, the front encoder 103 and the reducer 105 are arranged in the front module shell 104. Exemplarily, the front module shell 104 can comprise a first front module shell 1041 and a second front module shell 1042 arranged oppositely, and the first front module shell 1041 and the second front module shell 1042 can be detachably connected through fasteners such as bolts, thereby facilitating the installation and replacement of the front rotating shaft 101, the front power-off brake 102, the front encoder 103 and the reducer 105. The output end of the front rotating shaft 101 is connected with the reducer 105, and the reducer 105 is used for providing damping, so that the teleoperation master hand can rotate with an adaptive rotating torque. The front encoder 103 is connected with the input end of the front rotating shaft 101, thereby realizing the position detection of the front module group 100. The front power-off brake 102 is arranged close to the front encoder 103, and the front power-off brake 102 can be fixed on the front module shell 104, for example. The front module shell 104 can further comprise a front bearing 106, and the front rotating shaft 101 passes through the front bearing 106.

[0048] Please continue to refer to Figure 1 and Figure 2 The plurality of rear module groups 200 of the embodiment comprise a first rear module group 210, a second rear module group 220 and a third rear module group 230, the first rear module group 210 is rotatably connected with the second rear module group 220, the second rear module group 220 is rotatably connected with the third rear module group 230, and the third rear module group 230 is rotatably connected with the transmission mechanism 300; that is, the first rear module group 210, the second rear module group 220 and the third rear module group 230 of the embodiment adopt a structure of series connection, and the first rear module group 210, the second rear module group 220 and the third rear module group 230 are all used for contacting the arm of the user, and the first rear module group 210, the second rear module group 220 and the third rear module group 230 are respectively used for contacting different positions on the arm of the user.

[0049] Specifically, the plurality of rear module groups 200 of the embodiment further comprise a first connecting piece 240 and a second connecting piece 250, the first rear module group 210 is fixedly connected with the first connecting piece 240, the first connecting piece 240 is rotatably connected with the second rear module group 220, and the first rear module group 210 realizes the relative rotation with the second rear module group 220 through the first connecting piece 240. The second rear module group 220 is fixedly connected with the second connecting piece 250, the second connecting piece 250 is rotatably connected with the third rear module group 230, and the second rear module group 220 realizes the relative rotation with the third rear module group 230 through the second connecting piece 250. The third rear module group 230 is rotatably connected with the transmission mechanism 300, thereby applying the rotation amount of the plurality of rear module groups 200 to the plurality of front module groups 100.

[0050] Please continue to refer to Figure 5The rear module 200 of the embodiment further comprises a rear module shell 204, and the rear rotating shaft 201, the rear power-off brake 202 and the rear encoder 203 are arranged in the rear module shell 204. Exemplarily, the rear module shell 204 can comprise a first rear module shell 2041 and a second rear module shell 2042 arranged oppositely, and the first rear module shell 2041 and the second rear module shell 2042 can be detachably connected through fasteners such as bolts, thereby facilitating the installation and replacement of the rear rotating shaft 201, the rear power-off brake 202 and the rear encoder 203. The rear encoder 203 is connected to the input end of the rear rotating shaft 201, thereby realizing the position detection of the rear module 200. The rear power-off brake 202 is arranged close to the rear encoder 203, and the rear power-off brake 202 can be fixed on the front module shell 104 for example. The rear module shell 204 can further comprise a rear bearing 205, and the rear rotating shaft 201 passes through the rear bearing 205.

[0051] Please continue to refer to Figures 1-3 The transmission mechanism 300 of the embodiment comprises a first connecting rod 310, a second connecting rod 320, a third connecting rod 330 and a fourth connecting rod 340, and the first connecting rod 310, the second connecting rod 320 and the third connecting rod 330 are arranged between the second connecting plate 142 and the third connecting plate 143. The front rotating shaft 101 of the second front module 120 is rotatably connected to the first end of the first connecting rod 310 after passing through the second connecting plate 142, the front rotating shaft 101 of the third front module 130 is rotatably connected to the first end of the second connecting rod 320 after passing through the third connecting plate 143, the second end of the second connecting rod 320 is rotatably connected to the first end of the third connecting rod 330, the second end of the third connecting rod 330 is rotatably connected to the first end of the fourth connecting rod 340, the second end of the fourth connecting rod 340 is rotatably connected to the third rear module 230, and the second end of the first connecting rod 310 is rotatably connected to the middle part of the fourth connecting rod 340. Through the above structure, the first connecting rod 310, the second connecting rod 320, the third connecting rod 330 and the fourth connecting rod 340 of the embodiment jointly form a four-connecting-rod structure, the first front module 110 can drive the structure to rotate, and the second front module 120 and the third front module 130 can drive the structure to swing in the plane, thereby enabling the fourth connecting rod 340 connected to the third rear module 230 to move in the three-dimensional space.

[0052] Please continue to refer to Figure 1 and Figure 2The embodiment also includes a base 400, and the outer side of the first front module 110 is further provided with a fixing seat 500, the first front module 110 is fixedly connected with the fixing seat 500, and the fixing seat 500 is fixedly connected with the base 400. For example, the fixing seat 500 can be detachably connected with the base 400 through bolts and the like, and the base 400 can be fixed to a desktop, a ground or the like through bolts and the like, so as to facilitate installation and disassembly of the teleoperation master hand. The base 400 is used for supporting other components on the teleoperation master hand.

[0053] In some other embodiments, on the basis of the above-mentioned embodiments, the front loss-of-field brake 102 and the front encoder 103 are both used in communication connection with the control device, the control device can send a corresponding control signal to the front loss-of-field brake 102, so as to make the front loss-of-field brake 102 tightly hold or release the front rotating shaft 101; for example, in the power-off state, the control device can make the front loss-of-field brake 102 tightly hold the front rotating shaft 101, so as to make the front module 100 keep the pose in the power-off state, so that the user can rest at any time and reduce mental consumption. The front encoder 103 is connected with the front rotating shaft 101, and the front encoder 103 can realize the function of position detection based on the rotation amount of the front rotating shaft 101, and can upload the detected corresponding information to the control device.

[0054] Correspondingly, the rear loss-of-field brake 202 and the rear encoder 203 are both used in communication connection with the control device, the control device can send a corresponding control signal to the rear loss-of-field brake 202, so as to make the rear loss-of-field brake 202 tightly hold or release the rear rotating shaft 201; for example, in the power-off state, the control device can make the rear loss-of-field brake 202 tightly hold the rear rotating shaft 201, so as to make the rear module 200 keep the pose in the power-off state, so that the user can rest at any time and reduce mental consumption. The rear encoder 203 is connected with the rear rotating shaft 201, and the rear encoder 203 can realize the function of position detection based on the rotation amount of the rear rotating shaft 201, and can upload the detected corresponding information to the control device.

[0055] In this embodiment, the control device can control the size of the braking force by PWM (Pulse Width Modulation) modulation of the front loss-of-field brake 102 and the rear loss-of-field brake 202, so as to realize preliminary force feedback; the front loss-of-field brake 102 and the rear loss-of-field brake 202 can respectively provide the front module 100 and the rear module 200 with the pose keeping function in the power-off state, so as to reduce the risk of losing control; the front encoder 103 and the rear encoder 203 respectively detect the real-time positions of the front module 100 and the rear module 200. Compared with the scheme in the related art, the embodiment can reduce the cost of the teleoperation master hand, simplify the structure, reduce energy loss and the risk of losing control.

[0056] The embodiment also provides a teleoperation system, comprising a control device, a remote execution device and the teleoperation master hand, the remote execution device and the teleoperation master hand are in communication connection with the control device, and the teleoperation master hand can manage and control the remote execution device through the control device. The control device can be a current existing controller. Exemplarily, a user can wear the teleoperation master hand, swing the arm, and the teleoperation master hand sends the arm position, speed and other information to the control device, the control device sends corresponding control instructions to the remote execution device through analysis and calculation, so that the remote execution device performs corresponding actions. The remote execution device can also feed back relevant parameters in the working process to the control device, and the control device controls the front and rear loss of power brakes through PWM control, realizes preliminary force feedback, and makes the user have a sense of being on the scene.

[0057] It can be understood that, since the teleoperation system of the embodiment adopts the teleoperation master hand, the motor does not need to be arranged, the front and rear loss of power brakes can be controlled through the control device, the size of the braking force can be controlled, preliminary force feedback can be realized, the front and rear loss of power brakes can provide the pose holding function in the power-off state for the front and rear modules, and the risk of loss of control is reduced. The front and rear encoders detect the real-time positions of the front and rear modules respectively. Compared with the scheme in the related art, the cost can be reduced, the structure can be simplified, the energy loss and the risk of loss of control can be reduced.

[0058] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0059] In the present application, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting”, “fixing” and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be directly connected, or indirectly connected through an intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0060] It should be noted that in the description of the present application, the terms "first", "second", etc. are used only to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0061] The embodiments or implementations in the present application are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0062] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A teleoperation master hand characterized by, The utility model relates to a kind of front module and rear module, including: Multiple front modules, two adjacent front modules are rotatably connected, the front module includes front rotating shaft, front power-off brake and front encoder, the front power-off brake is used to hold or loosen the front rotating shaft, and the front encoder is connected with the front rotating shaft; Multiple rear modules, multiple rear modules are rotatably connected, the rear module includes rear rotating shaft, rear power-off brake and rear encoder, the rear power-off brake is used to hold or loosen the rear rotating shaft, and the rear encoder is connected with the rear rotating shaft; Transmission mechanism, the transmission mechanism is rotatably connected multiple front modules and multiple rear modules.

2. The teleoperation master hand of claim 1, wherein, Multiple front modules include first front module, second front module and third front module, the second front module and third front module are rotatably connected with the first front module, and the second front module and third front module are rotatably connected with the transmission mechanism.

3. The teleoperation master hand of claim 2, wherein, It further includes front module mounting seat, the front module mounting seat includes first connecting plate, second connecting plate and third connecting plate, and the second connecting plate and third connecting plate are oppositely arranged on the two sides of the first connecting plate; The front rotating shaft of the first front module is rotatably connected with the first connecting plate, and the second front module and third front module are fixedly connected with the second connecting plate and third connecting plate respectively.

4. The teleoperation master hand of claim 1, wherein, The front module further includes front module shell and speed reducer, the front rotating shaft, front power-off brake, front encoder and speed reducer are arranged in the front module shell, the output end of the front rotating shaft is connected with the speed reducer, the front encoder is connected with the input end of the front rotating shaft, and the front power-off brake is arranged close to the front encoder.

5. The teleoperation master hand of claim 2, wherein, Multiple rear modules include first rear module, second rear module and third rear module, the first rear module is rotatably connected with the second rear module, the second rear module is rotatably connected with the third rear module, and the third rear module is rotatably connected with the transmission mechanism.

6. The teleoperation master hand of claim 5, wherein, It further includes first connecting piece and second connecting piece, the first rear module is fixedly connected with the first connecting piece, the first connecting piece is rotatably connected with the second rear module, the second rear module is fixedly connected with the second connecting piece, the second connecting piece is rotatably connected with the third rear module, and the third rear module is rotatably connected with the transmission mechanism.

7. The teleoperation master hand of claim 1, wherein, The rear module further includes rear module shell, the rear rotating shaft, rear power-off brake and rear encoder are arranged in the rear module shell, the rear encoder is connected with the input end of the rear rotating shaft, and the rear power-off brake is arranged close to the rear encoder.

8. The teleoperation master hand of claim 5, wherein, The transmission mechanism includes first connecting rod, second connecting rod, third connecting rod and fourth connecting rod, the front rotating shaft of the second front module is rotatably connected with the first end of the first connecting rod, the front rotating shaft of the third front module is rotatably connected with the first end of the second connecting rod, the second end of the second connecting rod is rotatably connected with the first end of the third connecting rod, the second end of the third connecting rod is rotatably connected with the first end of the fourth connecting rod, the second end of the fourth connecting rod is rotatably connected with the third rear module, and the second end of the first connecting rod is rotatably connected with the middle part of the fourth connecting rod.

9. The teleoperation master hand of claim 2, wherein, The base is further included, and the outer side of the first front mold set is further provided with a fixing base, the first front mold set is fixedly connected with the fixing base, and the fixing base is fixedly connected with the base.

10. A teleoperation system, characterized by The control device, the remote execution device and the teleoperation master as claimed in any one of claims 1-9 are communicated and connected.

Images