A remote control handle and teleoperation device

Abstract

The utility model discloses a kind of remote control handles, including shell, mounting bracket, driving mechanism, transmission mechanism, signal converter and signal transmission component, the mounting bracket is located in the shell;The driving mechanism includes driving part and first rotating shaft, the first rotating shaft is rotatably arranged on the mounting bracket, one end of the driving part is connected with the first rotating shaft, the driving part can drive the first rotating shaft rotation, to make the driving mechanism switch in initial state and working condition;The transmission mechanism is located between the first rotating shaft and the signal converter, for the rotation movement of the driving mechanism is transmitted to the signal converter;The signal converter is located in the mounting bracket, for the mechanical displacement amount of the rotation of the driving mechanism is converted into electrical signal.The utility model solves the technical problem that the clamping jaw control flexibility is insufficient in the prior art.

Description

Technical Field

[0001] This utility model relates to the technical field, and more specifically to a remote control handle and remote operation device. Background Technology

[0002] Grippers are common end effectors in robots, primarily used to grasp and hold workpieces to complete various tasks. In robot operation scenarios, the accuracy and flexibility of gripper motion control directly affect the work results.

[0003] Currently, the industry mostly uses preset programs to control robot grippers, which means that the gripper is driven to complete preset actions by pre-written fixed instructions. This control method can only mechanically follow the preset program to perform actions, and cannot adjust the gripper's actions in real time according to changes in the actual working conditions during the gripper's operation, resulting in insufficient control flexibility. Utility Model Content

[0004] The purpose of this utility model is to overcome the defects of the prior art and provide a remote control handle and remote operation device, which aims to solve the technical problem of insufficient gripper control flexibility in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A remote control handle includes a housing, a mounting bracket, a drive mechanism, a transmission mechanism, a signal converter, and a signal transmission component, wherein the mounting bracket is disposed within the housing;

[0007] The driving mechanism includes a driving component and a first rotating shaft. The first rotating shaft is rotatably mounted on the mounting bracket. One end of the driving component is connected to the first rotating shaft. The driving component can drive the first rotating shaft to rotate, so that the driving mechanism can switch between an initial state and a working state.

[0008] The transmission mechanism is located between the first rotating shaft and the signal converter, and is used to transmit the rotational motion of the drive mechanism to the signal converter;

[0009] The signal converter is located inside the mounting bracket and is used to convert the mechanical displacement of the drive mechanism into an electrical signal.

[0010] The signal transmission component is electrically connected to the signal converter and is used to transmit the electrical signal to the controlled device to realize remote control of the controlled device.

[0011] In one embodiment, the transmission mechanism includes a first transmission member, a second rotating shaft, and a second transmission member;

[0012] One end of the second rotating shaft is connected to the mounting bracket, and the other end passes through the second transmission component and is connected to the signal converter. The extending direction of the second rotating shaft is parallel to the extending direction of the first rotating shaft.

[0013] The first transmission component is fixedly connected to the first rotating shaft, and the outer wall of the first transmission component is provided with a first gear set;

[0014] The second transmission component is connected to the second rotating shaft. The outer wall of the second transmission component is provided with a second gear set. The first gear set meshes with the second gear set. When the first gear set moves, it drives the second gear set to rotate. The signal converter converts the mechanical displacement of the rotation into an electrical signal.

[0015] In one embodiment, the signal converter includes a first component and a second component that are rotatable relative to each other. The first component is fixed to the mounting bracket, the second component is connected to one end of the second rotating shaft, and the other end of the second rotating shaft passes through the second transmission member and is rotatably connected to the mounting bracket. The second transmission member drives the second rotating shaft to rotate synchronously.

[0016] In one embodiment, the first transmission member includes a fixed end and a movable end. The fixed end is fixedly connected to the first rotating shaft, and the movable end is formed by extending the fixed end toward the second transmission member. The first gear set is disposed on the movable end. When the first rotating shaft drives the first transmission member to rotate, the second transmission member rotates around the second rotating shaft.

[0017] In one embodiment, a connecting piece is provided at one end of the second rotating shaft that is connected to the second component, and the second rotating shaft is connected to the second component through the connecting piece.

[0018] In one embodiment, the signal converter is a brushless motor, and the brushless motor is equipped with an encoder.

[0019] In one embodiment, the driving member includes a connecting end and a pressing end. The connecting end is fixedly connected to the first rotating shaft, and the pressing end extends out of the housing. When the pressing end is moved back and forth, the driving member switches between the initial state and the working state, and the connecting end drives the first rotating shaft to rotate.

[0020] In one embodiment, the drive mechanism further includes a reset member for returning the drive member from the operating state to an initial state.

[0021] In one embodiment, the reset element is a torsion spring with a reverse reset tendency. The torsion spring is sleeved on the first rotating shaft, with one end of the torsion spring fixedly connected to the mounting bracket and the other end fixedly connected to the drive element.

[0022] In one embodiment, the end of the housing opposite to the mounting bracket is provided with a connecting portion for connecting an external device.

[0023] A remote-operated device includes a remote control handle as described above.

[0024] As can be seen from the above technical solutions, this utility model has the following advantages:

[0025] By mounting the device inside the remote control handle housing and integrating the drive mechanism, transmission mechanism, and signal converter on the mounting bracket, the drive component drives the first rotating shaft to rotate to switch the drive mechanism state. The transmission mechanism transmits the rotational motion of the drive mechanism to the signal converter, which can directly and linearly convert the mechanical displacement of the rotational motion into the corresponding electrical signal. The signal transmission component electrically connected to the signal converter then transmits the electrical signal to the controlled robot gripper. This enables real-time control of the opening and closing angle of the robot gripper via the remote control handle without a preset program. This breaks the limitation that the gripper only relies on preset commands to execute actions. The opening and closing angle of the gripper can be adjusted in real time according to the actual deviation of the position or shape of the target during operation, improving the flexibility and accuracy of gripper control.

[0026] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0028] Figure 1 A schematic diagram of the overall structure of a remote control handle provided by this utility model;

[0029] Figure 2 A schematic diagram of the internal structure of a remote control handle after removing the housing, provided by this utility model;

[0030] Figure 3A schematic diagram of the drive mechanism for a remote control handle provided by this utility model;

[0031] Figure 4 A schematic diagram of the structure of a drive component for a remote control handle provided by this utility model;

[0032] Figure 5 A schematic diagram of the transmission mechanism of a remote control handle provided by this utility model;

[0033] Figure 6 A schematic diagram of the structure of the first transmission component of a remote control handle provided by this utility model;

[0034] Figure 7 A schematic diagram showing the connection between a signal converter and a brushless motor for a remote control handle provided by this utility model;

[0035] Figure 8 A schematic diagram of the structure of a remote operation device provided by this utility model;

[0036] Figure 9 An exploded view of a remotely operated device provided by this utility model.

[0037] Figure Labels

[0038] 1. Housing; 11. Connecting part; 12. Button; 13. Brake button; 2. Mounting bracket; 3. Drive mechanism; 31. Drive component; 311. Connecting end; 312. Pressing end; 313. Start button; 32. First rotating shaft; 321. Fixing part; 33. Resetting component; 4. Transmission mechanism; 41. First transmission component; 411. First gear set; 412. Fixed end; 413. Movable end; 42. Second rotating shaft; 43. Second transmission component; 431. Second gear set; 44. Connecting piece; 5. Signal converter; 51. First component; 52. Second component; 6. End joint. Detailed Implementation

[0039] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0040] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] See Figures 1 to 3 As shown in the figure, this utility model embodiment discloses a remote control handle, which includes a housing 1, a mounting bracket 2, a drive mechanism 3, a transmission mechanism 4, a signal converter 5, and a signal transmission component (not shown). The mounting bracket 2 is disposed inside the housing 1, and the drive mechanism 3, the transmission mechanism 4, and the signal converter 5 are all mounted on the mounting bracket 2. The signal transmission component is electrically connected to the signal converter 5. By using the mounting bracket 2 as the core supporting structure, the drive, transmission, and signal conversion related components are integrated into the mounting bracket 2 and placed in the housing 1, achieving an orderly layout and coordinated operation of each component, and preventing the motion transmission and signal conversion process from being obstructed or failing due to external interference. The transmission mechanism 4 is used to transmit the rotational motion of the drive mechanism 3 to the signal converter 5, which in turn converts the mechanical displacement generated by the rotational motion of the drive mechanism 3 into an electrical signal. Finally, the electrical signal is transmitted to the controlled device, namely the gripper controlled in this embodiment, through the signal transmission component, thereby controlling the opening and closing angle of the gripper. In other words, this application uses the mechanical displacement of the drive mechanism 3 as the signal input source of the signal converter 5, so that the angle signal obtained by the signal converter 5 can be controlled by the user operating the drive mechanism 3 and then transmitted to the target gripper in real time through the signal transmission component.

[0043] The drive mechanism 3 includes a drive component 31 and a first rotating shaft 32. The first rotating shaft 32 is rotatably mounted on the mounting bracket 2. The drive component 31 is fixedly connected to the first rotating shaft 32 and can drive the first rotating shaft 32 to rotate, thereby switching the drive mechanism 3 between the initial state and the working state. When the remote control handle is needed, the operating drive unit 31 drives the first rotating shaft 32 to rotate around the mounting bracket 2, switching the drive mechanism 3 from the initial state to the working state. The rotational motion generated by the drive mechanism 3 is transmitted to the signal converter 5 through the transmission mechanism 4. The signal converter 5 receives the mechanical displacement of the rotational motion of the first rotating shaft 32 and converts it into an electrical signal (i.e., a working signal) that can be used for remote control. When it is not needed, the operating drive unit 31 drives the first rotating shaft 32 to reset, and the drive mechanism 3 returns to the initial state. The rotational motion generated when the drive mechanism 3 returns to the initial state is transmitted to the signal converter 5 through the transmission mechanism 4. The signal converter 5 receives the mechanical displacement of the reset motion of the first rotating shaft 32 and converts it into an electrical signal (i.e., a reset signal) that can be used for remote control. Finally, the signal transmission component transmits the electrical signal to the target gripper to achieve real-time control of the target gripper.

[0044] It is understood that in this embodiment, the signal transmission component includes a WiFi module and a Bluetooth module. During operation, the signal transmission component first receives the electrical signal generated by the signal converter through an electrical connection with the signal converter. The WiFi module establishes a network connection with the robot gripper control end, transmitting the electrical signal stably in real-time as a WiFi signal. The Bluetooth module directly establishes a short-range data transmission path with the robot gripper control end, transmitting the electrical signal in real-time as a Bluetooth signal. In other words, both the WiFi and Bluetooth modules ensure accurate and timely transmission of the electrical signal from the remote control handle to the robot gripper, providing signal support for the real-time motion control of the gripper. In other embodiments, other signal transmission methods can be used according to actual needs. It should be noted that the specific structure and working principle of the signal transmission component can be referenced from existing signal transmission methods, and their technical details will not be elaborated here.

[0045] Furthermore, it is understood that in this embodiment, a remote control handle can be used to independently control the gripper. In this case, the signal transmission component is located inside the remote control handle and electrically connected to the signal converter. In another embodiment, the remote control handle is connected to the end of the remote-operated robotic arm to form a remote-operated device. In this case, the signal transmission component is integrated into the remote-operated device, and the signal converter is electrically connected to the signal transmission component via a wire.

[0046] See Figures 1 to 4As shown, in one embodiment, the driving component 31 includes a connecting end 311 and a pressing end 312. The connecting end 311 is fixedly connected to the first rotating shaft 32, and the pressing end 312 extends out of the housing 1. When the pressing end 312 is moved back and forth, the driving component 31 can switch between the initial state and the working state, and the connecting end 311 drives the first rotating shaft 32 to rotate. That is, in this embodiment, by manually operating the pressing end 312 extending out of the housing 1, the user's manual moving action is converted into the movement of the driving component 31, and then transmitted to the first rotating shaft 32 through the connecting end 311, realizing the state switching of the driving mechanism 3 and the rotation of the first rotating shaft 32. The user only needs to press the pressing end 312 to control the state of the driving mechanism 3, which is convenient and intuitive. The design of the pressing end 312 extending out of the housing 1 makes it easy for the user to contact and apply force. At the same time, the fixed connection between the connecting end 311 and the first rotating shaft 32 ensures that the manual action can be effectively converted into mechanical rotational motion.

[0047] Furthermore, the first rotating shaft 32 is provided with a fixing part 321. The vertical cross-section of the fixing part 321 is hexagonal. The connecting end 311 of the driving member 31 is provided with a connecting hole that connects to the fixing part 321. The cross-sectional shape of the connecting hole is hexagonal and matches the fixing part 321. The connecting end 311 of the driving member 31 is sleeved on the outer peripheral wall of the fixing part 321, so that the fixing part 321 and the connecting hole of the driving member 31 are engaged and fixed, and further fixed by a nut.

[0048] Furthermore, in one embodiment, a start button 313 is provided on the pressing end 312 to facilitate the user to press the pressing end 312.

[0049] In this embodiment, the drive mechanism 3 further includes a reset member 33, which is used to return the drive member 31 from the working state to the initial state. Utilizing the elasticity or restoring force of the reset member 33, after the user stops applying force to the pressing end 312, it automatically drives the drive member 31 back to the initial position, thereby switching the drive mechanism 3 from the working state back to the initial state. In other words, in this embodiment, the drive member 31 can be reset without the user manually reversing the operation, improving operational convenience. At the same time, it ensures that the drive mechanism 3 can stably remain in the initial state when not in use, avoiding false signal output caused by the drive member 31 remaining in the working state. During operation, when the user presses the start button 313, causing the pressing end 312 to move in the direction of force application, the drive component 31 enters the working state. The reset component 33 is subjected to the force of the drive component 31 and undergoes possible deformations such as stretching, compression, or torsion, storing elastic potential energy. When the user releases the start button 313, the reset component 33 releases the elastic potential energy, generating a reverse force that acts on the drive component 31, causing the pressing end 312 to move back to the initial position, thereby causing the first rotating shaft 32 to rotate in the opposite direction, and the drive mechanism 3 returns from the working state to the initial state.

[0050] In a more specific implementation, the reset member 33 adopts a torsion spring with a reverse reset tendency. The helical part of the torsion spring is sleeved on the outside of the first rotating shaft 32. The first rotating shaft 32 guides the torsion spring to ensure that the torsional deformation direction of the torsion spring is consistent with the rotation direction of the first rotating shaft 32. One end of the torsion spring is fixed to the mounting bracket 2 by a hook, and the other end is fixed to the connecting end 311 of the drive member 31 by a hook, so that the torsion spring generates a reverse elastic force when the connecting end 311 rotates with the first rotating shaft 32. When the connecting end 311 of the driving component 31 drives the first rotating shaft 32 to rotate, the connecting end 311 applies a force to one end of the torsion spring sleeved on the first rotating shaft 32, causing the torsion spring to undergo torsional deformation. Since the other end of the torsion spring is fixed on the mounting bracket 2, it cannot rotate with the first rotating shaft 32. Therefore, the torsion spring has a reset tendency opposite to the direction of rotation. When the user releases the pressing end 312, the torsion deformation of the torsion spring is restored, generating a reverse elastic force acting on the connecting end 311, causing the connecting end 311 and the first rotating shaft 32 to rotate in the opposite direction, thereby causing the driving component 31 to return from the working state to the initial state. At this time, the pressing end 312 returns to the initial position.

[0051] It is understood that in another embodiment (not shown), a manual reset can also be used. In this embodiment, a strip-shaped opening is provided on the housing 1 at the position corresponding to the extension of the pressing end 312, and the length of the opening is sufficient to meet the travel requirements of the pressing end 312 to be turned back and forth. When the user needs to start the drive mechanism 3, he / she manually turns the pressing end 312 extending out of the housing 1, causing the pressing end 312 to move in one direction, thereby driving the connecting end 311 of the drive component 31 to move synchronously. Since the connecting end 311 is fixedly connected to the first rotating shaft 32, it drives the first rotating shaft 32 to rotate around the mounting bracket 2, so that the drive mechanism 3 switches from the initial state to the working state. When the drive mechanism 3 needs to be reset, the user turns the pressing end 312 in the opposite direction, and the pressing end 312 drives the connecting end 311 and the first rotating shaft 32 to rotate in the opposite direction, so that the drive mechanism 3 returns to the initial state.

[0052] See Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, in one embodiment, the transmission mechanism 4 includes a first transmission member 41, a second rotating shaft 42, and a second transmission member 43. One end of the second rotating shaft 42 is rotatably connected to the mounting bracket 2, and the other end passes through the second transmission member 43 and is connected to the signal converter 5. The extension direction of the second rotating shaft 42 is parallel to the extension direction of the first rotating shaft 32. The first transmission member 41 is fixedly connected to the first rotating shaft 32. The outer wall of the first transmission member 41 is provided with a first gear set 411, and the outer wall of the second transmission member 43 is provided with a second gear set 431. The first gear set 411 and the second gear set 431 mesh with each other. The second transmission member 43 is fixedly connected to the second rotating shaft 42. Thus, when the first transmission member 41 drives the second transmission member 43 to move, the second transmission member 43 drives the second rotating shaft 42 to rotate. The second rotating shaft 42 is rotatably connected to the signal converter 5, thereby directly transmitting the mechanical displacement of the second rotating shaft 42 to the signal converter 5, and then converting it into an electrical signal.

[0053] In this embodiment, the first gear set 411 and the second gear set 431 each include a plurality of meshing teeth, wherein the meshing teeth on the first gear set 411 mesh with the meshing teeth on the second gear set 431. Utilizing the high-precision characteristics of gear meshing transmission, the rotational motion of the first rotating shaft 32 is precisely transmitted to the second transmission member 43 through the meshing of the first gear set 411 and the second gear set 431. The second transmission member 43 then drives the second rotating shaft 42 to rotate, thereby transmitting the rotational motion to the signal converter 5. This avoids motion loss and misalignment during the transmission process, ensuring that the rotational motion of the drive mechanism 3 can be accurately transmitted to the signal converter 5, thereby improving the accuracy of the signal converter 5 in converting mechanical displacement and ensuring the accuracy of electrical signal output. When the first rotating shaft 32 of the drive mechanism 3 rotates, the first rotating shaft 32 drives the first transmission member 41 fixed thereto to rotate synchronously. The first gear set 411 on the outer wall of the first transmission member 41 rotates accordingly. Since the first gear set 411 meshes with the second gear set 431 on the outer wall of the second transmission member 43, the first gear set 411 drives the second gear set 431 to move, thereby causing the second transmission member 43 to drive the second rotating shaft 42 to rotate. At the same time, the second rotating shaft 42 drives the signal converter 5 fixed thereto to operate, realizing the transmission of rotational motion to the signal converter 5.

[0054] Furthermore, the first rotating shaft 32 is provided with a fixing part 321, the vertical cross-section of which is hexagonal. The first transmission member 41 is provided with a connecting hole that connects to the fixing part 321, the cross-sectional shape of which is hexagonal and corresponds to that of the fixing part 321. The first transmission member 41 is sleeved on the outer peripheral wall of the fixing part 321, and the fixing part 321 is engaged and fixed with the connecting hole of the first transmission member 41, and further fixed by a nut. The second transmission member 43 is fixed on the second rotating shaft 42. Its specific fixing method can refer to the connection method between the first transmission member 41 and the first rotating shaft 32, or it can be achieved by welding, interference fit, or screw connection. It is understood that the connection method between the first transmission member 41 and the first rotating shaft 32, and the connection method between the second transmission member 43 and the second rotating shaft 42 can be selected according to the actual situation, including but not limited to the methods mentioned in this embodiment.

[0055] Furthermore, in one embodiment (not shown), both the first transmission member 41 and the second transmission member 43 are spur gears. The ratio of the number of teeth of the first gear set 411 on the first transmission member 41 to the number of teeth of the second gear set 431 on the second transmission member 43 is set to 1:1, thereby ensuring the synchronicity of motion transmission. In this embodiment, the first transmission member 41 is sleeved on the outer peripheral wall of the first rotating shaft 32, and the second transmission member 43 is sleeved on the outer peripheral wall of the second rotating shaft 42. The first gear set 411 on the first transmission member 41 and the second gear set 431 on the second transmission member 43 directly mesh, thereby making the spatial layout within the mounting frame 2 more compact. It is understood that the specific implementation method can refer to the form of two spur gears meshing with each other in the prior art, which will not be elaborated here.

[0056] Furthermore, in another embodiment, see [link to another embodiment]. Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, the first transmission component 41 includes a fixed end 412 and a movable end 413. The fixed end 412 is fixedly connected to the first rotating shaft 32, and the movable end 413 extends from the fixed end 412 toward the second transmission component 43. The first gear set 411 is disposed on the movable end 413. When the first rotating shaft 32 drives the first transmission component 41 to rotate, the second transmission component 43 rotates around the second rotating shaft 42. In this embodiment, to adapt to the spatial structure inside the remote control handle, optimize the structural layout of the first transmission component 41, avoid interference between working parts due to limited space, and ensure the meshing accuracy of the first gear set 411 and the second gear set 431, the first transmission component 41 is designed as a rocker arm gear, that is, divided into a fixed end 412 and a movable end 413. The fixed end 412 is used to achieve a reliable connection with the first rotating shaft 32, while the movable end 413 is designed as a swing arm extending towards the second transmission member 43. A first gear set 411 is provided at the top of the swing arm, so that the first gear set 411 can be accurately aligned with the second gear set 431, ensuring effective meshing of the two while adapting to the spatial structure of the remote control handle in this embodiment. When the first rotating shaft 32 of the drive mechanism 3 rotates, the first rotating shaft 32 drives the fixed end 412 of the first transmission member 41 to rotate synchronously. The fixed end 412 then drives the movable end 413 (i.e., the swing arm) integrated with it to rotate. Since the first gear set 411 is set on the movable end 413, the rotation of the movable end 413 drives the first gear set 411 to rotate. The first gear set 411 meshes with the second gear set 431, thereby driving the second transmission member 43 to rotate around the second rotating shaft 42, realizing the continuous transmission of rotational motion.

[0057] Further, see Figure 7 As shown, in one embodiment, the signal converter 5 includes a first component 51 and a second component 52 that are rotatable relative to each other. The first component 51 is fixed to the mounting bracket 2, and the second component 52 is connected to one end of the second rotating shaft 42. The other end of the second rotating shaft 42 passes through the second transmission member 43 and is rotatably connected to the mounting bracket 2. The second transmission member 43 drives the second rotating shaft 42 to rotate synchronously. A connecting piece 44 is provided at the end of the second rotating shaft 42 connected to the second component 52, and the second rotating shaft 42 is connected to the second component 52 through the connecting piece 44.

[0058] Specifically, the second transmission member 43 and the signal converter 5 are respectively disposed at both ends of the second rotating shaft 42 in the extending direction. A connecting piece 44 is disposed at the end of the second rotating shaft 42 near the signal converter 5, and the signal converter 5 is connected to the second transmission member 43 through the connecting piece 44. In this embodiment, the second transmission member 43 is a spur gear. It can be understood that when the second transmission member 43 drives the second rotating shaft 42 to rotate, since the signal converter 5 is connected to the second rotating shaft 42 through the connecting piece 44, the rotation of the second transmission member 43 is transmitted to the signal converter 5 through the connecting piece 44 on the second rotating shaft 42, causing the signal converter 5 to rotate synchronously. By arranging the second transmission component 43 and the signal converter 5 separately along the extension direction of the second rotating shaft 42, the rotational motion of the second transmission component 43 is transmitted through the second rotating shaft 42, avoiding structural interference caused by their radial overlap. Simultaneously, a connecting piece 44 provides a flexible connection between the second rotating shaft 42 and the signal converter 5, ensuring synchronous rotation while preventing direct friction between the second transmission component 43 and the signal converter 5, extending the service life of the components, ensuring smooth motion transmission, and avoiding motion jamming caused by a direct rigid connection. In this embodiment, the connecting piece 44 and the second component 52 on the signal converter 5 are fixedly connected by screws, thereby ensuring that the second component 52 and the second rotating shaft 42 can rotate synchronously. In another embodiment, the connection method between the connecting piece 44 and the second transmission component 43 and the signal converter 5 can be adaptively set according to actual needs.

[0059] It is understood that, further, in one embodiment, the signal converter 5 is an encoder. In this case, the first component 51 includes a read head and a code disk, and the second component 52 is the encoder's drive shaft, wherein the drive shaft is fixedly connected to the code disk. At this time, the read head and code disk are mounted on the mounting bracket 2, and the encoder's drive shaft is fixedly connected to the second rotating shaft 42 via a connecting piece 44, enabling the drive shaft to rotate synchronously with the second rotating shaft 42 and the second transmission component 43. That is, in this embodiment, the signal converter 5 is an encoder. The second rotating shaft 42 drives the drive shaft to rotate, which in turn drives the code disk to rotate. The read head senses the position change generated when the code disk rotates and converts it into an electrical signal. This is equivalent to the code disk rotating synchronously with the second rotating shaft 42 and the second transmission component 43, and the amount of rotation of the code disk can accurately reflect the mechanical displacement of the rotational motion of the drive mechanism 3. The code disk is provided with scales that can accurately mark the rotation angle or displacement, improving the accuracy of signal conversion. The reading head's sensing function can quickly capture this information and convert it into an electrical signal, providing high-precision signal input for remote control. When the second transmission component 43 drives the second rotating shaft 42 to rotate, the connecting piece 44 drives the transmission shaft and the code disk to rotate synchronously. Since the reader is fixedly mounted on the mounting bracket 2 and is inductively connected to the code disk, the reader continuously senses the position change of the code disk during its rotation, converting the mechanical rotational displacement of the code disk into a corresponding pulse signal or analog electrical signal. This electrical signal can be used for subsequent remote control command transmission. It should be noted that the encoder is existing technology, and only its working principle is briefly explained here. For specific details regarding the encoder's structural settings, please refer to existing technology, which will not be elaborated here.

[0060] In another embodiment, see Figure 7 As shown, the signal converter 5 is a brushless motor. In this case, the first component 51 is a base containing a rotor and stator, and the base also contains an encoder for acquiring rotational signals. The second component 52 includes an output shaft and a transmission plate, with the transmission plate fixedly connected to the output end of the output shaft. It can be understood that the base is connected to the mounting bracket 2, and the transmission plate is connected to the second rotating shaft 42 via a connecting piece 44. The connecting piece 44 is fixedly connected to the transmission plate, thereby ensuring that the torque generated by the signal converter 5 can be stably transmitted to the second rotating shaft 42 and then to the second transmission component 43.

[0061] Specifically, in this embodiment, the reverse drive characteristic of the brushless motor is used to achieve force feedback. An encoder is installed within the brushless motor to ensure effective conversion of the rotation signal while achieving force feedback. Furthermore, when the gripper contacts the workpiece surface, it generates a feedback signal reflecting the contact situation (such as contact force and changes in contact state). This feedback signal is transmitted back through a signal transmission component. That is, while sending electrical signals to control the gripper's movement, the signal transmission component simultaneously receives the gripper feedback signal and transmits it to the signal converter 5. The signal converter 5 continuously acquires the rotation angle signal of the second transmission member 43 to generate control commands for the gripper's movement. Simultaneously, it receives and analyzes the gripper's feedback signal in real time. Based on the contact state reflected in the feedback signal, it controls the output shaft of the brushless motor to generate a rotational trend opposite to the current rotation direction of the second rotation shaft 42. This reverse rotation acts on the second rotation shaft 42 through the connecting piece 44 and is then transmitted to the second transmission member 43, applying a force opposite to the rotation direction. The reverse force received by the second transmission component 43 is transmitted to the first transmission component 41 via the first gear set 411 meshing with the second gear set 431, and then to the drive component 31 via the first rotating shaft 32. Finally, it is fed back to the user's hand operating the drive component 31, thereby accurately simulating the damping force encountered when the gripper clamps the target workpiece. This allows the user to intuitively perceive the contact state between the gripper and the workpiece, and further operate the drive component 31 to make the gripper clamp the workpiece.

[0062] In other words, in this embodiment, the signal converter 5 uses a brushless motor capable of force feedback, and an encoder is installed inside the brushless motor. By integrating the rotation signal of the second rotating shaft 42 with the actual contact signal of the gripper, the signal converter 5 achieves real-time and precise control of the brushless motor, ensuring that the simulated damping force of the brushless motor is highly consistent with the actual working conditions. Furthermore, by installing an encoder inside the brushless motor and optimizing the signal transmission logic, functional expansion is achieved, resulting in a simple and compact structure that avoids reliability issues caused by complex additional components. It should be noted that the force feedback system is existing technology; only its structure and operation are briefly described here. Specific details regarding the circuit structure and other aspects of the force feedback system can be found in existing technologies and will not be elaborated upon here.

[0063] See Figure 1 , Figure 8 and Figure 9As shown, a teleoperation device is also disclosed, which includes a remote control handle. It is understood that the teleoperation device includes a teleoperated robotic arm, and a connecting part 11 is provided on the housing 1 of the remote control handle, which is connected to the end joint 6 of the teleoperated robotic arm. In this embodiment, on the one hand, the remote control handle serves as the control input component for the mechanical gripper of the target robot, and the opening and closing angle of the mechanical gripper is directly controlled remotely through the electrical signal emitted by the signal converter 5 in the remote control handle; on the other hand, the connecting part 11 on the housing 1 realizes the mechanical connection between the remote control handle and the end joint 6 of the teleoperated robotic arm. After the operator holds the remote control handle, they can move the remote control handle to drive the teleoperated robotic arm to move, thus simplifying the structure while ensuring the overall response speed of the target robot.

[0064] Furthermore, in this embodiment, the remote control handle is provided with multiple buttons 12, which are used to control the start, stop and movement direction of the target robot of the teleoperated robotic arm.

[0065] When the user needs to start the target robot, pressing the corresponding start button on the remote control sends a start control signal. This signal is transmitted to the teleoperated robotic arm, which then sends it to the target robot's control system to start the robot. To stop the target robot, pressing the corresponding stop button sends a signal to the teleoperated robotic arm, which then sends it to the target robot to stop it. To change the target robot's direction of movement, pressing the corresponding direction button (such as left turn or right turn) sends a direction control signal. The teleoperated robotic arm receives the signal and sends it to the target robot's control system, which then controls the drive components to move the target robot in the specified direction. Additionally, a brake button 13 is located on the side of the remote control; pressing it starts the remote control, and releasing it keeps it in the off state.

[0066] By setting multiple buttons 12 with different functions, the start / stop and different movement directions (such as forward, backward, left turn, right turn, etc.) of the target robot are assigned to different buttons 12. This allows users to quickly issue control commands by pressing the corresponding button 12. The operation is intuitive and easy to understand. Users can master the control method without complicated learning. The setting of multiple buttons 12 can realize multi-dimensional control of the target robot, improve the flexibility and efficiency of remote operation. At the same time, the buttons 12 are set on the remote control handle, which makes it convenient for users to operate the button 12 while operating the remote control handle.

[0067] It is understood that the remote control handle has an internal control system for responding to the actions of button 12 and brake button 13 and sending signals. It should be noted that the control system and control method mentioned in this application are easily implemented by those skilled in the art, and will not be elaborated upon here.

[0068] This utility model provides a remote control handle and a remote operation device. The remote control handle integrates the drive mechanism 3, transmission mechanism 4, and signal converter 5 within the housing 1 by placing the mounting bracket 2 inside the mounting bracket 2. This achieves an orderly layout and compact structure of the components, effectively avoiding the influence of external interference on motion transmission and signal conversion, and ensuring overall operational stability. In the drive mechanism 3, the drive component 31 can drive the first rotating shaft 32 to switch between the initial and working states. With the reset component 33, it can automatically reset after the user stops operating, which not only improves the convenience of operation but also prevents the drive component 31 from remaining in the working state and causing false signal output. The transmission mechanism 4 transmits rotational motion by meshing the first gear set 411 and the second gear set 431. Combined with the parallel arrangement of the second rotating shaft 42 and the first rotating shaft 32 and the application of the connecting piece 44, motion transmission loss and component friction are reduced, extending service life while ensuring transmission accuracy. The signal converter 5 accurately converts the mechanical displacement of the drive mechanism 3 into electrical signals, providing reliable signal input for subsequent control, and can also provide real-time feedback on the contact status between the gripper and the target workpiece. Meanwhile, the remote control device is connected to the end joint 6 of the remote control robot arm through the connecting part 11 of the remote control handle housing 1, which improves the response speed of the remote control robot arm. In addition, the multiple buttons 12 on the remote control handle can intuitively and efficiently control the start, stop and movement direction of the target robot, ultimately realizing the precision, convenience and stability of the remote operation process, and meeting the control requirements in the remote operation scenario.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A remote control handle, characterized in that, It includes a housing (1), a mounting bracket (2), a drive mechanism (3), a transmission mechanism (4), a signal converter (5), and a signal transmission component, wherein the mounting bracket (2) is disposed inside the housing (1); The drive mechanism (3) includes a drive member (31) and a first rotating shaft (32). The first rotating shaft (32) is rotatably mounted on the mounting bracket (2). One end of the drive member (31) is connected to the first rotating shaft (32). The drive member (31) can drive the first rotating shaft (32) to rotate, so that the drive mechanism (3) can switch between the initial state and the working state. The transmission mechanism (4) is located between the first rotating shaft (32) and the signal converter (5) and is used to transmit the rotational motion of the drive mechanism (3) to the signal converter (5); The signal converter (5) is located in the mounting bracket (2) and is used to convert the mechanical displacement of the drive mechanism (3) into an electrical signal. The signal transmission component is electrically connected to the signal converter (5) and is used to transmit the electrical signal to the controlled device to realize remote control of the controlled device.

2. The remote control handle according to claim 1, characterized in that, The transmission mechanism (4) includes a first transmission component (41), a second rotating shaft (42), and a second transmission component (43); One end of the second rotating shaft (42) is connected to the mounting bracket (2), and the other end passes through the second transmission member (43) and is connected to the signal converter (5). The extension direction of the second rotating shaft (42) is parallel to the extension direction of the first rotating shaft (32). The first transmission component (41) is fixedly connected to the first rotating shaft (32), and the outer wall of the first transmission component (41) is provided with a first gear set (411); The second transmission component (43) is connected to the second rotating shaft (42). The outer wall of the second transmission component (43) is provided with a second gear set (431). The first gear set (411) meshes with the second gear set (431). When the first gear set (411) moves, it drives the second gear set (431) to rotate. The signal converter (5) converts the mechanical displacement of the rotation into an electrical signal.

3. The remote control handle according to claim 2, characterized in that, The signal converter (5) includes a first component (51) and a second component (52) that can rotate relative to each other. The first component (51) is fixed on the mounting bracket (2). The second component (52) is connected to one end of the second rotating shaft (42). The other end of the second rotating shaft (42) passes through the second transmission member (43) and is rotatably connected to the mounting bracket (2). The second transmission member (43) drives the second rotating shaft (42) to rotate synchronously.

4. The remote control handle according to claim 2 or 3, characterized in that, The first transmission member (41) includes a fixed end (412) and a movable end (413). The fixed end (412) is fixedly connected to the first rotating shaft (32). The movable end (413) is formed by extending the fixed end (412) toward the second transmission member (43). The first gear set (411) is disposed on the movable end (413). When the first rotating shaft (32) drives the first transmission member (41) to rotate, the second transmission member (43) rotates around the second rotating shaft (42).

5. The remote control handle according to claim 3, characterized in that, The second rotating shaft (42) is connected to the second component (52) at one end by a connecting piece (44), and the second rotating shaft (42) is connected to the second component (52) through the connecting piece (44).

6. The remote control handle according to claim 1, characterized in that, The signal converter (5) is a brushless motor, and the brushless motor is equipped with an encoder.

7. The remote control handle according to claim 1, characterized in that, The driving component (31) includes a connecting end (311) and a pressing end (312). The connecting end (311) is fixedly connected to the first rotating shaft (32). The pressing end (312) extends out of the housing (1). When the pressing end (312) is moved back and forth, the driving component (31) switches between the initial state and the working state. The connecting end (311) drives the first rotating shaft (32) to rotate.

8. The remote control handle according to claim 1, characterized in that, The drive mechanism (3) further includes a reset member (33), which is used to return the drive member (31) from the working state to the initial state.

9. The remote control handle according to claim 8, characterized in that, The reset component (33) is a torsion spring with a reverse reset tendency. The torsion spring is sleeved on the first rotating shaft (32). One end of the torsion spring is fixedly connected to the mounting bracket (2), and the other end is fixedly connected to the drive component (31).

10. The remote control handle according to claim 1, characterized in that, The housing (1) has a connecting part (11) at one end away from the mounting bracket (2), and the connecting part (11) is used to connect an external device.

11. A remotely operated device, characterized in that, Includes the remote control handle as described in any one of claims 1 to 10.

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