A teleoperational controller with adjustable length

Abstract

The utility model provides a length adjustable's remote control, relate to remote control equipment technical field, the utility model discloses a length adjustable's remote control, relate to remote control equipment technical field, the utility model aims at solving the existing remote control arm length fixed poor adaptability, attitude detection easy to produce the problem of cumulative drift, high -precision detection scheme cost is higher. The controller includes the shoulder joint subassembly, the big arm subassembly, the small arm subassembly and the wrist operation subassembly that rotate connection in proper order, and the big arm subassembly and small arm subassembly are all axial telescopic adjusting structure, and they are equipped with mechanical type locking mechanism respectively, and the locking block and sliding part are engaged through locking wrench drive, realize the flexible adjustment and reliable locking of arm length, and the incremental magnetic encoder is arranged at each rotary joint, is used for gathering joint rotation angle signal. The utility model can adapt to different operator body shape and operation scene, improve operation comfort and detection stability, no attitude cumulative drift, environmental adaptability is strong, can control whole machine cost simultaneously, is applicable to multi -scene remote operation operation.

Description

Technical Field

[0001] This utility model relates to the field of teleoperation technology, and more specifically, to a teleoperation controller with adjustable length. Background Technology

[0002] In scenarios such as precision industrial assembly, minimally invasive medical surgery, and nuclear industry operation and maintenance, remote control controllers, as the core terminal for human-machine interaction, are key components for achieving precise control of remote equipment. With the continuous expansion of remote operation scenarios, existing controllers have gradually revealed several limitations: First, most existing remote control controllers use a fixed-length arm design, which cannot be adapted to the operator's shoulder width or arm span. Operators of different body types find it difficult to maintain a natural and comfortable operating posture, and prolonged operation can easily lead to limb fatigue. Furthermore, the arm length cannot be adjusted according to different scenario requirements such as delicate operations and large-stroke operations, limiting its applicability. Second, most existing remote control controllers use IMUs for attitude detection. These devices require integral calculations to obtain attitude data, and cumulative drift occurs over time, leading to a continuous decrease in detection accuracy. To ensure operational accuracy, frequent interruptions for calibration are necessary, severely impacting work efficiency. Under complex conditions such as extreme temperatures and strong vibrations, the drift phenomenon is further exacerbated, making it difficult to meet the requirements of high-precision remote operation. Third, high-precision IMUs... The high procurement cost and complex signal calibration algorithms significantly increase the production and integration costs of the controller. The optical encoder solution is susceptible to dust and oil contamination, resulting in accuracy degradation, while the detection accuracy of the ordinary Hall sensor solution is difficult to meet the standards. It is impossible to simultaneously take into account environmental adaptability, detection accuracy and cost control. Utility Model Content

[0003] To address the aforementioned problems, this utility model provides a length-adjustable remote control, comprising a shoulder joint assembly, an upper arm assembly, a forearm assembly, and a wrist operation assembly connected in sequence. Both the upper arm assembly and the forearm assembly are axially telescopic adjustment structures, each equipped with a locking mechanism. The locking mechanism includes an arm body shell, a sliding member, a first locking block, a second locking block, and a locking lever. The sliding member is slidably inserted along the axial direction of the arm body shell. The first locking block is movably disposed in a first receiving groove of the arm body shell, and the second locking block is movably disposed in a second receiving groove of the arm body shell. The locking lever is hinged to the outer side of the arm body shell and is used to drive the first locking block to move radially, causing the inner end of the first locking block to engage with the sliding member for locking or disengaging for unlocking. Incremental magnetic encoders are provided at the rotating joints of the shoulder joint assembly, upper arm assembly, and forearm assembly to collect the rotation angle signals of each joint.

[0004] Compared with existing technologies, the technical effects achieved by this solution are as follows: By setting both the boom and forearm components as axially extendable adjustable structures, the overall boom length of the controller can be flexibly adjusted according to the operator's body size and the spatial requirements of the operating scenario, effectively improving the operating comfort of different users and alleviating limb fatigue caused by long-term work. It can also adapt to various operating scenarios such as fine operation and large-range movements, expanding the controller's applicability. The matching locking mechanism can reliably fix the boom length after length adjustment, ensuring stability during operation and preventing accidental movement from affecting operational accuracy. Incremental magnetic encoders are used at each rotating joint to collect joint angle signals, directly obtaining accurate joint rotation data without relying on integral calculations. This eliminates the cumulative drift problem inherent in IMU solutions, maintaining stable detection accuracy even during long-term continuous operation. Furthermore, the magnetic encoders have stronger tolerance to dust, oil, and environmental vibration, adapting to more complex working conditions. At the same time, the components are cheaper and the integration method is simpler, which helps reduce the overall production cost of the controller and facilitates mass production and application.

[0005] In one embodiment of this utility model, the first locking block is provided with a positioning protrusion facing the sliding member, and the outer wall of the sliding member is provided with a plurality of positioning grooves that are adapted to the positioning protrusion along its own axial direction; in the locked state, the positioning protrusion is embedded in the corresponding positioning groove, restricting the relative sliding between the sliding member and the outer shell of the arm body.

[0006] Compared with existing technologies, the technical effects achieved by this solution are as follows: By setting a positioning protrusion at the inner end of the first locking block and arranging multiple sets of matching positioning grooves axially at intervals on the outer wall of the sliding component, the positioning protrusion is embedded into the positioning groove in the locked state to form a tight mechanical engagement, which can effectively bear the axial force of the arm body and prevent the sliding component from axially moving in the locked state, thus greatly improving the structural reliability and positioning stability in the locked state; the multiple sets of spaced positioning grooves can provide multiple length adjustment options, allowing the operator to select the appropriate arm length according to actual usage needs. The adjustment process is clear, and after locking, it can withstand a large axial operating force, ensuring that the arm length will not change unexpectedly during operation, effectively guaranteeing the accuracy and safety of remote operation.

[0007] In one embodiment of this utility model, the second locking block is provided with a ball head damping protrusion, and the outer wall of the sliding member is provided with a plurality of spherical grooves that are adapted to the ball head damping protrusion along its own axial direction; in the unlocked state, the ball head damping protrusion abuts against the corresponding spherical groove, providing damping resistance for the axial sliding of the sliding member.

[0008] Compared with existing technologies, the technical effects achieved by this solution are as follows: By setting a second locking block with a ball-head damping protrusion and arranging multiple sets of spherical grooves on the outer wall of the slider, the ball-head damping protrusion can elastically abut against the corresponding spherical groove in the unlocked state, providing appropriate damping resistance for the axial sliding of the slider. On the one hand, this can prevent the slider from sliding randomly due to its own weight or slight external force in the unlocked state, improving the controllability of the length adjustment process. On the other hand, it can form a clear gear feel during the sliding adjustment process, making it easy for the operator to intuitively perceive the adjustment gear. Temporary positioning can be achieved without additional assistance, greatly improving the operational convenience and user experience of length adjustment. At the same time, it can also prevent the slider from sliding too fast during the adjustment process, causing parts to collide, thus providing a certain degree of protection for the mechanism.

[0009] In one embodiment of this utility model, the hinge end of the locking wrench is provided with a pressing head, which abuts against a portion of the first locking block; when the locking wrench is rotated, the pressing head pushes the first locking block to move radially along the outer shell of the arm body, thereby switching between the locking and unlocking states.

[0010] Compared with existing technologies, the technical effects achieved by this solution are as follows: By setting a pressure head at the hinge end of the locking wrench, the lever rotation of the wrench drives the pressure head to push the first locking block to move radially. The locking and unlocking states can be quickly switched by simply turning the locking wrench. The operation is simple and convenient, and the length adjustment can be completed with one hand, which is in line with the usage habits during remote operation. The lever-type drive structure can amplify the operating force, making the engagement between the first locking block and the sliding part tighter and the locking force sufficient and reliable. At the same time, the overall structure is compact and can be directly integrated into the outside of the arm body shell without occupying too much installation space inside the arm body, which is conducive to the miniaturization and lightweight design of the arm body structure.

[0011] In one embodiment of this utility model, in the unlocked state, the side of the first locking block facing the slider does not protrude from the inner wall plane of the arm body shell facing the slider.

[0012] Compared with existing technologies, the technical effects achieved by this solution are as follows: In the unlocked state, the side of the first locking block facing the sliding component does not protrude beyond the inner wall plane of the arm body shell. This ensures that the first locking block will not cause structural interference to the axial sliding of the sliding component in the unlocked state, guaranteeing smooth and unobstructed telescopic adjustment. It also prevents the protruding part of the locking block from continuously scraping the outer wall of the sliding component, thus avoiding wear and effectively extending the service life of the component. Furthermore, this design ensures that the fit clearance between the arm body shell and the sliding component remains uniform, improving the stability of telescopic sliding. It also reduces the probability of foreign objects entering the fit clearance, minimizing the impact of external impurities on sliding performance and enhancing the long-term reliability of the mechanism.

[0013] In one embodiment of this utility model, the locking mechanism structure of the upper arm assembly and the lower arm assembly is the same, and the telescopic adjustment direction of the two is respectively set along the axial direction of the corresponding arm body.

[0014] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: The locking mechanism structure of the boom and forearm components is made consistent, which effectively reduces the variety and specifications of parts, facilitates batch processing of parts and assembly of the whole machine, and reduces production and manufacturing costs. It also ensures that the adjustment operation feel of both booms is consistent, reducing the learning and adaptation costs for operators and making it more convenient to use. The two telescopic adjustment directions are respectively set along the axial direction of the corresponding boom, ensuring that the length adjustment of both the boom and forearm is carried out along the main force direction of the boom. After adjustment, the overall mechanical performance of the boom is stable, and no additional bending moment will be generated due to eccentric force, effectively ensuring the overall strength and long service life of the boom structure.

[0015] In one embodiment of this utility model, incremental magnetic encoders are respectively disposed at the rotating joint of the shoulder joint assembly, the hinged rotating joint of the upper arm assembly and the forearm assembly, and the rotating joint of the wrist operation assembly.

[0016] Compared with existing technologies, the technical effects achieved by this solution are as follows: By placing incremental magnetic encoders at the shoulder joint assembly, the hinge between the upper arm and forearm, and each rotational joint of the wrist, the angle data of all rotational joints of the controller can be comprehensively collected, completely restoring the operator's limb movements and postures, and ensuring the accuracy of remote operation motion mapping; by directly setting magnetic encoders at each rotational joint, the rotation angle of the joint can be directly detected without the need for conversion through gears, linkages, or other transmission structures, avoiding detection errors caused by transmission backlash and further improving detection accuracy. At the same time, the proximity placement also simplifies the internal wiring layout, reduces interference during signal transmission, and improves the stability and accuracy of the detection signal.

[0017] In one embodiment of this utility model, the wrist operation component includes a wrist connector and an operation handle, the operation handle being rotatably connected to the distal end of the forearm component via the wrist connector.

[0018] Compared with existing technologies, the technical effects achieved by this solution are as follows: By setting up a wrist connection base and an operating handle to form a wrist operation component, the operating handle can rotate relative to the forearm component through the wrist connection base, which can better adapt to the operator's natural wrist rotation posture and improve the comfort of grip operation; the independent wrist connection base structure can be individually designed and adjusted for rotation damping and rotation range to meet the wrist activity needs in different operation scenarios, and at the same time, it is convenient to integrate interactive elements such as operation buttons and function knobs onto the operating handle, optimize the layout of operating elements, and improve the convenience of remote operation and human-computer interaction experience.

[0019] In one embodiment of this utility model, the positioning protrusion and the ball head damping protrusion are integrally formed on the first locking block and the second locking block, respectively, and the positioning groove and the spherical groove are arranged on both sides along the axial direction of the sliding member.

[0020] Compared with existing technologies, the technical effects achieved by this solution are as follows: The positioning protrusion and the ball-head damping protrusion are integrally formed on the first and second locking blocks, respectively, allowing the locking and damping functions to be independent and non-interfering. The locking and damping structures can be designed and optimized according to their respective force requirements, effectively improving their performance. The positioning groove and the ball-shaped groove are arranged on both sides along the axial direction of the sliding component, avoiding interference between the two types of grooves on the sliding component, facilitating processing and forming. Simultaneously, the locking and damping forces are distributed at different positions on the sliding component, making the force on the sliding component more balanced and further improving the stability of the telescopic sliding and locking processes.

[0021] By adopting the technical solution of this utility model, the following technical effects can be achieved: By designing both the boom and forearm components as axially extendable adjustable structures, the overall arm length of the controller can be flexibly adjusted according to the operator's body size and the spatial requirements of the operating scenario. This effectively improves the operating comfort of different users, alleviates limb fatigue caused by prolonged work, and adapts to various operating scenarios, including delicate operations and large-range movements, thus expanding the controller's applicability. The accompanying locking mechanism provides reliable mechanical fixation after length adjustment, ensuring stable arm length during operation and preventing accidental movement that could affect operational accuracy. Incremental magnetic encoders are used at each rotating joint to collect joint angle signals, directly obtaining accurate joint rotation data without relying on integral calculations. This eliminates the cumulative drift problem inherent in IMU solutions, maintaining stable detection accuracy even during long-term continuous operation. Furthermore, the magnetic encoders are more resistant to dust, oil, and environmental vibrations, adapting to more complex working conditions. They also have lower component costs and simpler integration methods, which helps reduce the overall production cost of the controller and facilitates mass production and application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 One of the structural schematic diagrams of a length-adjustable teleoperated controller provided for an embodiment of this utility model; Figure 2A second schematic diagram of the structure of a length-adjustable remote control controller provided for an embodiment of this utility model; Figure 3 One of the exploded schematic diagrams of the forearm assembly; Figure 4 This is the second exploded view of the forearm assembly.

[0023] Explanation of reference numerals in the attached figures: 100. Adjustable length remote control; 110. Shoulder joint assembly; 120. Upper arm assembly; 130. Forearm assembly; 140. Wrist operation assembly; 150. Locking mechanism; 151. Arm body shell; 152. Slider; 153. First locking block; 154. Second locking block; 155. Locking wrench; 156. First receiving groove; 157. Second receiving groove; 158. Positioning protrusion; 159. Ball head damping protrusion; 160. Positioning groove; 170. Spherical groove. Detailed Implementation

[0024] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions in the embodiments of this utility model are clearly and completely described. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0025] See Figures 1-4 This utility model provides a length-adjustable remote control 100, including a shoulder joint assembly 110, an upper arm assembly 120, a forearm assembly 130, and a wrist operation assembly 140 connected in sequence. Both the upper arm assembly 120 and the forearm assembly 130 are axially telescopic adjustable structures, and each is provided with a locking mechanism 150. The locking mechanism 150 includes an arm body shell 151, a sliding member 152, a first locking block 153, a second locking block 154, and a locking lever 155. The sliding member 152 is slidably inserted along the axial direction of the arm body shell 151. A locking block 153 is movably disposed in the first receiving groove 156 of the arm body shell 151, and a second locking block 154 is movably disposed in the second receiving groove 157 of the arm body shell 151. A locking wrench 155 is hinged to the outside of the arm body shell 151 and is used to drive the first locking block 153 to move radially, so that the inner end of the first locking block 153 engages with the sliding member 152 for locking or disengaging for unlocking. Incremental magnetic encoders are provided at the rotating joints of the shoulder joint assembly 110, the upper arm assembly 120 and the forearm assembly 130 to collect the rotation angle signals of each joint.

[0026] Specifically, the overall design adopts a biomimetic upper limb arm structure, including a shoulder joint assembly 110, an upper arm assembly 120, a forearm assembly 130, and a wrist operation assembly 140, which are rotatably connected in sequence. The shoulder joint assembly 110 serves as the mounting base for the entire device and has at least two degrees of rotational freedom to simulate the movement of the human shoulder joint. The proximal end of the upper arm assembly 120 is rotatably connected to the shoulder joint assembly 110, and the distal end is hinged to the proximal end of the forearm assembly 130, forming an elbow joint rotation pair. The distal end of the forearm assembly 130 is connected to the wrist operation assembly 140, allowing the operator to grip and input remotely. A wearable hanger is also provided, which, along with the chest ball joint support frame, distributes the wearing burden of the entire device, improving wearing comfort.

[0027] Specifically, both the boom assembly 120 and the forearm assembly 130 are axial telescopic adjustment structures, and each is equipped with a locking mechanism 150 with identical structure. Their telescopic adjustment directions extend along the axial direction of the corresponding boom body. The following describes the structure of the locking mechanism 150 in detail, taking the boom assembly 120 as an example: The locking mechanism 150 of the boom assembly 120 includes a boom body shell 151, a sliding member 152, a first locking block 153, a second locking block 154, and a locking lever 155. The inner wall of the boom body shell 151 has a first receiving groove 156 and a second receiving groove 157. Both receiving grooves open radially inward along the boom body shell 151 and are spaced apart along the axial direction of the boom body. The sliding member 152 is also a long rod-shaped structure. Its outer diameter is adapted to the inner cavity of the arm body shell 151. It is slidably inserted into the hollow cavity of the arm body shell 151 and can slide back and forth along the axial direction of the arm body shell 151 to change the overall length of the boom assembly 120.

[0028] Specifically, the first locking block 153 is movably fitted inside the first receiving groove 156 and can reciprocate radially along the outer shell 151 of the arm body. The first locking block 153 has an integrally formed positioning protrusion 158 on its inner end face facing the sliding member 152. The outer wall of the sliding member 152 has several positioning grooves 160 spaced apart along its axial direction. The shape and size of the positioning grooves 160 are adapted to the positioning protrusion 158. When the first locking block 153 moves radially inward, the positioning protrusion 158 can be embedded into the corresponding positioning groove 160, forming a mechanical engagement, thereby restricting the relative axial sliding between the sliding member 152 and the outer shell 151 of the arm body, achieving locking and fixing of the arm length.

[0029] Specifically, the second locking block 154 is movably embedded inside the second receiving groove 157. Its inner end face facing the slider 152 has an integrally formed ball-head damping protrusion 159. The outer wall of the slider 152 has several spherical grooves 170 arranged at intervals along its axial direction, the shape of which matches the ball-head damping protrusion 159. The positioning groove 160 and the spherical grooves 170 are arranged on opposite sides along the axial direction of the slider 152, without overlapping or interfering with each other. In the unlocked state, the positioning protrusion 158 of the first locking block 153 separates from the positioning groove 160. At this time, the ball-head damping protrusion 159 of the second locking block 154 abuts against the corresponding spherical groove 170, providing appropriate damping resistance for the axial sliding of the slider 152. This not only avoids hindering normal telescopic adjustment operations but also prevents the slider 152 from sliding freely due to its own weight or slight external force. Simultaneously, it provides a clear tactile feedback during sliding, facilitating operator control of the adjustment range.

[0030] Specifically, the locking wrench 155 is hinged to the outer wall of the arm body shell 151 via a hinge shaft. One end of the wrench, located inside the hinge shaft, has a pressing head. A corresponding connecting hole is provided on the side wall of the arm body shell 151, through which the pressing head passes and abuts against the outer end face of the first locking block 153. When the locking wrench 155 is turned in the locking direction, the pressing head rotates synchronously with the hinge shaft, pushing the first locking block 153 radially inward, causing the positioning protrusion 158 to embed into the positioning groove 160, thus completing the arm length locking. When the locking wrench 155 is turned in the opposite direction to the unlocking position, the pressing head rotates with the hinge shaft and releases the pressing action on the first locking block 153. The first locking block 153 can then retract outward, causing the positioning protrusion 158 to disengage from the positioning groove 160, and the sliding member 152 regains its axial sliding freedom. In the unlocked state, the side of the first locking block 153 facing the slider 152 is completely housed in the first receiving groove 156 and does not protrude from the inner wall plane of the arm body shell 151 facing the slider 152, so as not to interfere with the sliding of the slider 152.

[0031] Specifically, the locking mechanism 150 of the forearm assembly 130 has the same structure as that of the upper arm assembly 120. The forearm length can be unlocked, adjusted, and locked by moving the corresponding locking lever 155.

[0032] Specifically, incremental magnetic encoders are installed at the rotating joints of the shoulder joint assembly 110, the hinged rotating joints of the upper arm assembly 120 and the forearm assembly 130, and the rotating joints of the wrist operating assembly 140. The magnets of each incremental magnetic encoder are fixedly connected to the rotating components, and the sensing components are fixedly connected to the fixed components. When the joints rotate relative to each other, the magnetic encoders can directly detect the rotation angle signal of the corresponding joint and transmit the angle signal to an external control unit. Signal processing is then used to map the motion of the remote execution device. Using incremental magnetic encoders for angle detection eliminates the need for integral calculations to derive attitude data, avoids cumulative drift issues, maintains stable detection accuracy even during long-term continuous operation, and exhibits strong tolerance to dust, oil, and environmental vibration, making it suitable for various complex operating scenarios.

[0033] Specifically, the wrist operation component 140 includes a wrist connector and an operating handle. The proximal end of the wrist connector is rotatably connected to the distal end of the slider 152 of the forearm component 130, forming a wrist rotation pair. An incremental magnetic encoder is also installed at this rotation pair to detect the wrist rotation angle. The operating handle is fixedly mounted on the distal end of the wrist connector. Its surface can be equipped with interactive elements such as operation buttons and function knobs according to actual usage needs, allowing the operator to switch functions and adjust parameters. When the operator holds the operating handle, the natural rotation of the wrist can cause the wrist connector to rotate relative to the forearm component 130, thereby acquiring wrist posture signals through the magnetic encoder to achieve remote operation mapping of wrist movements.

[0034] Specifically, the usage process is as follows: Before use, the operator can, according to their own body size and the needs of the operating scenario, turn the locking levers 155 on the upper arm assembly 120 and the lower arm assembly 130 to the unlocked state, and then pull or push the sliding member 152 axially to adjust the arm length to a suitable position. During the adjustment process, the ball head damping protrusion 159 and the spherical groove 170 cooperate to provide position damping, making it easy for the operator to accurately control the adjustment amount. After the adjustment is completed, turn the locking lever 155 in the opposite direction to the locked position. The arm length is fixed by the mechanical engagement of the positioning protrusion 158 and the positioning groove 160, and then remote operation can begin. During operation, the incremental magnetic encoders at each joint collect the rotation angle data of each joint in real time and output stable attitude signals to the control unit to ensure the accuracy and stability of remote operation.

[0035] 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 this 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A length-adjustable teleoperation controller, comprising a shoulder joint assembly (110), an upper arm assembly (120), a forearm assembly (130), and a wrist operating assembly (140) sequentially rotatably connected, characterized in that, Both the boom assembly (120) and the forearm assembly (130) are axial telescopic adjustment structures, and each is provided with a locking mechanism (150). The locking mechanism (150) includes an arm body shell (151), a sliding member (152), a first locking block (153), a second locking block (154), and a locking wrench (155). The sliding member (152) is slidably inserted along the axial direction of the arm body shell (151). The first locking block (153) is movably disposed in the first receiving groove (156) of the arm body shell (151). The second locking block (154) is movably disposed in the second receiving groove (157) of the arm body shell (151). The locking wrench (155) is hinged to the outside of the arm body shell (151) and is used to drive the first locking block (153) to move radially, so that the inner end of the first locking block (153) engages with the sliding member (152) for locking or disengaging for unlocking. Incremental magnetic encoders are provided at the rotation joints of the shoulder joint assembly (110), upper arm assembly (120), and forearm assembly (130) to collect rotation angle signals of each joint.

2. The length-adjustable teleoperation controller according to claim 1, characterized in that, The first locking block (153) is provided with a positioning protrusion (158) facing the sliding member (152), and the outer wall of the sliding member (152) is provided with a plurality of positioning grooves (160) that are adapted to the positioning protrusion (158) at intervals along its own axial direction. In the locked state, the positioning protrusion (158) is embedded in the corresponding positioning groove (160), restricting the relative sliding of the sliding member (152) and the arm body shell (151).

3. The length-adjustable teleoperated controller according to claim 2, characterized in that, The second locking block (154) is provided with a ball head damping protrusion (159), and the outer wall of the sliding member (152) is provided with a plurality of spherical grooves (170) that are adapted to the ball head damping protrusion (159) along its own axial direction. In the unlocked state, the ball head damping protrusion (159) abuts against the corresponding spherical groove (170), providing damping resistance for the axial sliding of the slider (152).

4. The length-adjustable teleoperated controller according to claim 1, characterized in that, The hinge end of the locking wrench (155) is provided with a pressing head, which abuts against a portion of the first locking block (153). When the locking wrench (155) is turned, the pressing head pushes the first locking block (153) to move radially along the outer shell (151) of the arm body, thereby switching between the locking and unlocking states.

5. The length-adjustable teleoperated controller according to claim 1, characterized in that, In the unlocked state, the side of the first locking block (153) facing the slider (152) does not protrude from the inner wall plane of the arm body shell (151) facing the slider (152).

6. The length-adjustable teleoperation controller according to claim 1, characterized in that, The locking mechanism (150) of the upper arm assembly (120) and the lower arm assembly (130) has the same structure, and their extension and retraction adjustment directions are respectively set along the axial direction of the corresponding arm body.

7. The length-adjustable teleoperated controller according to claim 1, characterized in that, The incremental magnetic encoders are respectively installed at the rotating joint of the shoulder joint assembly (110), the hinged rotating joint of the upper arm assembly (120) and the forearm assembly (130), and the rotating joint of the wrist operation assembly (140).

8. The length-adjustable teleoperation controller according to claim 1, characterized in that, The wrist operation assembly (140) includes a wrist connector and an operation handle, the operation handle being rotatably connected to the distal end of the forearm assembly (130) via the wrist connector.

9. The length-adjustable teleoperation controller according to claim 3, characterized in that, The positioning protrusion (158) and the ball head damping protrusion (159) are integrally formed on the first locking block (153) and the second locking block (154), respectively. The positioning groove (160) and the spherical groove (170) are arranged on both sides along the axial direction of the sliding member (152).

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