CN105232153B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN105232153B CN105232153B CN201510567721.5A CN201510567721A CN105232153B CN 105232153 B CN105232153 B CN 105232153B CN 201510567721 A CN201510567721 A CN 201510567721A CN 105232153 B CN105232153 B CN 105232153B
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- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005484 gravity Effects 0.000 claims description 11
- 238000002324 minimally invasive surgery Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The present invention provides a kind of mechanical arm, slide unit, the first rotary joint, tilting member and the second rotary joint are sequentially connected with；The tilting member includes connecting rod and pull rod, the both ends of the connecting rod are connected with first rotary joint and second rotary joint respectively, the both ends of the pull rod are connected with first rotary joint and second rotary joint respectively, four points of connection is formed, the line that the four points of connection is sequentially connected forms parallelogram.It can be seen that the mechanical arm of the application have four-degree-of-freedom adjust structure, can flexibly adjustment be installed on the arm tool on the second rotary joint operation be directed toward.At the same time, it is present in inside relevant components due to moving horizontally joint slider part and parallelogram mechanism, so that mechanical arm overall structure is more compact, in the case where not influencing mechanical arm overall stiffness, the attitude stability that arm tool can preferably be kept, further improves the flexibility of mechanical arm.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of mechanical arm.
Background technique
Minimally invasive surgery (minimally invasive) refers to through endoscopes such as laparoscope, thoracoscopes in body cavity
A kind of modus operandi that inside is performed a surgical operation.Minimally invasive surgery is compared with routine operation with wound is small, it is abundant to appear, damage
Gently, the advantages that after-operation response is small, recovery is fast, scar is small.With the development that Micro trauma surgical operation and intelligent surgical are performed the operation, with machine
The intelligent operation equipment that device artificially represents obtains more and more applications in surgical clinical.The Micro trauma hand of applied robot
Art is even more to have precisely reliable compared to traditional minimally invasive surgery, and doctor's burden is light, more dexterity the advantages of.
Robot realizes surgical procedure by its mechanical arm, surgery mechanical arm by adjustment mechanism and with the adjustment mechanism
The arm tool of connection forms, and adjustment mechanism is used to adjust position of the arm tool with respect to patient, and arm tool executes the operation to patient
Operation, in order to which operator carries out related surgical operation.
China Patent Publication No. CN102973317A discloses a kind of minimally invasive surgery robot arm arragement construction, leads to
It crosses three and rotates horizontally the prismatic pair of joint and a up and down motion to adjust the spatial position of arm tool.But the minimally invasive surgery
Robot arm has two sections of adjustment arms, so that the length of the mechanical arm of horizontal direction is too long, structural rigidity and stability are not
It is easy to get guarantee, and structure is not compact.
U.S. Patent number US2007156122A1 discloses a kind of Three Degree Of Freedom adjustment mechanism, and there are two rotations to close for the mechanism
Section and a linking arm are equipped with compression spring in linking arm, pull a steel wire by pulley by compression spring to balance
The gravity of the mechanical arm connected.But the shortcomings that adjustment mechanism, is: being only able to achieve front end tool arm three-dimensional space position
The adjusting set is not adjustable the direction of arm tool, and spring is in pressured state in its balancing device, and system stability is poor,
Influence the operating characteristics and safety of entire adjustment mechanism；In addition, compression spring needs additional limiting device to prevent spring side
To movement, the complexity and frictional force of structure are increased, enhances operation adjustment resistance.
In order to overcome drawbacks described above present in existing minimally invasive surgery robot arm, designing to have well makes
With the minimally invasive surgery robot arm of performance, those skilled in the art are carrying out always correlative study.
Summary of the invention
The purpose of the present invention is to provide a kind of mechanical arms, to overcome existing minimally invasive surgery robot arm to be deposited
Shortcomings and deficiencies.
In order to solve the above technical problems, the present invention provides a kind of mechanical arm, the mechanical arm includes:
Sequentially connected slide unit, the first rotary joint, tilting member and the second rotary joint；Wherein, the swing
Component includes connecting rod and pull rod, the both ends of the connecting rod respectively with first rotary joint and the second rotary joint phase
Even, the both ends of the pull rod are connected with first rotary joint and second rotary joint respectively, form four points of connection,
The line that the four points of connection is sequentially connected forms parallelogram.
Optionally, in the mechanical arm, first rotary joint and second rotary joint are axially parallel.
Optionally, in the mechanical arm, the tie point of the connecting rod, the pull rod and first rotary joint
Line is axial parallel with the first rotary joint.
Optionally, in the mechanical arm, the axis of first rotary joint is perpendicular to horizontal plane.
Optionally, in the mechanical arm, the slide unit includes the sliding block that guide rail and the guide rail are used cooperatively
And link block, one end of the link block are connected with the slide block, the other end is connect with first rotary joint.
Optionally, in the mechanical arm, the slide unit further include be set to the guide rail and the sliding block it
Between arrestment mechanism, for locking position of the sliding block on the guide rail.
Optionally, in the mechanical arm, first rotary joint include shell, be set in the shell turn
Axis and the brake being set between the shell and the shaft, the brake is for controlling the shell relative to institute
State the movement or stopping of shaft.
Optionally, in the mechanical arm, first rotary joint further includes first angle encoder, and described first
Angular encoder is set between the shell and the shaft, to measure the angle that the relatively described shaft rotation of the shell turns over
Degree.
Optionally, in the mechanical arm, second rotary joint include shell, be set in the shell turn
Axis and the brake being set between the shell and the shaft, the brake is for controlling the shell relative to institute
State the movement or stopping of shaft.
Optionally, in the mechanical arm, second rotary joint further includes second angle encoder, and described second
Angular encoder is set between the shell and the shaft, to measure the angle that the relatively described shaft rotation of the shell turns over
Degree.
Optionally, in the mechanical arm, the brake includes stator and rotor, and the stator is fixed on described outer
On shell, the rotor is fixed in the shaft, and when the brake obtains electric, the stator is separated with the rotor, so that institute
Shell is stated to rotate relative to the shaft；When the brake power loss, the stator and the rotor obvolvent, to prevent the shell
It is rotated relative to the shaft.
Optionally, the mechanical arm, the brake are replaced by motor, deceleration device and its locking device.
Optionally, in the mechanical arm, be provided with arc groove in the shaft, for limit the shell relative to
The rotational limitation angle of shaft.
It optionally, further include the gravitational equilibrium component being set on the tilting member in the mechanical arm.
Optionally, in the mechanical arm, the gravitational equilibrium component include tension spring and/or clump weight and/or
Motor, described tension spring one end are connect with the first rotary joint, and one end is connect with tilting member；The clump weight, which is set to, matches
It is placed in the one end of tilting member far from second rotary joint.
Optionally, in the mechanical arm, the pull rod is located at side of the connecting rod far from the first rotary joint, the company
Bar is provided with limiting slot close to first rotary joint one end, and the pull rod is connected by the limiting slot and first rotary joint
It connects.
In mechanical arm provided by the present invention, slide unit, the first rotary joint, tilting member and the second rotary joint
It is sequentially connected with；The tilting member includes connecting rod and pull rod, the both ends of the connecting rod respectively with first rotary joint and institute
State the second rotary joint be connected, the both ends of the pull rod respectively with phase on first rotary joint and second rotary joint
Even, four points of connection is formed, the sequentially connected line of four points of connection forms parallelogram；Wherein, slide unit is used
In the front-rear position of adjustment mechanical arm entirety；First rotary joint adjusts tilting member and the second rotary joint in the form of rotation
Whole left-right position；Tilting member adjusts the upper and lower position of the second rotary joint in the form rotated, while constraining upper backspin
Turn the change of bring posture；Second rotary joint is adjusted back the first rotary joint rotary motion bring pose in the form of rotation and changed
Become, subtly adjusts the position of coupled structure.Based on said structure design it is found that the mechanical arm of the application has four selfs
By degree adjust structure, can flexibly adjustment be installed on the arm tool on the second rotary joint operation be directed toward.At the same time, by
In moving horizontally joint slider part and parallelogram mechanism is present in inside relevant components, so that mechanical arm is whole
Structure is more compact, in the case where not influencing mechanical arm overall stiffness, can preferably keep the attitude stability of arm tool,
Further improve the flexibility of mechanical arm.Meanwhile when stretching, generated pulling force equalising torque is mechanical by tension spring
The gravity torque of arm realizes the trim of the gravity of mechanical arm, improves the stable state and security performance of mechanical arm entirety.
Detailed description of the invention
Fig. 1 is the structural front view of mechanical arm in one embodiment of the invention；
Fig. 2 is cross-sectional view of the Fig. 1 along the direction A-A；
Fig. 3 is the cross-sectional view of slide unit in one embodiment of the invention；
The main view that Fig. 4 is the gravitational equilibrium component of mechanical arm in one embodiment of the invention when only including tension spring；
Fig. 4 a is the cutaway view Amplified image of the part a in Fig. 4；
The main view that Fig. 5 is the gravitational equilibrium component of mechanical arm in one embodiment of the invention when only including clump weight；
The main view that Fig. 6 is the gravitational equilibrium component of mechanical arm in one embodiment of the invention when including tension spring and clump weight
Figure.
In figure, slide unit 1；Guide rail 10；Sliding block 11；Link block 12；First rotary joint 2；Second rotary joint 3；Outside
Shell 20,30；Shaft 21,31；Brake 22,32；Tilting member 4；Connecting rod 40；Limiting slot 400；Pull rod 41；Pin shaft 402,412,
403,423；Tension spring 5；Clump weight 6.
Specific embodiment
Mechanical arm proposed by the present invention is described in further detail below in conjunction with the drawings and specific embodiments.According to following
Illustrate and claims, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified shape
Formula and use non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
Fig. 1 and Fig. 2 is please referred to, Fig. 1 is the structural front view of mechanical arm in one embodiment of the invention, and Fig. 2 is Fig. 1 along A-A
The cross-sectional view in direction.As shown in Figures 1 and 2, the mechanical arm include sequentially connected slide unit 1, the first rotary joint 2,
Tilting member 4 and the second rotary joint 3；The tilting member 4 includes connecting rod 40, pull rod 41；Distinguish at the both ends of the connecting rod 40
It is connected with first rotary joint 2 and second rotary joint 3, the both ends of the pull rod are closed with first rotation respectively
Section 2 be connected on second rotary joint 3, formation four points of connection, the line of the four points of connection forms parallel four side
Shape.Wherein, the both ends of the connecting rod 40 pass through a tie point and first rotary joint 2 and second rotary joint respectively
3 are connected, and the both ends of the pull rod 41 pass through a tie point and first rotary joint 2 and second rotary joint 3 respectively
It is connected；The slide unit 1, for adjusting the front-rear position of the mechanical arm entirety；First rotary joint 2, with rotation
Form adjust the tilting member 4 and the whole left-right position of second rotary joint 3；The tilting member 4, with rotation
Form adjust the upper and lower position of itself and second rotary joint 3；Second rotary joint 3, in the form of rotation
The change of the first rotary joint rotary motion bring pose is adjusted back, the position of coupled structure is subtly adjusted.Based on upper
Structure is stated it is found that there is the mechanical arm of the application four-degree-of-freedom to adjust structure, i.e. slide unit 1, tilting member 4, first rotates
Joint 2 and the second rotary joint 3, may be implemented the adjustment of mechanical arm different directions, improve mechanical arm flexibility and precisely
Property.
In order to be better understood from the application mechanical arm various pieces specific structure and working principle, below in conjunction with figure
2 and Fig. 3 is described in detail.
As shown in figure 3, the slide unit 1 includes guide rail 10, the sliding block 11 being used cooperatively with the guide rail 10 and connect
Block 12, one end of the link block 12 are connect with the sliding block 11, and the other end is connect with first rotary joint 2.Preferably,
The slide unit 1 further includes the arrestment mechanism being set between the guide rail 10 and the sliding block 11, for locking the cunning
Position of the block 11 on the guide rail 10.It is driving slide unit 1 along the adjust automatically of conduit, can increases in slide unit 1
If motor.In order to more accurately operate slide unit 1, grating scale can be added on guide rail 10, in order to the tune of slide unit 1
The measurement of whole front-rear position.The selection of motor, grating scale is not particularly limited in the present invention, and those skilled in the art can basis
The prior art obtains specific type and installation method.
As shown in Fig. 2, the first rotary joint 2 described in the present embodiment include shell 20, be set in the shell 20 with
Shaft 21 that link block 12 connects, the brake 22 that is preferably also set between the shell 20 and the shaft 21 and the
One angular encoder.The brake 22 is for controlling movement or stopping of the shell 20 relative to the shaft 21.At this
In embodiment, the brake 22 includes stator and rotor, and the stator is fixed on the shell 20, and the rotor is fixed on
In the shaft 21, when the brake 22 obtains electric, the stator is separated with the rotor, so that the shell 20 is relatively described
Shaft 21 rotates；When 22 power loss of brake, the stator and the rotor obvolvent, to prevent the shell 20 relatively described
Shaft 21 rotates.Certainly, position can be interchanged in the stator of brake 22 and rotor, as long as its work for being able to achieve brake 22 is i.e.
It can.The brake can also be combined by motor, deceleration device and its locking device to realize, motor and retarder transport shell 20
It moves to designated position, then starts locking device, close motor, fix this 20 position of shell.The first angle coding
Device is set between the shell 20 and the shaft 21 that (first angle encoder is solid by screw and bracket in the present embodiment
Dingan County is mounted between shell 20 and shaft 21), to measure the angle that relatively described 21 rotation of shaft of the shell 20 turns over.It is excellent
Choosing, in the present embodiment, be provided with arc groove (not shown) in the shaft 21, for limit the shell 20 relative to turn
The extreme angles that axis 21 rotates.Preferably, the first rotary joint 2 also includes motor, for driving shell 20 to rotate.The present invention couple
The selection of motor is not particularly limited, and those skilled in the art can obtain specific type and installation side according to the prior art
Method.
With continued reference to FIG. 2, the second rotary joint 3 described in this implementation includes shell 30, is set in the shell 30
Shaft 31, the 31 fastening means arm of shaft.Preferably, the second rotary joint 3 further includes being set to the shell 30 and institute
State the brake 32 and second angle encoder between shaft 31.The brake 32 for control the shell 30 relative to
The movement or stopping of the shaft 31.In the present embodiment, the brake 32 includes stator and rotor, and the stator is fixed on
On the shell 30, the rotor is fixed in the shaft 31, when the brake 32 obtains electric, the stator and the rotor
It separates, so that the shell 30 is rotated relative to the shaft 31；When 32 power loss of brake, the stator and the rotor are embraced
It closes, to prevent the shell 30 from rotating relative to the shaft 31.Certainly, position can be interchanged in the stator of brake 32 and rotor,
As long as its work for being able to achieve brake 32.The brake can also be combined by motor, deceleration device and its locking device
It realizes, motor and retarder make shell 30 move to designated position, then starts locking device, closes motor, makes outside this
30 position of shell is fixed.The second angle encoder is set between the shell 30 and the shaft 31 (in the present embodiment
Two angular encoders are fixedly mounted between shell 30 and shaft 31 by screw and bracket), to measure the shell 30
The angle that relatively described 31 rotation of shaft turns over.In the present embodiment, arc groove (not marking on figure) is provided in the shaft 31,
For limiting the shell 30 relative to 31 rotational limitation angle of shaft.It is preferred that the second rotary joint 3 includes also motor, it is used for
Shell 3 is driven to rotate.The selection of motor is not particularly limited in the present invention, and those skilled in the art can obtain according to the prior art
Take specific type and installation method.
As shown in Fig. 2, Fig. 4 a, be respectively provided on first rotary joint and second rotary joint there are two connection
Point is connect for the first rotary joint and second rotary joint with tilting member, the sequentially connected line of four points of connection
Constitute parallelogram.In the present embodiment, the first rotary joint and second rotary joint and tilting member are in four companies
Junction is to realize to connect by pin shaft.Specifically, the connecting rod 40 and pull rod of first rotary joint 2 and tilting member 4
41 are connected by pin shaft (label herein referred in figure is followed successively by 402,412), second rotary joint 3 and tilting member 4
Connecting rod 40 and pull rod 41 connected by pin shaft (label herein referred in figure is followed successively by 403,413), and pin shaft 402,412
The line of line and pin shaft 403,413 is parallel, and between 402,412 two pin shafts of the pin shaft label distance and pin shaft marked as
The distance between 403,413 two pin shafts are equal.Therefore, the line of four pin shafts 402,412,413,403 forms parallel four side
Shape.It is preferred that the first rotary joint 2 is axially parallel to each other with the second rotary joint 3；It is further preferred that marked as 402,412 two pin shafts
Line and first rotary joint 2 axial parallel and/or marked as 403,413 two pin shafts line and described second
The axial direction of rotary joint 3 is parallel, and most preferably the first rotary joint 2 is axially perpendicular to horizontal plane arrangement.The parallelogram
Mechanism is used to constrain position between shaft 21 and shaft 31, when connecting rod 40 is rotated around pin shaft 402, shaft 21 and 31 liang of shaft
Keeping parallelism relationship between person always.In an embodiment of the present invention, pull rod 41 is located at connecting rod 40 far from the first rotary joint 2
Side, have limiting slot 400 on connecting rod 40, pin shaft 412 passes through limiting slot 400 and connect pull rod 41 with the first rotary joint 2.Limit
The shape of position slot 400 matches with pin shaft 412 is assumed around 402 motion profile of pin shaft, in this way when connecting rod 40 is rotated around pin shaft 402
When, it does not rub between pin shaft 412 and limiting slot 400.The rotational angle of the length limiting rod 40 of limiting slot 400, connecting rod
40 rotation space limits the up and down motion range of corresponding parallelogram mechanism.It is preferred that can be in rotary joint shell 20
Rotating mechanism between connecting rod 40 adds brake, for locking the up and down motion of parallelogram mechanism.Brake can be with
It is realized, can also be combined by above-mentioned motor, deceleration device and its locking device using said stator, the mutually matched mode of rotor
To realize.It is preferred that can the rotating mechanism between rotary joint shell 20 and connecting rod 40 add encoder, measurement is between the two
The relative angle turned over.Can the rotating mechanism between rotary joint shell 20 and connecting rod 40 add motor, be used for upper bottom
The adjust automatically set.The motor can also be used as mechanical arm gravitational equilibrium mechanism of the invention, or as gravitational equilibrium
A part of mechanism is self-possessed for balance mechanism and is followed by the gravity of arm tool.
Mechanical arm of the invention realizes mechanical arm by the way of gravitational equilibrium component is arranged on the tilting member 4
Self weight and mechanical arm are followed by the trim of the gravity after arm tool.Below in conjunction with Fig. 4~Fig. 6, on the basis of above-described embodiment
On, elaborate the specific structure and working principle of gravitational equilibrium component.
Referring to FIG. 4, when it for the gravitational equilibrium component of mechanical arm in one embodiment of the invention only includes tension spring 5
Main view.As shown in figure 4, the gravitational equilibrium component only includes tension spring 5,5 one end of tension spring and the first rotary joint 2
Connection, one end is connect with tilting member 4.Here by the tension spring 5 when stretching generated pulling force equalising torque
The gravity torque of the mechanical arm.Specifically, please referring to Fig. 4 a, the pull rod 41 in tilting member 4 passes through pin shaft 412 and institute
The connection of the first rotary joint 2 is stated, one end of the tension spring 5 is connect with the connecting rod 40, and the other end and the pin shaft 412 connect
It connects.What needs to be explained here is that the both ends of tension spring can by flexible attachment components such as silk or rope respectively with the connecting rod 40
It is fixedly connected with pin shaft 412.
Referring to FIG. 5, master when it for the gravitational equilibrium component of mechanical arm in one embodiment of the invention only includes clump weight 6
View.As shown in figure 5, the gravitational equilibrium component only includes clump weight 6, tilting member 4 is configured at far from second rotation
The one end in joint 3 passes through the gravity of mechanical arm described in 6 trim of clump weight.In the present embodiment, the connecting rod 40 is separate
One end of second rotary joint 3 has extended segment, and the clump weight 6 is set to the extended segment.
Referring to FIG. 6, it includes tension spring 5 and counterweight for the gravitational equilibrium component of mechanical arm in one embodiment of the invention
Main view when block 6.As shown in fig. 6, the gravitational equilibrium component includes tension spring 5 and clump weight 6, above-mentioned implementation is combined
Calculate Ways in example.In practical application, the gravity of a part of mechanical arm of 6 balance crane of clump weight is first used, later using drawing
The gravity of the mechanical arm of 5 trim remainder of power spring.Here, one end of the tension spring 5 and the fixed company of the connecting rod 40
It connects, the other end is fixedly connected with the pin shaft 412, and the clump weight 6 is set to the pendulum far from second rotary joint 3
One end of dynamic component 4.In addition, gravitational equilibrium component can also be substituted by motor.
To sum up, in mechanical arm provided by the present invention, sequentially connected slide unit, the first rotary joint, swing part
Part and the second rotary joint；The tilting member includes connecting rod and pull rod, and the both ends of the connecting rod are rotated with described first respectively
Joint is connected with second rotary joint, and the both ends of the pull rod are rotated with first rotary joint and described second respectively
It is connected on joint, forms four points of connection, the sequentially connected line of four points of connection forms parallelogram；Wherein, sliding
Dynamic component is used to adjust the front-rear position of mechanical arm entirety；First rotary joint adjusts tilting member and second in the form of rotation
The left-right position of rotary joint entirety；Tilting member adjusts the upper and lower position of the second rotary joint in the form rotated, while about
Beam is rotated up and down the change of bring posture；Second rotary joint is adjusted back the first rotary joint rotary motion in the form of rotation and brought
Pose change, subtly adjust the position of coupled structure.Based on said structure design it is found that the mechanical arm of the application
With four-degree-of-freedom adjust structure, can flexibly adjustment be installed on the arm tool on the second rotary joint operation be directed toward.With
This simultaneously as move horizontally joint slider part and parallelogram mechanism is present in inside relevant components so that
Mechanical arm overall structure is more compact, in the case where not influencing mechanical arm overall stiffness, can preferably keep arm tool
Attitude stability further improves the flexibility of mechanical arm.Meanwhile by tension spring, clump weight, motor etc., machine is realized
The trim of the gravity of tool arm improves the stable state and security performance of mechanical arm entirety.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (15)
1. a kind of mechanical arm is used for minimally invasive surgery, there is four-degree-of-freedom characterized by comprising sequentially connected sliding part
Part, the first rotary joint, tilting member and the second rotary joint；Wherein, the tilting member includes connecting rod and pull rod, the company
The both ends of bar are connected with first rotary joint and second rotary joint respectively, the both ends of the pull rod respectively with it is described
First rotary joint is connected with second rotary joint, forms four points of connection, the company that the four points of connection is sequentially connected
Line forms parallelogram；
The slide unit is used to adjust the front-rear position of the mechanical arm entirety, and makes including guide rail, with guide rail cooperation
One end of sliding block and link block, the link block is connected with the slide block, and the other end is connect with first rotary joint；
First rotary joint is used to adjust the left-right position of the tilting member and the second rotary joint entirety；The swing
Component is used to adjust the upper and lower position of itself and second rotary joint；Second rotary joint is for adjusting back described the
One rotary joint rotary motion bring pose changes.
2. mechanical arm as described in claim 1, which is characterized in that first rotary joint and the second rotary joint axis
To parallel.
3. mechanical arm as claimed in claim 2, which is characterized in that the connecting rod, the pull rod and first rotary joint
Tie point line and the first rotary joint it is axial parallel.
4. mechanical arm as claimed in claim 3, which is characterized in that the axis of first rotary joint is perpendicular to horizontal plane.
5. mechanical arm as described in claim 1, which is characterized in that the slide unit further includes being set to the guide rail and institute
The arrestment mechanism between sliding block is stated, for locking position of the sliding block on the guide rail.
6. mechanical arm as described in claim 1, which is characterized in that first rotary joint include shell, be set to it is described
Shaft in shell and the brake being set between the shell and the shaft, the brake are described outer for controlling
Movement or stopping of the shell phase for the shaft.
7. mechanical arm as claimed in claim 6, which is characterized in that first rotary joint further includes first angle coding
Device, the first angle encoder are set between the shell and the shaft, to measure the relatively described shaft of the shell
The angle that rotation turns over.
8. mechanical arm as described in claim 1, which is characterized in that second rotary joint include shell, be set to it is described
Shaft in shell and the brake being set between the shell and the shaft, the brake are described outer for controlling
Movement or stopping of the shell phase for the shaft.
9. mechanical arm as claimed in claim 8, which is characterized in that second rotary joint further includes second angle coding
Device, the second angle encoder are set between the shell and the shaft, to measure the relatively described shaft of the shell
The angle that rotation turns over.
10. the mechanical arm as described in claim 6 or 8, which is characterized in that the brake includes stator and rotor, described fixed
Son is fixed on the shell, and the rotor is fixed in the shaft, when the brake obtains electric, the stator with described turn
Son separates, so that the shell is rotated relative to the shaft；When the brake power loss, the stator and the rotor obvolvent,
To prevent the shell from rotating relative to the shaft.
11. the mechanical arm as described in claim 6 or 8, which is characterized in that the brake is by motor, deceleration device and its lock
Tight device replaces.
12. the mechanical arm as described in claim 6 or 8, which is characterized in that arc groove is provided in the shaft, for limiting
Rotational limitation angle of the shell relative to shaft.
13. mechanical arm as described in claim 1, which is characterized in that further include that the gravity being set on the tilting member is put down
Weigh component.
14. mechanical arm as claimed in claim 13, which is characterized in that the gravitational equilibrium component include tension spring and/or
Clump weight and/or motor, described tension spring one end are connect with the first rotary joint, and one end is connect with tilting member；It is described to match
Pouring weight, which is set to, is configured at the one end of tilting member far from second rotary joint.
15. mechanical arm as described in claim 1, which is characterized in that the pull rod is located at connecting rod far from the first rotary joint
Side, the connecting rod are provided with limiting slot close to first rotary joint one end, and the pull rod passes through the limiting slot and described the
The connection of one rotary joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567721.5A CN105232153B (en) | 2015-09-08 | 2015-09-08 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567721.5A CN105232153B (en) | 2015-09-08 | 2015-09-08 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105232153A CN105232153A (en) | 2016-01-13 |
| CN105232153B true CN105232153B (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510567721.5A Active CN105232153B (en) | 2015-09-08 | 2015-09-08 | Mechanical arm |
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Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175934B (en) * | 2016-06-29 | 2019-04-30 | 微创（上海）医疗机器人有限公司 | Operating robot and its mechanical arm |
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
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| BR112019017296A2 (en) * | 2017-02-21 | 2020-03-31 | Microport (Shanghai) Medbot Co., Ltd. | MAIN CONTROL ARM AND ROBOT |
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Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |