CN109602494B - Multi-degree-of-freedom self-locking mechanical arm - Google Patents
Multi-degree-of-freedom self-locking mechanical arm Download PDFInfo
- Publication number
- CN109602494B CN109602494B CN201811553401.4A CN201811553401A CN109602494B CN 109602494 B CN109602494 B CN 109602494B CN 201811553401 A CN201811553401 A CN 201811553401A CN 109602494 B CN109602494 B CN 109602494B
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- arm
- rotating arm
- sliding
- cavity
- reversing shaft
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- 238000004804 winding Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 abstract description 4
- 230000004308 accommodation Effects 0.000 description 6
- 230000013011 mating Effects 0.000 description 4
- 238000005498 polishing Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pivots And Pivotal Connections (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a multi-degree-of-freedom self-locking mechanical arm which comprises a first rotating arm and a second rotating arm which are rotationally connected, wherein one end of the first rotating arm far away from the second rotating arm is provided with a first spherical seat and a first spherical joint, one end of the second rotating arm far away from the first rotating arm is provided with a second spherical seat and a second spherical joint, the first rotating arm is provided with a first sliding block and a first reversing shaft, the second rotating arm is provided with a second sliding block and a second reversing shaft, the mechanical arm is also provided with a winding shaft around which a tightening rope is wound, one end of the tightening rope is connected to a first connecting part after passing through the first reversing shaft, and the other end of the tightening rope is connected to a second connecting part after passing through the second reversing shaft. After the winding shaft rotates to tighten the tightening rope, the self-locking of the mechanical arm is realized. The self-locking mechanical arm has multiple degrees of freedom, can realize locking of all degrees of freedom only by means of one power source, has a simple structure, and is easy to process and realize.
Description
Technical Field
The invention relates to a multi-degree-of-freedom self-locking mechanical arm.
Background
In the existing puncture operation, a doctor generally needs to rely on personal experience, and the angle is continuously adjusted by means of medical image results to perform manual puncture, so that time and energy are very consumed in the operation process, and the operation effect fluctuates greatly. In order to reduce the problems caused by human factors, more and more puncture operations begin to use mechanical arms instead of manual puncture. In the prior art, the mechanical arm is generally manually adjusted to a designated position, then each joint of the mechanical arm is locked, and finally puncture is performed. However, the existing joint locking structure is complex, which is not beneficial to reducing the cost.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom self-locking mechanical arm which can automatically and synchronously adjust the height of each adjusting block.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a multi freedom auto-lock arm, includes first rocking arm and second rocking arm, the one end of first rocking arm with the one end of second rocking arm rotates ground to be connected, first rocking arm keeps away from the one end of second rocking arm is provided with first spherical seat, universal rotation is provided with first ball joint in the first spherical seat, the second rocking arm is kept away from the one end of first rocking arm is provided with the second spherical seat, universal rotation is provided with the second ball joint in the second spherical seat, be provided with on the first rocking arm and follow first slider that first rocking arm extends direction is slided, first slider one end is in on the first spherical seat, the other end is provided with first connecting portion, still be provided with first reversing shaft on the first rocking arm, first reversing shaft is located between first connecting portion with first spherical seat, be provided with on the second rocking arm and follow second rocking arm extending direction is provided with the second slider that the second rocking arm extends direction is in, second slider one end is in the second spherical seat, the other end is provided with the second multi freedom is rotated and is rotated the second rocking arm, is provided with the second rocking arm, second rocking arm is provided with the second reversing shaft, the second rocking arm is provided with the second reversing shaft is used for winding the second rope is in the second reversing shaft is in the second connecting portion, the second self-lock arm is connected with the second rope is in the second connecting portion, and is connected with the second self-lock arm, and is in the second rope is in the second connecting portion winding, and is in the second connecting portion.
Preferably, the first swivel arm has a first receiving cavity in which the first slider is disposed in a mating manner, and the second swivel arm has a second receiving cavity in which the second slider is disposed in a mating manner.
Further preferably, the first accommodating chamber includes a first sliding chamber having an extending direction identical to an extending direction of the first rotating arm and a first connecting chamber having an extending direction perpendicular to the extending direction of the first rotating arm, the second accommodating chamber includes a second sliding chamber having an extending direction identical to an extending direction of the second rotating arm and a second connecting chamber having an extending direction perpendicular to the extending direction of the second rotating arm, and the first connecting chamber is communicated with the second connecting chamber.
Still further preferably, the first slider is disposed in the first sliding chamber with a sliding fit, and the second slider is disposed in the second sliding chamber with a sliding fit.
Still further preferably, the winding shaft is rotatably disposed at one end of the first connecting cavity near the first sliding cavity, one end of the second connecting cavity near the second sliding cavity is provided with a steering shaft, and one end of the tightening rope extends from the winding shaft and then sequentially winds around the steering shaft and the second reversing shaft to be connected to the second connecting portion.
Further preferably, the first slider is provided with a first accommodating groove located in the first connecting portion and the first spherical seat support, and the first reversing shaft is disposed in the first accommodating groove.
Preferably, the first reversing shaft is a pulley rotatably arranged on the first rotating arm, the second reversing shaft is a pulley rotatably arranged on the second rotating arm, and the tightening rope is wound on the pulley.
Preferably, the first reversing shaft, the second reversing shaft and the winding shaft are parallel to each other.
Preferably, the multi-degree-of-freedom self-locking mechanical arm further comprises a polishing plate clamped between the first rotating arm and the second rotating arm.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: after the winding shaft rotates to tighten the tightening rope, the first sliding block moves towards the first spherical seat, the second sliding block moves towards the second spherical seat, and the contact parts of the first rotating arm and the second rotating arm are mutually extruded, so that under the action of friction force, the first spherical seat and the first spherical joint, the second spherical seat and the second spherical joint and the first rotating arm and the second rotating arm are kept relatively fixed, and the self-locking of the joints is realized. The self-locking mechanical arm has multiple degrees of freedom, can realize locking of all degrees of freedom only by means of one power source, has a simple structure, and is easy to process and realize.
Drawings
FIG. 1 is an isometric view of a multi-degree of freedom self-locking mechanical arm of the present invention;
FIG. 2 is a cross-sectional view of the multi-degree of freedom self-locking mechanical arm of the present invention;
wherein: 1. a first rotating arm; 11. a first reversing shaft; 12. a first accommodation chamber; 121. a first sliding chamber; 122. a first connection chamber; 2. a second rotating arm; 21. a second reversing shaft; 22. a second accommodation chamber; 221. a second sliding chamber; 222. a second connecting cavity; 23. a steering shaft; 3. a first spherical seat; 4. a first ball joint; 5. a second spherical seat; 6. a second ball joint; 7. a first slider; 71. a first connection portion; 72. a first accommodation groove; 8. a second slider; 81. a second connecting portion; 82. a second accommodation groove; 9. a winding shaft; 10. tightening the rope; 20. and (5) polishing the plate.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, the multi-degree-of-freedom self-locking mechanical arm of the present invention includes a first rotating arm 1 and a second rotating arm 2, wherein an end portion of the first rotating arm 1 is rotatably connected with an end portion of the second rotating arm 2, a first spherical seat 3 is disposed at an end of the first rotating arm 1 far from the second rotating arm 2, a first spherical joint 4 is disposed in the first spherical seat 3 in a universal rotation manner, a second spherical seat 5 is disposed at an end of the second rotating arm 2 far from the first rotating arm 1, and a second spherical joint 6 is disposed in the second spherical seat 5 in a universal rotation manner.
Referring to fig. 2, a first slider 7 capable of sliding along the extending direction of the first rotating arm 1 is provided on the first rotating arm 1, one end of the first slider 7 abuts against the first spherical seat 3, a first connecting portion 71 is provided on the other end, a first reversing shaft 11 is further provided on the first rotating arm 1, and the first reversing shaft 11 is located between the first connecting portion 71 and the first spherical seat 3.
The second rotating arm 2 is provided with a second sliding block 8 capable of sliding along the extending direction of the second rotating arm 2, one end of the second sliding block 8 is propped against the second spherical seat 5, the other end of the second sliding block is provided with a second connecting part 81, the second rotating arm 2 is also provided with a second reversing shaft 21, and the second reversing shaft 21 is positioned between the second connecting part 81 and the second spherical seat 4.
The first rotating arm 1 or the second rotating arm 2 is rotatably provided with a winding shaft 9, the multi-freedom-degree self-locking mechanical arm further comprises a tightening rope 10, the middle part of the tightening rope 10 is wound on the winding shaft 9, one end of the tightening rope 10 is connected to the first connecting part 71 after passing through the first reversing shaft 11, the other end of the tightening rope is connected to the second connecting part 81 after passing through the second reversing shaft 21, and the multi-freedom-degree self-locking joint further comprises a driving device for driving the winding shaft 9 to rotate.
After the winding shaft 9 rotates to tighten the tightening rope 10, the first sliding block 7 moves towards the first spherical seat 3, the second sliding block 8 moves towards the second spherical seat 5, the contact positions of the first rotating arm 1 and the second rotating arm 2 are mutually extruded, and under the action of friction force, the first spherical seat 3 and the first spherical joint 4, the second spherical seat 5 and the second spherical joint 6 and the first rotating arm 1 and the second rotating arm 2 are kept relatively fixed, so that the self-locking of the joints is realized. After the winding shaft 9 rotates reversely to loosen the tightening rope 10, the first ball joint 4 can rotate universally relative to the first rotating arm 1, the second ball joint 6 can rotate universally relative to the second rotating arm 2, the first rotating arm 1 and the second rotating arm 2 can rotate relatively, and the mechanical arm has more degrees of freedom.
As shown in fig. 2, the first swivel arm 1 has a first receiving chamber 12, the first slide 7 is disposed in the first receiving chamber 12 in a mating manner, the second swivel arm 2 has a second receiving chamber 22, and the second slide 8 is disposed in the second receiving chamber 22 in a mating manner. Since both the first swivel arm 1 and the second swivel arm 2 are hollow, they are light in weight. The first sliding block 7 and the second sliding block 8 are arranged in the rotating arm, so that the volume of the mechanical arm is reduced.
Referring to fig. 2, the first accommodating chamber 12 includes a first sliding chamber 121 having an extending direction identical to that of the first swing arm 1 and a first connecting chamber 122 having an extending direction perpendicular to that of the first swing arm 1, and the second accommodating chamber 22 includes a second sliding chamber 221 having an extending direction identical to that of the second swing arm 2 and a second connecting chamber 222 having an extending direction perpendicular to that of the second swing arm 2, and the first connecting chamber 121 communicates with the second connecting chamber 221.
The first slide block 7 is arranged in the first slide cavity 121 in a sliding fit manner, and the second slide block 8 is arranged in the second slide cavity 221 in a sliding fit manner, so that the first slide block 7 and the second slide block 8 can slide smoothly.
The winding shaft 9 is rotatably arranged at one end, close to the first sliding cavity 121, of the first connecting cavity 122, the steering shaft 23 is arranged at one end, close to the second sliding cavity 221, of the second connecting cavity 222, one end of the tightening rope 10 stretches out from the winding shaft 9 and then sequentially winds around the steering shaft 23 and the second reversing shaft 21 and then is connected to the second connecting part 81, and therefore the number of turns of the tightening rope 10 can be prevented from being increased as much as possible, friction loss is reduced, friction between the tightening rope 10 and the first rotating arm 1 and the second rotating arm 2 is avoided, and abrasion of the mechanical arm is caused.
The first slider 7 is provided with a first accommodating groove 72 between the first connecting portion 71 and the first spherical seat 3, and the first reversing shaft 11 is disposed in the first accommodating groove 72, so that the extending direction of the tightening rope 10 from the first connecting portion 71 to the first reversing shaft 11 is the same as the extending direction of the first rotating arm 1, the stress direction of the first slider 7 is the same as the sliding direction thereof, and the sliding is stable. Similarly, the second slider 8 is provided with a second accommodation groove 82 between the second connection portion 81 and the second spherical seat 5, and the second reversing shaft 21 is provided in the second accommodation groove 82.
The first reversing shaft 11 is a pulley rotatably arranged on the first rotating arm 1, the second reversing shaft 21 is a pulley rotatably arranged on the second rotating arm 2, and the tightening rope 10 is wound on the pulley, so that the friction loss is small.
The first reversing shaft 11, the second reversing shaft 21 and the winding shaft 9 are parallel to each other, so that the wiring difficulty of the tightening rope 10 can be reduced, and the internal structure of the mechanical arm is clear at a glance and very simple.
Referring to fig. 1, the multi-degree-of-freedom self-locking mechanical arm further comprises a friction-increasing plate 20 clamped between the first rotating arm 1 and the second rotating arm 2, and when the tightening rope 10 is tensioned, the friction force between the first rotating arm 1 and the second rotating arm 2 is increased by the friction-increasing plate 20, and the locking force of the mechanical arm is higher.
In summary, the self-locking mechanical arm has multiple degrees of freedom, can lock all the degrees of freedom only by means of one power source, has a simple structure, and is easy to process and realize.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (6)
1. The utility model provides a multi freedom auto-lock arm, includes first arm (1) and second rocking arm (2), the tip of first arm (1) with the tip of second rocking arm (2) rotates ground and is connected, the one end that first arm (1) kept away from second rocking arm (2) is provided with first spherical seat (3), universal rotation is provided with first spherical joint (4) in first spherical seat (3), the one end that first arm (1) was kept away from to second rocking arm (2) is provided with second spherical seat (5), universal rotation is provided with second spherical joint (6) in second spherical seat (5), its characterized in that:
the first rotating arm (1) is provided with a first sliding block (7) capable of sliding along the extending direction of the first rotating arm (1), one end of the first sliding block (7) can be propped against the first spherical seat (3), the other end of the first sliding block is provided with a first connecting part (71), the first spherical seat (3) is provided with a sliding groove, the first sliding block (7) is provided with a sliding part capable of being inserted into the sliding groove in a sliding fit manner, the first rotating arm (1) is also provided with a first reversing shaft (11), the first reversing shaft (11) is positioned between the first connecting part (71) and the first spherical seat (3),
a second sliding block (8) capable of sliding along the extending direction of the second rotating arm (2) is arranged on the second rotating arm (2), one end of the second sliding block (8) can prop against the second spherical seat (5), a second connecting part (81) is arranged at the other end of the second sliding block, a second reversing shaft (21) is also arranged on the second rotating arm (2), the second reversing shaft (21) is positioned between the second connecting part (81) and the second spherical seat (5),
the first rotating arm (1) or the second rotating arm (2) is rotationally provided with a winding shaft (9), the multi-freedom-degree self-locking mechanical arm further comprises a tightening rope (10), the middle part of the tightening rope (10) is wound on the winding shaft (9), one end of the tightening rope (10) is connected onto the first connecting part (71) after passing through the first reversing shaft (11), the other end of the tightening rope is connected onto the second connecting part (81) after passing through the second reversing shaft (21), the multi-freedom-degree self-locking mechanical arm further comprises a driving device for driving the winding shaft (9) to rotate,
the first rotating arm (1) is provided with a first accommodating cavity (12), the first sliding block (7) is arranged in the first accommodating cavity (12) in a matching way, the first accommodating cavity (12) comprises a first sliding cavity (121) with the same extending direction as the extending direction of the first rotating arm (1) and a first connecting cavity (122) with the extending direction perpendicular to the extending direction of the first rotating arm (1);
the second rotating arm (2) is provided with a second accommodating cavity (22), the second sliding block (8) is arranged in the second accommodating cavity (22) in a matching way, the second accommodating cavity (22) comprises a second sliding cavity (221) with the extending direction being the same as the extending direction of the second rotating arm (2) and a second connecting cavity (222) with the extending direction being perpendicular to the extending direction of the second rotating arm (2),
the first connecting cavity (122) is communicated with the second connecting cavity (222), the winding shaft (9) is rotationally arranged in the first connecting cavity (122) and is close to one end of the first sliding cavity (121), one end of the second connecting cavity (222) close to the second sliding cavity (221) is provided with a steering shaft (23), and one end of the tightening rope (10) stretches out from the winding shaft (9) and sequentially winds around the steering shaft (23) and is connected to the second connecting part (81) after passing through the second reversing shaft (21).
2. The multi-degree of freedom self-locking mechanical arm of claim 1, wherein: the first slider (7) is arranged in the first sliding cavity (121) in a sliding fit manner, and the second slider (8) is arranged in the second sliding cavity (221) in a sliding fit manner.
3. The multi-degree of freedom self-locking mechanical arm of claim 1, wherein: the first sliding block (7) is provided with a first accommodating groove (72) positioned between the first connecting part (71) and the first spherical seat (3), and the first reversing shaft (11) is arranged in the first accommodating groove (72); the second slider (8) is provided with a second accommodating groove (82) between the second connecting part (81) and the second spherical seat (5), and the second reversing shaft (21) is arranged in the second accommodating groove (82).
4. The multi-degree of freedom self-locking mechanical arm of claim 1, wherein: the first reversing shaft (11) is a pulley rotatably arranged on the first rotating arm (1), the second reversing shaft (21) is a pulley rotatably arranged on the second rotating arm (2), and the tightening rope (10) is wound on the pulley.
5. The multi-degree of freedom self-locking mechanical arm of claim 1, wherein: the first reversing shaft (11), the second reversing shaft (21) and the winding shaft (9) are parallel to each other.
6. The multi-degree of freedom self-locking mechanical arm of claim 1, wherein: the multi-degree-of-freedom self-locking mechanical arm further comprises an abrasive disc (20) clamped between the first rotating arm (1) and the second rotating arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553401.4A CN109602494B (en) | 2018-12-19 | 2018-12-19 | Multi-degree-of-freedom self-locking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553401.4A CN109602494B (en) | 2018-12-19 | 2018-12-19 | Multi-degree-of-freedom self-locking mechanical arm |
Publications (2)
| Publication Number | Publication Date |
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| CN109602494A CN109602494A (en) | 2019-04-12 |
| CN109602494B true CN109602494B (en) | 2023-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811553401.4A Active CN109602494B (en) | 2018-12-19 | 2018-12-19 | Multi-degree-of-freedom self-locking mechanical arm |
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| CN (1) | CN109602494B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975933B (en) * | 2021-02-08 | 2021-11-05 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| CN113040916B (en) * | 2021-03-13 | 2022-09-30 | 极限人工智能有限公司 | Universal operation device and medical instrument |
| CN113729951B (en) * | 2021-10-12 | 2023-08-29 | 中南大学 | Double-parallelogram initial adjustment mechanism of surgical robot |
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| CN109602494A (en) | 2019-04-12 |
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Effective date of registration: 20221129 Address after: 314500 No. 3618, South Ring Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: ZHEJIANG FERT MEDICAL DEVICE CO.,LTD. Applicant after: Suzhou Guoke medical technology development (Group) Co.,Ltd. Address before: 314500 No. 3618, South Ring Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: ZHEJIANG FERT MEDICAL DEVICE CO.,LTD. Applicant before: YONGKANG GUOKE REHABILITATION ENGINEERING TECHNOLOGY Co.,Ltd. |
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