CN111700680A - Translation arm - Google Patents
Translation arm Download PDFInfo
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- CN111700680A CN111700680A CN201911140802.1A CN201911140802A CN111700680A CN 111700680 A CN111700680 A CN 111700680A CN 201911140802 A CN201911140802 A CN 201911140802A CN 111700680 A CN111700680 A CN 111700680A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 40
- 239000010959 steel Substances 0.000 claims abstract description 40
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 4
- 238000009429 electrical wiring Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- 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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- 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
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The invention relates to a translation mechanical arm, which solves the technical problems of small locking moment, large transmission gap, unsatisfactory supporting and positioning effects, complex structure, difficult electrical wiring, inconvenient maintenance and high cost of a pose adjusting mechanical arm in the existing minimally invasive surgical robot system, it includes first arm pole, the second arm pole, first arm connecting seat, second arm connecting seat, first pivot, the second pivot, the third pivot, the fourth pivot, first steel wire and second steel wire, second arm connecting seat and first arm connecting seat fixed connection, first pivot is rotated through bearing and first arm pole and is connected, the second pivot is passed through the bearing and is rotated with first arm pole and be connected, the third pivot, the fourth pivot is connected with the second arm pole respectively, first steel wire is connected between first pivot and second pivot, the second steel wire is connected between third pivot and fourth pivot. The invention is widely applied to the technical field of medical instruments.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgical robots, in particular to a translation mechanical arm.
Background
Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.
Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.
Surgical instruments are an integral tool of surgical procedures that can perform various functions including clamping, cutting, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation. During surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient.
The minimally invasive surgery robot system assembling structure comprises a plurality of movable or rotary mechanical arm joints which are connected in series, and cables for end control penetrate through the joints. The robotic arm may be actively driven by the control system during the procedure, or manually moved or rotated by the operator prior to the procedure, or a mixture of both. After the mechanical arm is reconfigured, the mechanical arm can be locked at the current position through the brake. Prior to surgery, an operator may manually adjust a penetrator attached to the end of a robotic arm to align with an incision point in a surgical site of a patient to quickly and efficiently position a surgical instrument end effector. The patient robotic arm and surgical instruments can also be supported and positioned during the surgical procedure.
The prior pose adjusting mechanical arm of the surgical robot has the disadvantages of small locking torque, large transmission gap and unsatisfactory supporting and positioning effects; and the problems of complex structure, difficult electrical wiring, inconvenient maintenance, high cost and the like. Therefore, there is a need to optimize the robotic arm structure for these problems.
Disclosure of Invention
The invention aims to solve the problems that the pose adjusting mechanical arm in the existing minimally invasive surgical robot system has small locking torque, large transmission gap and unsatisfactory supporting and positioning effects; the translation mechanical arm is complex in structure, difficult in electrical wiring, inconvenient to maintain and high in cost, and the translation mechanical arm is large in locking moment, small in transmission clearance, good in supporting and positioning effects, simple and easy in structure, convenient in electrical wiring, convenient to maintain and low in cost.
The invention provides a translational mechanical arm, which comprises a first arm rod, a second arm rod, a first mechanical arm connecting seat, a second mechanical arm connecting seat, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a first steel wire and a second steel wire, wherein the second mechanical arm connecting seat is fixedly connected with the first mechanical arm connecting seat, the first arm rod comprises a first arm rod seat and a first arm rod cover, the first arm rod seat is fixedly connected with the first arm rod cover, the first arm rod seat is provided with a first upper bearing seat hole and a second upper bearing seat hole, the first arm rod cover is provided with a first lower bearing seat hole and a second lower bearing seat hole, the upper part of the first rotating shaft is rotatably connected into the first upper bearing seat hole through a first upper bearing, the lower part of the first rotating shaft is rotatably connected into the first lower bearing seat hole through a first lower bearing, the upper part of the second rotating shaft is rotatably connected into the second upper bearing seat hole through a second upper bearing, the lower part of the second rotating shaft is rotatably connected in a second lower bearing seat hole through a second lower bearing; the first steel wire is connected between the first rotating shaft and the second rotating shaft; the first steel wire is positioned in a cavity between the first arm lever seat and the first arm lever cover, the first rotating shaft is of a hollow structure, and the second rotating shaft is of a hollow structure;
the second arm rod comprises a second arm rod seat and a second arm rod cover, and the second arm rod seat is fixedly connected with the second arm rod cover; the second arm lever seat is provided with a fifth lower bearing seat hole and a sixth lower bearing seat hole, and the second arm lever cover is provided with a third upper bearing seat hole, a fourth upper bearing seat hole and a threading hole; the first mechanical arm connecting seat is provided with a lower rotating shaft connecting hole, an upper rotating shaft connecting hole and a lead hole; the third rotating shaft comprises an upper part and a lower part, the lower part of the third rotating shaft is fixedly arranged in a lower rotating shaft connecting hole of the first mechanical arm connecting seat, and the upper part of the third rotating shaft is fixedly connected in a third upper bearing seat hole of the second arm rod cover; a fifth lower bearing seat hole of the second arm rod seat is rotatably connected with the lower part of the third rotating shaft through a third lower bearing, and the upper part of the third rotating shaft is rotatably connected with an upper rotating shaft connecting hole through a third upper bearing; the upper part of the fourth rotating shaft is rotatably connected with a fourth upper bearing seat hole through a fourth upper bearing, and the lower part of the fourth rotating shaft is rotatably connected with a sixth lower bearing seat hole through a fourth lower bearing; the second steel wire is connected between the middle part of the fourth rotating shaft and the lower part of the third rotating shaft; the second steel wire is positioned in a cavity between the second arm lever seat and the second arm lever cover; the lower part of the third rotating shaft is of a hollow structure, and the fourth rotating shaft is of a hollow structure.
Preferably, two threaded holes which are symmetrically arranged are formed in the side face of the middle of the first rotating shaft, and the two threaded holes are respectively connected with the two threaded holes in the first rotating shaft through two screws which penetrate through the first steel wire; two symmetrically arranged threaded holes are formed in the side face of the middle of the second rotating shaft and are connected with the threaded holes in the second rotating shaft after penetrating through the first steel wire by two screws respectively;
the side surface of the lower part of the third rotating shaft is provided with two symmetrically arranged threaded holes, and two steel wire screws respectively penetrate through the second steel wire and are connected with the threaded holes on the side surface of the lower part; and two symmetrically arranged threaded holes are formed in the side face of the middle part of the fourth rotating shaft, and two steel wire screws penetrate through the second steel wire and are connected with the threaded holes in the side face of the fourth rotating shaft respectively.
Preferably, the translation mechanical arm further comprises a first band-type brake, a second band-type brake and a third band-type brake, the first band-type brake is fixedly connected with the first arm rod cover, the second band-type brake is fixedly connected with the first arm rod seat, the first rotating shaft is provided with a shaft extension portion, and the shaft extension portion of the first rotating shaft is fixedly connected with the band-type brake block of the first band-type brake; the second rotating shaft is provided with a shaft extension part, and the shaft extension part of the second rotating shaft is fixedly installed with a brake block of a second brake; the third band-type brake is fixedly connected with the first mechanical arm connecting seat, and the upper part of the third rotating shaft is provided with a shaft extension fixedly connected with a band-type brake block of the third band-type brake.
Preferably, the number of the third lower bearings is two, and a bearing spacer is arranged between the two third lower bearings.
Preferably, a lock nut is coupled to a top of the fourth rotating shaft 19.
Preferably, the translation arm further includes a cable, the cable passes through the first rotating shaft, the cable passes through the wire hole of the first arm connecting seat 12, the cable passes through the lower portion of the third rotating shaft, and the cable passes through the fourth rotating shaft after being led out from the wire hole of the second arm cover.
The invention has the advantages of large locking moment and stable support; the transmission precision is high, and the positioning is accurate; the electric wiring and the later maintenance are convenient; the structure of the invention has smaller size, lighter weight and lower cost.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of a patient table in a robotic system for minimally invasive surgery;
FIG. 2 is a schematic view of the overall structure of the translating robot arm;
FIG. 3 is an exploded schematic view of a translating robotic arm structure;
FIG. 4 is a schematic view of the translating robotic arm in a deployed state;
FIG. 5 is a schematic view of the translating robotic arm in a folded state;
FIG. 6 is a schematic view of the translating robot arm in a folded state;
FIG. 7 is a schematic view showing the connection relationship between the first arm, the cable, the first shaft, and the second shaft;
FIG. 8 is an exploded view of the structure shown in FIG. 7;
FIG. 9 is a schematic view of the installation of the first wire in the configuration of FIG. 7;
fig. 10 is a schematic view showing a state where the first arm lever is deflected by an angle θ about the first rotating shaft and the second rotating shaft is simultaneously rotated by an angle θ in the opposite direction under the traction of the first wire;
FIG. 11 is a schematic view showing the connection relationship between the second arm, the third shaft, and the fourth shaft;
FIG. 12 is an exploded view of the structure shown in FIG. 11;
FIG. 13 is a view showing the relationship between the second arm and the connecting base of the first arm in the unfolded state shown in FIG. 4;
fig. 14 is a schematic view showing a state where the second arm is deflected by an angle θ about the third rotation axis and the fourth rotation axis 19 is simultaneously rotated by an angle θ in the opposite direction under the traction of the wire.
The symbols in the drawings illustrate that:
1. the surgical instrument comprises an instrument mechanical arm connecting seat, 2, a right patient mechanical arm, 201, an inverted L-shaped arm rod, 202, a first connecting rod, 203, a second connecting rod, 204, an instrument lifting seat, 205, a surgical instrument; 3. a left patient mechanical arm, 6, a first sliding rod, 7, driven connecting rods I and 8, driven connecting rods II and 9, a slave end base;
10. the bearing comprises a first arm rod, 10-1, a first arm rod seat, 10-1-1, a first upper bearing seat hole, 10-1-2, a second upper bearing seat hole, 10-2, a first arm rod cover, 10-2-1, a first lower bearing seat hole, 10-2-2, a second lower bearing seat hole; 11. a second arm lever, 11-1, a second arm lever seat, 11-1-1, a fifth lower bearing seat hole, 11-1-2, a sixth lower bearing seat hole, 11-2, a second arm lever cover, 11-2-1, a third upper bearing seat hole, 11-2-2, a fourth upper bearing seat hole; 12. the robot arm comprises a first mechanical arm connecting seat, 12-1. a lower rotating shaft connecting hole, 12-2. an upper rotating shaft connecting hole, 12-3. a lead hole, 13. a second mechanical arm connecting seat, 14. a screw, 15. a screw, 16. a first rotating shaft, 16-1. an axis, 16-2. a threaded hole, 16-3. an axial extension part, 17. a second rotating shaft, 17-1. an axis, 17-2. a threaded hole, 17-3. an axial extension part, 18. a third rotating shaft, 18-1. an axis, 18-2. an upper part, 18-3. a lower part, 19. a fourth rotating shaft, 19-1. an axis, 20. a first band-type brake, 21. a second band-type brake, 22. a third band-type brake, 23. a cable, 24. a first upper bearing, 25. a first lower bearing, 26. a second upper bearing, 27. a second lower bearing, 28. a first steel wire, 29. screw, 30 screw, 31 flat key, 32 flat key; 33. the bearing comprises a second steel wire, 34, a third upper bearing, 35, a fourth upper bearing, 36, a third lower bearing, 37, a fourth lower bearing, 38, a bearing spacer ring, 39, a locking nut, 40, a screw, 41, a screw, 42, a flat key, 43, a steel wire screw and 44, a steel wire screw.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1, the patient operating table comprises an instrument mechanical arm connecting seat 1, a right patient mechanical arm 2 and a left patient mechanical arm 3, a first sliding rod 6 is connected with the instrument mechanical arm connecting seat 1 in a sliding mode, one end of a passive connecting rod I7 is rotatably installed at the bottom end of the first sliding rod 6, and the rotation axis of the passive connecting rod I7 is consistent with the gravity direction; one end of the driven link II8 is rotatably arranged at the other end of the driven link I7, and the rotation axis of the driven link II8 is consistent with the gravity direction; the other end of the passive connecting rod II8 is fixedly arranged at one end of the end base 9; the right patient mechanical arm 2 comprises an inverted L-shaped arm rod 201, a first connecting rod 202, a second connecting rod 203, an instrument lifting seat 204 and a surgical instrument 205, wherein the horizontal upper part of the inverted L-shaped arm rod 201 is rotatably installed at the other end of the slave end base 9, the rotation axis of the inverted L-shaped arm rod is consistent with the gravity direction, one end of the first connecting rod 202 is rotatably connected with the vertical lower part of the inverted L-shaped arm rod 201, one end of the second connecting rod 203 is rotatably connected with the other end of the first connecting rod 202, one end of the instrument lifting seat 204 is rotatably connected with the other end of the second connecting rod 203, and the surgical instrument 205 is connected with the instrument lifting seat 204. The first link 202, the second link 203 and the instrument lift base 204 can be folded and unfolded based on the vertical portion of the inverted-L arm 201, fig. 1 shows the first link 202, the second link 203 and the instrument lift base 204 in an unfolded state, the instrument lift base 204 is parallel to the first link 202, and the second link 203 is parallel to the vertical portion of the inverted-L arm 201.
As shown in fig. 2 and 3, the overall structure of the translational mechanical arm includes a first arm 10, a second arm 11, a first arm connecting seat 12, a second arm connecting seat 13, a first rotating shaft 16, a second rotating shaft 17, a third rotating shaft 18, a fourth rotating shaft 19, a first band-type brake 20, a second band-type brake 21, and a third band-type brake 22, wherein the second arm connecting seat 13 is fixedly connected to the first arm connecting seat 12 through a screw 15, the right end of the first arm 10 is connected to the second rotating shaft 17, the first rotating shaft 16 is connected to the left end of the first arm 10, the left end of the second arm 11 is connected to the first arm connecting seat 12 through the third rotating shaft 18, and the fourth rotating shaft 19 is connected to the right end of the second arm 11. The first rotating shaft 16 and the second rotating shaft 17 can rotate around the axis 16-1 and the axis 17-1 respectively in a limited angle, and the third rotating shaft 18 and the fourth rotating shaft 19 can rotate around the axis 18-1 and the axis 19-1 respectively in a limited angle. The first band-type brake 20 and the second band-type brake 21 are mounted on the first arm 10, and the first band-type brake 20 and the second band-type brake 21 can respectively lock the first rotating shaft 16 and the second rotating shaft 17. The third band-type brake 22 is installed on the second arm 11, and the third band-type brake 22 can lock the third rotating shaft 18. As shown in the figure, the xoy plane and the yoz plane are vertical to each other, the translational mechanical arm is horizontally placed on the xoy plane, and the position and the orientation of the axis 16-1 are fixed relative to the xoy plane; in the process of adjusting the pose of the mechanical arm, the first arm 10 rotates around the axis 16-1, and the second rotating shaft 17 rotates around the axis 17-1 of the second arm under the driving of the transmission mechanism in the first arm 10 in the opposite direction, namely, the second rotating shaft 17 rotates around the axis 16-1 in the xoy plane and keeps the same orientation as the first rotating shaft 16 through self rotation. While the second arm 11 rotates around the third rotating shaft 18, the fourth rotating shaft 19 also rotates around its own axis 19-1 in the opposite direction under the driving of the transmission mechanism in the second arm 11. That is, the fourth rotating shaft 19 rotates on its own axis while revolving around the third rotating shaft 18 in the xoy plane, thereby maintaining the same orientation as the third rotating shaft 18. In the process of adjusting the pose of the mechanical arm, the second rotating shaft 17, the third rotating shaft 18 and the fourth rotating shaft 19 only do translational motion in the xoy plane, and the self orientations are all consistent with the first rotating shaft 16.
The first arm lever 10 and the second arm lever 11 are internally provided with steel wire transmission structures, so that large-range rotation can be realized. As shown in fig. 5 and 6, the translating robotic arm has two folded states as shown, and each can be manually adjusted to the unfolded state shown in fig. 4; when the mechanical arm is folded or unfolded, the three contracting brakes are released simultaneously, and each joint rotates freely to adjust the pose. After the adjustment is finished, the band-type brakes are simultaneously tightly held, and the mechanical arm is locked at the current position. When the surgical robot is applied to the surgical robot body, the surgical robot can be arranged and installed according to actual needs, has certain universality, is convenient to assemble and saves cost.
The rotating shafts arranged in all joints of the mechanical arm are of hollow structures. The cable passes through the inside of the rotating shaft, and two ends of the cable are respectively connected with electric elements such as a controller and a servo motor. When the mechanical arm is folded or unfolded, the cable arranged in the mechanical arm moves along with the mechanical arm, so that the damage to the cable caused by friction and the like due to frequent rotation of the joint can be effectively avoided.
As shown in fig. 7-9, the first arm lever 10 includes a first arm lever seat 10-1 and a first arm lever cover 10-2, the first arm lever seat 10-1 and the first arm lever cover 10-2 are fixedly connected by screws, the first arm lever seat 10-1 is provided with a first upper bearing seat hole 10-1-1 and a second upper bearing seat hole 10-1-2, the first arm lever cover 10-2 is provided with a first lower bearing seat hole 10-2-1 and a second lower bearing seat hole 10-2-2, an upper portion of the first rotating shaft 16 is rotatably installed in the first upper bearing seat hole 10-1-1 by a first upper bearing 24, a lower portion of the first rotating shaft 16 is rotatably installed in the first lower bearing seat hole 10-2-1 by a first lower bearing 25, an upper portion of the second rotating shaft 17 is rotatably installed in the second upper bearing seat hole 10-1-2 by a second upper bearing 26, the lower portion of the second rotary shaft 17 is rotatably installed in the second lower bearing housing hole 10-2-2 through a second lower bearing 27. The first band-type brake 20 is fixedly arranged on the first arm rod cover 10-2 through screws, and the second band-type brake 21 is fixedly arranged on the first arm rod seat 10-1 through screws. The first rotating shaft 16 is provided with a shaft extension portion 16-3, and the shaft extension portion 16-3 is provided with a key groove which is fixedly installed with a brake block of the first brake 20 through a flat key 31. The second rotating shaft 17 is provided with a shaft extension portion 17-3, and the shaft extension portion 17-3 is provided with a key groove which is fixedly installed with a brake block of the second brake 21 through a flat key 32. When the first internal contracting brake 20 is powered on, the first rotating shaft 16 can rotate freely around the axis 16-1, and when the first internal contracting brake 20 is powered off, the internal contracting brake block of the first internal contracting brake 20 is tightly held, and the first rotating shaft 16 is locked and can not rotate. Under the condition of powering on the second internal contracting brake 21, the second rotating shaft 17 can freely rotate around the axis 17-1, and under the condition of powering off, the internal contracting brake block of the second internal contracting brake 21 is tightly held, and the second rotating shaft 17 is locked and can not rotate. Two threaded holes 16-2 are symmetrically formed in the side surface of the middle portion of the first rotating shaft 16, and two screws 29 are respectively inserted through the first steel wire 28 and then connected to the threaded holes 16-2, so that one end of the first steel wire 28 is mounted on the first rotating shaft 16. Two threaded holes 17-2 are symmetrically formed in the side surface of the middle portion of the second rotating shaft 17, and two screws 30 are respectively connected with the threaded holes 17-2 after penetrating through the first steel wire 28, so that the other end of the first steel wire 28 is mounted on the second rotating shaft 17. The first wire 28 is located in the chamber between the first arm bar seat 10-1 and the first arm bar cover 10-2. The first rotating shaft 16 is of a hollow structure, the cable 23 penetrates through the first rotating shaft 16, the second rotating shaft 17 is of a hollow structure, and the cable 23 penetrates through the second rotating shaft 17; the cable 23 passes through the first rotating shaft 16 and the second rotating shaft 17 and is connected with an external electrical element, so that damage to the cable caused by frequent rotation of the joint can be avoided, and the electric wiring and mechanical transmission scheme in the form has the advantages of compact structure and high space utilization rate; the transmission clearance is small, and the precision is high; the motion inertia is low and the noise is low; the locking is reliable, and the positioning is accurate; protecting the cable and being convenient to disassemble and maintain. As shown in fig. 9, the first wires are mounted on the first and second shafts 16 and 17 with the same diameter, i.e., R1 is R2. In the fully extended state of the translating arm (as shown in fig. 4), the first pivot 16 and the second pivot 17 mounted on the first arm 10 are aligned and the line AB remains parallel to the CD. When the mechanical arm is folded to adjust the posture, as shown in fig. 10, the first arm lever 10 deflects by an angle θ around the first rotating shaft 16, and the second rotating shaft 17 rotates by an angle θ in the opposite direction at the same time under the traction of the first wire, and the straight line AB continues to be parallel to the CD. Namely, the second rotating shaft 17 revolves around the axis 16-1 and rotates around the own axis 17-1 to keep itself consistent with the orientation of the first rotating shaft 16.
As shown in fig. 11 and 12, the second arm 11 includes a second arm seat 11-1 and a second arm cover 11-2, and the second arm seat 11-1 and the second arm cover 11-2 are fixedly connected by screws; the second arm rod seat 11-1 is provided with a fifth lower bearing seat hole 11-1-1 and a sixth lower bearing seat hole 11-1-2, and the second arm rod cover 11-2 is provided with a third upper bearing seat hole 11-2-1 and a fourth upper bearing seat hole 11-2-2; the first mechanical arm connecting seat 12 is provided with a lower rotating shaft connecting hole 12-1 and an upper rotating shaft connecting hole 12-2; the third rotating shaft 18 comprises an upper part 18-2 and a lower part 18-3, the lower part 18-3 is fixedly installed in a lower rotating shaft connecting hole 12-1 of the first mechanical arm connecting seat 12 through a screw 41, and the upper part 18-2 is fixedly installed in a third upper bearing seat hole 11-2-1 of the second arm lever cover 11-2 through a screw 40; a fifth lower bearing seat hole 11-1-1 of the second arm rod seat 11-1 is rotatably connected with the lower part 18-3 through two third lower bearings 36, a bearing spacer ring 38 is arranged between the two third lower bearings 36, and the upper part 18-2 is rotatably connected with the upper rotating shaft connecting hole 12-2 through a third upper bearing 34; the upper part of the fourth rotating shaft 19 is rotatably connected with a fourth upper bearing seat hole 11-2-2 through a fourth upper bearing 35, the upper end of the fourth rotating shaft 19 is provided with threads and is connected with a locking nut 39 so as to axially position the fourth upper bearing 35, thereby realizing the axial positioning of the fourth rotating shaft 19 in the fourth upper bearing seat hole 11-2-2, and the lower part of the fourth rotating shaft 19 is rotatably connected with a sixth lower bearing seat hole 11-1-2 through a fourth lower bearing 37; the third band-type brake 22 is fixedly installed on the first mechanical arm connecting seat 12 through a screw, an axial extension 18-2-1 is arranged at the upper part 18-2 of a third upper bearing seat hole 11-2-1 of the second arm rod cover 11-2, a key groove is arranged at the axial extension 18-2-1, the key groove is fixedly installed with a band-type brake block of the third band-type brake 22 through a flat key 42, the upper part 18-2 can freely rotate around an axis 18-1 under the condition that the third band-type brake 22 is powered on, the band-type brake block of the third band-type brake 22 is tightly held under the condition that the power is off, and the third rotating shaft 18 is locked and cannot rotate; two threaded holes are symmetrically processed in the side surface of the lower part 18-3, and two steel wire screws 43 are respectively used for penetrating through the second steel wire 33 and then being connected with the threaded holes in the side surface of the lower part 18-3, so that one end of the second steel wire 33 is installed on the third rotating shaft 18; two threaded holes are symmetrically formed in the side surface of the middle portion of the fourth rotating shaft 19, and two wire screws 44 are respectively connected to the threaded holes after penetrating through the second wire 33, so that the other end of the second wire 33 is mounted on the fourth rotating shaft 19. The second wire 33 is located in the chamber between the second arm lever seat 11-1 and the second arm lever cover 11-2; the lower part 18-3 is of a hollow structure, the cable 23 penetrates through the lower part 18-3, the fourth rotating shaft 19 is of a hollow structure, and the cable 23 penetrates through the fourth rotating shaft 19 after being led out from the threading hole 11-2-3 of the second arm lever cover 11-2; the cable 23 passes through the lead hole 12-3 of the first robot joint holder 12. The cable layout mode can avoid damage to the cable caused by frequent rotation of the joint, and the electric wiring and mechanical transmission scheme in the form has compact structure and high space utilization rate; the transmission clearance is small, and the precision is high; the motion inertia is low and the noise is low; the locking is reliable and the positioning is accurate; protecting the cable and being convenient to disassemble and maintain.
As shown in fig. 13, the diameters of the portions where the wires are attached are the same for the lower portion 18-3 of the third rotating shaft 18 and the fourth rotating shaft 19, that is, R3 is R4. In the fully deployed state of the translating arm, the lower portion 18-3 and the fourth pivot 19 are aligned, and the line EF is parallel to the line GH and parallel to the line C1D1 of the first arm connecting base 12. When the robot arm is folded to adjust the attitude, as shown in fig. 14, the second arm 11 is deflected by an angle θ about the axis 18-1, and the fourth rotating shaft 19 is simultaneously rotated by an angle θ in the opposite direction under the traction of the wire, continuing to keep the straight lines C1D1, EF, GH parallel. Namely, the fourth rotating shaft 19 revolves around the axis 18-1 and rotates around the axis 19-1 to keep the orientation of the lower part 18-3 consistent with that of the lower part 18-3, and the orientation of the lower part 18-3 is always fixed and unchanged because the lower part is fixedly connected with the second rotating shaft 17 through the first arm connecting seat 12 and the second arm connecting seat 13. Therefore, in the process of adjusting the pose of the mechanical arm, the second rotating shaft 17, the third rotating shaft 18 and the fourth rotating shaft 19 only perform translational motion in the xoy plane, and the self orientations are all consistent with the first rotating shaft 16.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.
Claims (6)
1. A translational mechanical arm is characterized by comprising a first arm rod, a second arm rod, a first mechanical arm connecting seat, a second mechanical arm connecting seat, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a first steel wire and a second steel wire, wherein the second mechanical arm connecting seat is fixedly connected with the first mechanical arm connecting seat, the first arm rod comprises a first arm rod seat and a first arm rod cover, the first arm rod seat is fixedly connected with the first arm rod cover, the first arm rod seat is provided with a first upper bearing seat hole and a second upper bearing seat hole, the first arm rod cover is provided with a first lower bearing seat hole and a second lower bearing seat hole, the upper part of the first rotating shaft is rotatably connected into the first upper bearing seat hole through a first upper bearing, the lower part of the first rotating shaft is rotatably connected into the first lower bearing seat hole through a first lower bearing, the upper part of the second rotating shaft is rotatably connected into the second upper bearing seat hole through a second upper bearing, the lower part of the second rotating shaft is rotatably connected in a second lower bearing seat hole through a second lower bearing; the first steel wire is connected between the first rotating shaft and the second rotating shaft; the first steel wire is positioned in a cavity between the first arm lever seat and the first arm lever cover, the first rotating shaft is of a hollow structure, and the second rotating shaft is of a hollow structure;
the second arm rod comprises a second arm rod seat and a second arm rod cover, and the second arm rod seat is fixedly connected with the second arm rod cover; the second arm lever seat is provided with a fifth lower bearing seat hole and a sixth lower bearing seat hole, and the second arm lever cover is provided with a third upper bearing seat hole, a fourth upper bearing seat hole and a threading hole; the first mechanical arm connecting seat is provided with a lower rotating shaft connecting hole, an upper rotating shaft connecting hole and a lead hole; the third rotating shaft comprises an upper part and a lower part, the lower part of the third rotating shaft is fixedly arranged in a lower rotating shaft connecting hole of the first mechanical arm connecting seat, and the upper part of the third rotating shaft is fixedly connected in a third upper bearing seat hole of the second arm rod cover; a fifth lower bearing seat hole of the second arm rod seat is rotatably connected with the lower part of the third rotating shaft through a third lower bearing, and the upper part of the third rotating shaft is rotatably connected with an upper rotating shaft connecting hole through a third upper bearing; the upper part of the fourth rotating shaft is rotatably connected with a fourth upper bearing seat hole through a fourth upper bearing, and the lower part of the fourth rotating shaft is rotatably connected with a sixth lower bearing seat hole through a fourth lower bearing; the second steel wire is connected between the middle part of the fourth rotating shaft and the lower part of the third rotating shaft; the second steel wire is positioned in a cavity between the second arm lever seat and the second arm lever cover; the lower part of the third rotating shaft is of a hollow structure, and the fourth rotating shaft is of a hollow structure.
2. The translation mechanical arm according to claim 1, wherein the side surface of the middle part of the first rotating shaft is provided with two threaded holes which are symmetrically arranged, and the two threaded holes are respectively connected with the two threaded holes on the first rotating shaft by two screws which penetrate through the first steel wire; two symmetrically arranged threaded holes are formed in the side face of the middle part of the second rotating shaft and are connected with the threaded holes in the second rotating shaft after penetrating through the first steel wire by two screws respectively;
the side surface of the lower part of the third rotating shaft is provided with two symmetrically arranged threaded holes, and two steel wire screws respectively penetrate through the second steel wire and are connected with the threaded holes on the side surface of the lower part; and two symmetrically arranged threaded holes are formed in the side face of the middle part of the fourth rotating shaft, and two steel wire screws penetrate through the second steel wire and are connected with the threaded holes in the side face of the fourth rotating shaft respectively.
3. The translation mechanical arm according to claim 1 or 2, further comprising a first band-type brake, a second band-type brake and a third band-type brake, wherein the first band-type brake is fixedly connected with the first arm lever cover, the second band-type brake is fixedly connected with the first arm lever base, the first rotating shaft is provided with a shaft extension portion, and the shaft extension portion of the first rotating shaft is fixedly connected with the band-type brake block of the first band-type brake; the second rotating shaft is provided with a shaft extension part, and the shaft extension part of the second rotating shaft is fixedly installed with a brake block of a second brake; the third band-type brake is fixedly connected with the first mechanical arm connecting seat, and the upper portion of the third rotating shaft is provided with a shaft extension fixedly connected with a band-type brake block of the third band-type brake.
4. The translating mechanical arm of claim 3 wherein the number of the third lower bearings is two and a bearing spacer is disposed between the two third lower bearings.
5. The translating mechanical arm of claim 3 wherein a lock nut is attached to the top of the fourth shaft 19.
6. The translating mechanical arm according to claim 3 further comprising a cable, wherein the cable passes through the first rotating shaft, the cable passes through the wire hole of the first mechanical arm connecting seat 12, the cable passes through the lower portion of the third rotating shaft, and the cable passes through the fourth rotating shaft after being led out from the wire hole of the second arm lever cover.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140802.1A CN111700680B (en) | 2019-11-20 | 2019-11-20 | Translation mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140802.1A CN111700680B (en) | 2019-11-20 | 2019-11-20 | Translation mechanical arm |
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| CN111700680A true CN111700680A (en) | 2020-09-25 |
| CN111700680B CN111700680B (en) | 2024-05-10 |
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| CN111700680B (en) | 2024-05-10 |
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