TWI694905B - Mechanical arm - Google Patents
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- TWI694905B TWI694905B TW107133641A TW107133641A TWI694905B TW I694905 B TWI694905 B TW I694905B TW 107133641 A TW107133641 A TW 107133641A TW 107133641 A TW107133641 A TW 107133641A TW I694905 B TWI694905 B TW I694905B
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Abstract
本發明有關於一種機械手臂,其包含有一第一驅動源及一第二驅動源,第一、第二驅動源共同設於一基座,第一驅動源連接一第一傳動連桿以驅動其繞著一第一軸向轉動,第二驅動源連接一第二傳動連桿以驅動其繞著一與第一軸向平行之第二軸向轉動,其中的第一傳動連桿再樞接於一第三傳動連桿。此外,第二傳動連桿跟一第一從動連桿樞接,第一從動連桿與基座之間樞接一第二從動連桿,第一、第二從動連桿共同跟一第三從動連桿樞接,第三從動連桿與第三傳動連桿之間再樞接一第四從動連桿。藉此,本發明之機械手臂可達到多自由度運動及體積輕巧化的效果。The invention relates to a mechanical arm, which includes a first driving source and a second driving source. The first and second driving sources are co-located on a base, and the first driving source is connected to a first transmission link to drive it. Rotating around a first axis, the second driving source is connected to a second transmission link to drive it to rotate around a second axis parallel to the first axis, and the first transmission link is then pivotally connected to A third transmission link. In addition, the second driving link is pivotally connected with a first driven link, and a second driven link is pivotally connected between the first driven link and the base, and the first and second driven links are connected together A third driven link is pivotally connected, and a fourth driven link is pivotally connected between the third driven link and the third transmission link. With this, the mechanical arm of the present invention can achieve the effects of multi-degree-of-freedom movement and compactness.
Description
本發明與機械手臂有關,特別是指一種可進行多自由度運動及具有體積輕巧化特色之機械手臂。The invention relates to a mechanical arm, in particular to a mechanical arm which can perform multi-degree-of-freedom movement and has the characteristics of light weight and compactness.
機械手臂在現今已經相當廣泛地使用在各種外科手術,藉由機械手臂的輔助,許多跟手術相關的診療行為(如病灶位置的判斷或進刀深度的控制等)皆可由外科醫生準確地掌握,進而大幅降低任何因人為操作失誤所導致的潛在性醫療風險。但是目前的機械手臂具有體積龐大的問題,因而在操作上也會需要較大的空間。The robotic arm has been widely used in various surgical operations nowadays. With the assistance of the robotic arm, many diagnosis and treatment behaviors related to the surgery (such as the judgment of the location of the lesion or the control of the depth of advancement, etc.) can be accurately controlled by the surgeon. This will greatly reduce any potential medical risks caused by human error. However, the current robotic arm has a large volume, and therefore requires a large space for operation.
本發明之主要目的在於提供一種機械手臂,其可進行多自由度運動,並且具有體積輕巧化的特色。The main object of the present invention is to provide a mechanical arm that can perform multi-degree-of-freedom movements and has the characteristics of light weight and compactness.
為了達成上述主要目的,本發明之機械手臂包含有一基座、一驅動模組、一傳動連桿組及一從動連桿組。該驅動模組具有一第一驅動源與一第二驅動源,該第一、第二驅動源共同設於該基座;該傳動連桿組具有一第一傳動連桿、一第二傳動連桿及一第三傳動連桿,其中,該第一傳動連桿之底端連接該第一驅動源,使該第一傳動連桿可受該第一驅動源之驅動而繞著一第一軸向轉動,該第二傳動連桿之前端連接該第二驅動源,使得該第二傳動連桿可受該第二驅動源之驅動而繞著一平行於該第一軸向之第二軸向轉動,該第三傳動連桿之後端樞設於該第一傳動連桿之頂端;該從動連桿組具有一第一從動連桿、一第二從動連桿、一第三從動連桿及一第四從動連桿,其中,該第一從動連桿之底端樞設於該第二傳動連桿之後端,該第一從動連桿之頂端樞設於該第二從動連桿之後端,該第二從動連桿之前端樞設於該基座,使得該第一從動連桿可受該第二傳動連桿之驅動而帶動該第二從動連桿繞著該第一軸向轉動,該第三從動連桿之底端樞設於該第一從動連桿之頂端及該第二從動連桿之後端,該第三從動連桿之頂端樞設於該第四從動連桿之後端,該第四從動連桿之前端連接該第三傳動連桿之後端,使該第三從動連桿一方面可被該第一、第二從動連桿所帶動,另一方面可被該第四從動連桿所帶動。In order to achieve the above-mentioned main objective, the mechanical arm of the present invention includes a base, a driving module, a transmission link group and a driven link group. The driving module has a first driving source and a second driving source, the first and second driving sources are co-located on the base; the driving link set has a first driving link and a second driving link Rod and a third transmission link, wherein the bottom end of the first transmission link is connected to the first driving source, so that the first transmission link can be driven by the first driving source to wrap around a first axis Rotation, the front end of the second transmission link is connected to the second driving source, so that the second transmission link can be driven by the second driving source to circumvent a second axis parallel to the first axis Rotating, the rear end of the third transmission link is pivotally arranged on the top of the first transmission link; the driven link group has a first driven link, a second driven link, and a third driven link A connecting rod and a fourth driven link, wherein the bottom end of the first driven link is pivotally arranged at the rear end of the second transmission link, and the top end of the first driven link is pivotally arranged at the second The rear end of the driven link, the front end of the second driven link is pivotally arranged on the base, so that the first driven link can be driven by the second transmission link to drive the second driven link Rotating around the first axis, the bottom end of the third driven link is pivotally arranged at the top of the first driven link and the rear end of the second driven link, the third driven link The top end is pivotally arranged at the rear end of the fourth driven link, the front end of the fourth driven link is connected to the rear end of the third transmission link, so that the third driven link can be used by the first and the first Driven by the second driven link, on the other hand, it can be driven by the fourth driven link.
由上述可知,本發明之機械手臂可以改善習知技術較為龐大笨重的問題,並且能夠達到體積輕巧及多自由度運動的效果,相當適合應用在與工業/醫療方面相關的領域。As can be seen from the above, the mechanical arm of the present invention can improve the problems of the conventional technology that are relatively bulky and heavy, and can achieve the effect of light volume and multi-degree of freedom movement, which is quite suitable for applications in fields related to industry/medical aspects.
更佳地,該第一、第二驅動源位於該基座之同一側,如此可以將大體積的元件加以集中來達到體積輕巧化的效果。More preferably, the first and second driving sources are located on the same side of the base, so that large-volume components can be concentrated to achieve the effect of light weight.
更佳地,該第二從動連桿平行於該第四從動連桿,且該第二傳動連桿之長度大於該第二從動連桿之長度,且該第二從動連桿之長度等於該第四從動連桿之長度,由第二傳動連桿、第二從動連桿、第四從動連桿的關係,可以讓第三傳動連桿的運動範圍相對於第二傳動連桿產生放大以符合需求的工作範圍。More preferably, the second driven link is parallel to the fourth driven link, and the length of the second transmission link is greater than the length of the second driven link, and the length of the second driven link The length is equal to the length of the fourth driven link, and the relationship between the second driving link, the second driven link, and the fourth driven link can make the movement range of the third driving link relative to the second transmission The connecting rod produces an enlargement to meet the required working range.
有關本發明所提供對於機械手臂的詳細構造、特點、組裝或使用方式,將於後續的實施方式詳細說明中予以描述。然而,在本發明領域中具有通常知識者應能瞭解,該等詳細說明以及實施本發明所列舉的特定實施例,僅係用於說明本發明,並非用以限制本發明之專利申請範圍。The detailed structure, characteristics, assembling or using manner of the robotic arm provided by the present invention will be described in the detailed description of the subsequent embodiments. However, those of ordinary knowledge in the field of the present invention should be able to understand that these detailed descriptions and specific embodiments listed for implementing the present invention are only used to illustrate the present invention, and are not intended to limit the scope of the patent application of the present invention.
申請人首先在此說明,在以下將要介紹之實施例以及圖式中,相同之參考號碼,表示相同或類似之元件或其結構特徵。以下藉由所列舉之若干較佳實施例配合圖式,詳細說明本創作的技術內容及特徵,本說明書內容所提及的“頂”、“底”、“前”、“後”等方向性形容用語,只是以正常使用方向為基準之例示描述用語,並非作為限制主張範圍之用意。The applicant first explains here that in the embodiments and drawings to be described below, the same reference numbers indicate the same or similar elements or their structural features. The following is a detailed description of the technical content and features of this creation with reference to several preferred embodiments and drawings. The "top", "bottom", "front", "back" and other directions mentioned in the content of this specification Descriptive terms are only examples of description terms based on the normal direction of use, and are not intended to limit the scope of the claim.
請先參閱第1圖,圖中所顯示的為本發明第1實施例之機械手臂10尚未取下外殼12的態樣,請再參閱第2及3圖,圖中所顯示的為本發明之機械手臂10取下外殼12後的態樣,其包含有一基座20、一驅動模組30、一傳動連桿組40及一從動連桿組50。Please refer to FIG. 1 first. The figure shows the
驅動模組30具有一第一驅動源31(在此以馬達為例)及一第二驅動源32(在此以馬達為例),如第3圖所示,第一、第二驅動源31、32以上下並排的方式設於基座20且位於基座20之同一側。The
傳動連桿組40具有一第一傳動連桿41、一第二傳動連桿42及一第三傳動連桿43,其中:第一傳動連桿41之底端利用諸如聯軸器的元件(圖中未示)連接第一驅動源31之一驅動軸(圖中未示),使得第一傳動連桿41可受第一驅動源31之驅動而繞著一第一軸向A1轉動;第二傳動連桿42之前端利用諸如聯軸器的元件(圖中未示)連接第二驅動源32之一驅動軸(圖中未示),使得第二傳動連桿42可受第二驅動源32之驅動而繞著一與第一軸向A1平行之第二軸向A2轉動;第三傳動連桿43用來供一多軸運動模組14進行組裝(如第1圖所示),第三傳動連桿43之後端利用一軸件60與第一傳動連桿41之頂端形成樞接關係,更明確地說,如第4圖所示,第一傳動連桿41之頂端具有一呈圓形之樞孔44,第三傳動連桿43之後端具有一呈非圓形之第一嵌孔45,軸件60具有一第一非圓形段61、一銜接第一非圓形段61之第二非圓形段62及一銜接第二非圓形段62之圓形段63,軸件60之第二非圓形段62卡接於第三傳動連桿43之第一嵌孔45,軸件60之圓形段63可樞轉地組設於第一傳動連桿41之樞孔44。藉此,第一、第三傳動連桿41、43可相對樞轉;另外於本實施例中,軸件60之第一非圓形段61具有二相對之第一平面612,軸件60之第二非圓形段62具有二相對之第二平面622,第一、第二平面612、622之間為相互平行。The
如第2及5圖所示,從動連桿組50具有一第一從動連桿51、一第二從動連桿52、一第三從動連桿53及一第四從動連桿54,其中:第一從動連桿51之底端樞設於第二傳動連桿42之後端,第一從動連桿51之頂端樞設於第二從動連桿52之後端,第二從動連桿52之前端樞設於基座20背對驅動模組30之一側面,使得第一從動連桿51可受第二傳動連桿42之驅動而帶動第二從動連桿52繞著第一軸向A1轉動;第三從動連桿53之底端樞設於第一從動連桿51之頂端及第二從動連桿52之後端,亦即三者之間為同軸樞接,第三從動連桿53之頂端樞設於第四從動連桿54之後端,第四從動連桿54之前端利用軸件60連接第三傳動連桿43之後端,更明確地說,如第4圖所示,第四從動連桿54之前端具有一呈非圓形之第二嵌孔55,第四從動連桿54之第二嵌孔55卡接於軸件60之第一非圓形段61,使得第四從動連桿54與第三傳動連桿43之間為同步作動,至於第四從動連桿54與第一傳動連桿41之間則是可相對樞轉。As shown in FIGS. 2 and 5, the driven
由上述可知,如第5及6圖所示,當第一傳動連桿41被第一驅動源31所驅動而繞著第一軸向A1轉動時,第一傳動連桿41利用軸件60同步帶動第三傳動連桿43與第四從動連桿54,接著第四從動連桿54會帶動第三從動連桿53之頂端,使第三從動連桿53以其本身底端為軸心產生樞轉,如此即可對第三傳動連桿43連同組裝於第三傳動連桿43之多軸運動模組14達到調整前後位置的效果。As can be seen from the above, as shown in FIGS. 5 and 6, when the
再如第7圖所示,當第二傳動連桿42被第二驅動源32所驅動而繞著第二軸向A2轉動時,第二傳動連桿42會帶動第一從動連桿51,接著第一從動連桿51會再帶動第二從動連桿52,使第二從動連桿52繞著第一軸向A1轉動,然後第一、第二從動連桿51、52會進一步帶動第三從動連桿53,使第三從動連桿53相對第一傳動連桿41上升或下降,在第三從動連桿53升降的過程中會同步帶動第四從動連桿54以軸件60之圓形段63為軸心產生樞轉,在第四從動連桿54產生樞轉的過程中再利用軸件60之第二非圓形段62帶動第三傳動連桿43,使第三傳動連桿43產生角度上的偏轉,如此即可對第三傳動連桿43連同組裝於第三傳動連桿43之多軸運動模組14達到調整角度的效果。As shown in FIG. 7 again, when the
另一方面,如第5圖所示,在初始狀態下,第二從動連桿52平行於第四從動連桿54,且第二傳動連桿42之長度大於第二從動連桿52之長度,且第二從動連桿52之長度等於第四從動連桿54之長度,由第二傳動連桿42、第二從動連桿52、第四從動連桿54的關係,可以讓第三傳動連桿43的運動範圍相對於第二傳動連桿42產生放大以符合需求的工作範圍。On the other hand, as shown in FIG. 5, in the initial state, the second driven
請再參閱第8及9圖,在本發明第2實施例中,軸件70之第一非圓形段71的第一平面712與軸件70之第二非圓形段72的第二平面722之間為相互不平行而產生一夾角,如此藉由軸件70將第一傳動連桿41、第三傳動連桿43、第三從動連桿53及第四從動連桿54組裝在一起之後,第三傳動桿43即可利用前述夾角在工作範圍方面作更多的變化,以因應不同的臨床需求。Please refer to FIGS. 8 and 9 again. In the second embodiment of the present invention, the
綜上所陳,本發明之機械手臂10可以進行多自由度的運動,以便能夠根據實際需求來精確地調整第三傳動連桿43的前後位置及偏轉角度,相當適合應用在工業/醫療方面的相關領域。此外,本發明之機械手臂10將大體積的元件(如第一、第二驅動源31、32)集中在同一側,進而有效地達到體積輕巧化的目的。In summary, the
10機械手臂 12外殼 14多軸運動模組 20基座 30驅動模組 31第一驅動源 32第二驅動源 40傳動連桿組 41第一傳動連桿 A1第一軸向 42第二傳動連桿 A2第二軸向 43第三傳動連桿 44樞孔 45第一嵌孔 50從動連桿組 51第一從動連桿 52第二從動連桿 53第三從動連桿 54第四從動連桿 55第二嵌孔 60軸件 61第一非圓形段 612第一平面 62第二非圓形段 622第二平面 63圓形段 70軸件 71第一非圓形段 712第一平面 72第二非圓形段 722第二平面10 robot
第1圖為本發明第1實施例之機械手臂的外觀立體圖。 第2圖為本發明第1實施例之機械手臂取下外殼後的外觀立體圖。 第3圖為本發明第1實施例之機械手臂取下外殼後在另一視角的外觀立體圖。 第4圖為本發明第1實施例之機械手臂的局部立體分解圖。 第5圖為本發明第1實施例之機械手臂的平面圖。 第6圖為本發明第1實施例之機械手臂的作動示意圖,主要顯示第三傳動連桿的前後位置在經過調整後的狀態。 第7圖類同於第6圖,主要顯示第三傳動連桿的角度在經過調整後的狀態。 第8圖為本發明第2實施例之機械手臂的局部立體分解圖。 第9圖為本發明第2實施例之機械手臂的平面圖。Fig. 1 is a perspective view of the appearance of a robot arm according to a first embodiment of the invention. Figure 2 is a perspective view of the appearance of the mechanical arm of the first embodiment of the present invention after removing the housing. Figure 3 is a perspective view of the mechanical arm of the first embodiment of the present invention when the housing is removed from another perspective. Figure 4 is a partial exploded view of the mechanical arm of the first embodiment of the present invention. Figure 5 is a plan view of the mechanical arm of the first embodiment of the present invention. Figure 6 is a schematic diagram of the operation of the mechanical arm of the first embodiment of the present invention, mainly showing the adjusted state of the front and rear positions of the third transmission link. The seventh picture is the same as the sixth picture, mainly showing the adjusted state of the angle of the third transmission link. FIG. 8 is a partial exploded view of a mechanical arm of a second embodiment of the invention. Figure 9 is a plan view of a mechanical arm according to a second embodiment of the invention.
20基座 30驅動模組 31第一驅動源 32第二驅動源 40傳動連桿組 41第一傳動連桿 A1第一軸向 42第二傳動連桿 A2第二軸向 43第三傳動連桿 50從動連桿組 51第一從動連桿 52第二從動連桿 53第三從動連桿 54第四從動連桿 60軸件
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