WO2022148167A1 - 连接臂、机械臂和机器人 - Google Patents

连接臂、机械臂和机器人 Download PDF

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Publication number
WO2022148167A1
WO2022148167A1 PCT/CN2021/132877 CN2021132877W WO2022148167A1 WO 2022148167 A1 WO2022148167 A1 WO 2022148167A1 CN 2021132877 W CN2021132877 W CN 2021132877W WO 2022148167 A1 WO2022148167 A1 WO 2022148167A1
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WO
WIPO (PCT)
Prior art keywords
connecting arm
inner cavity
arm
flexible transmission
arms
Prior art date
Application number
PCT/CN2021/132877
Other languages
English (en)
French (fr)
Inventor
王泽睿
Original Assignee
深圳康诺思腾科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳康诺思腾科技有限公司 filed Critical 深圳康诺思腾科技有限公司
Priority to EP21917208.7A priority Critical patent/EP4197480A4/en
Publication of WO2022148167A1 publication Critical patent/WO2022148167A1/zh
Priority to US18/187,580 priority patent/US20230219214A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present invention relates to the technical field of machinery, in particular to a connecting arm, a mechanical arm and a robot.
  • the surgical robot is one of the medical surgical instruments.
  • the medical staff pushes the patient's bed in front of the surgical robot, and the multiple robotic arms of the surgical robot move to the patient's body through control, and pass the pre-treatment of the patient's skin. Place small holes to complete the corresponding surgery.
  • the robotic arm can be rotated and inserted around the preset small holes on the patient.
  • the rotation point of the robotic arm around the fixed axis is called the RCM (Remote center of motion) point.
  • the previous surgical robot developed the function of realizing the rotation of the manipulator around the RCM point with the constraint of a mechanical parallelogram mechanism.
  • the rotation of the connecting arm is transmitted and restrained by a steel wire or a steel belt, so that the rod of the actuator unit connected to the end of the mechanical arm exhibits a parallelogram coupling characteristic.
  • the compactness and high rigidity of the mechanical arm with transmission have a crucial impact on the surgical performance of the surgical robot.
  • a connecting arm structure of a known manipulator is connected by an upper cover 11 and a lower bottom plate 12 through fasteners, and a accommodating cavity is formed between the upper cover 11 and the lower bottom plate 12 , the flexible transmission component is accommodated in the accommodating cavity, and the connecting arm of this structure requires higher rigidity of the lower bottom plate 12 . If the connecting arm is arranged at the end of the mechanical arm, the connecting arm will be subjected to a large bending moment and torque at the same time during the movement and the operation of the medical staff.
  • the structure of the connecting arm also brings some difficulties to the maintenance of the flexible transmission assembly.
  • the flexible parts of the flexible transmission assembly are tightened on the circular arc surface of the rotating wheel by means of bolts, etc., and a flexible part tensioning mechanism is correspondingly arranged on the circular arc surface of the rotating wheel.
  • a flexible part tensioning mechanism is correspondingly arranged on the circular arc surface of the rotating wheel.
  • the present invention provides a connecting arm, a robotic arm and a robot to at least partially solve the problems in the prior art.
  • a robotic arm comprising:
  • the connecting arm is configured as a rod and has an inner cavity extending along the length of the connecting arm
  • the cross section of the inner cavity perpendicular to the length direction is at least partially closed structure.
  • the connecting arm of the present invention since the cross section of the inner cavity of the connecting arm is at least partially closed, smooth transmission of force flow and continuity of force can be ensured, and the connecting arm only needs a small wall thickness and is relatively simple
  • the structure can meet the requirements of stiffness and torque.
  • the connecting arm is an integrated structure.
  • the outer surface of the connecting arm is provided with at least one groove.
  • these grooves can be used to accommodate other mechanical and electrical components such as wires, circuit boards, sensors, and connecting flanges of the robotic arm.
  • the inner cavity includes two end openings, and the two end openings are provided at both ends of the connecting arm in the length direction.
  • the flexible transmission assembly can enter the inner cavity through the end opening, and the end opening can be used for maintenance and tightening of the wrench on the end face, so it is convenient to install the flexible transmission assembly and tension the rotating wheel, and facilitate the transmission of the rotating wheel, etc. parts for maintenance.
  • the inner cavity further includes two pairs of side openings, wherein a pair of the side openings are arranged at one end of the length direction of the connecting arm and are oppositely arranged on both sides of the connecting arm, Another pair of the side openings are provided at the other end of the connecting arm in the length direction and oppositely provided on both sides of the connecting arm.
  • the side opening can be used for maintenance and tightening of the wrench on the side, so as to facilitate the operation and maintenance of the transmission components such as the rotating wheel.
  • the mechanical arm includes at least two connecting arms, the at least two connecting arms are connected end to end, and two adjacent connecting arms are pivotally connected.
  • the robotic arm further includes at least two sets of flexible transmission assemblies and at least two pivot shafts, and at least one set of the flexible transmission assemblies is disposed in the inner cavity of each of the connecting arms, which are disposed adjacent to each other.
  • the flexible transmission assemblies in the inner cavities of the two connecting arms are connected via the pivot shaft.
  • a set of flexible transmission components is provided in the inner cavity of the connecting arm, and the set of flexible transmission components includes a pair of rotating wheels and a flexible member tensioned on the pair of rotating wheels, the A pair of rotating wheels are respectively provided at the side openings at both ends of the inner cavity, and are used for entering the inner cavity through the end openings, and the pivot shaft is used for passing through the side openings It is connected with the rotating wheels in the inner cavity of the two adjacent connecting arms.
  • the robotic arm further includes an end shield for closing the end opening and a side shield for closing the side opening, the side shield being provided at the side opening and connected to the connecting arm.
  • a connecting arm is disclosed, wherein the connecting arm is provided with an inner cavity along the length direction of the connecting arm, and the inner cavity passes through both ends of the connecting arm, wherein the connecting arm is The arm is integrally formed.
  • the connecting arm of the present invention since the connecting arm is integrally formed, the smooth transmission of the force flow and the continuity of the force can be ensured, and the connecting arm only needs a small wall thickness and a relatively simple structure to satisfy the rigidity and torque requirements. Require.
  • the inner cavity passes through both ends of the connecting arm in a linear direction.
  • the cross-section of the inner cavity is configured as a rectangle, a circle or an ellipse.
  • the outer surface of the connecting arm is provided with at least one groove.
  • the inner cavity includes two end openings, and the two end openings are arranged at both ends of the connecting arm in the length direction, and the shape and size of the end openings are the same as those of the inner cavity.
  • the cross-sectional shape and size of the cavity are adapted, respectively.
  • the connecting arm includes a connecting arm body and a support portion integrally formed with the connecting arm body, the inner cavity is provided on the connecting arm body, and the support portion is used for supporting and/or limiting flexibility Transmission components.
  • a robotic arm is disclosed, characterized in that it includes at least one connecting arm according to any one of the above-mentioned second aspects.
  • the mechanical arm includes at least two connecting arms, the at least two connecting arms are connected end to end, and two adjacent connecting arms are pivotally connected.
  • the robotic arm further includes at least two sets of flexible transmission assemblies and at least two pivot shafts, and at least one set of the flexible transmission assemblies is disposed in the inner cavity of each of the connecting arms, which are disposed adjacent to each other.
  • the flexible transmission assemblies in the inner cavities of the two connecting arms are connected via the pivot shaft.
  • a set of flexible transmission components is provided in the inner cavity of the connecting arm, and the set of flexible transmission components includes a pair of rotating wheels and a flexible member tensioned on the pair of rotating wheels, the The pivot shaft is connected with the rotating wheels in the inner cavities of the two adjacent connecting arms.
  • a robot comprising at least one robotic arm according to any one of the first and third aspects above.
  • the connecting arm since the cross section of the inner cavity of the connecting arm is at least partially closed, and/or the connecting arm is integrally formed, smooth transmission of the force flow and continuity of the force can be ensured, and the connecting arm only needs to be relatively small. Small wall thicknesses and relatively simple structures can meet rigidity and torque requirements.
  • FIG. 1 is a perspective exploded schematic diagram of a connecting arm of a robotic arm of a robot in the prior art
  • FIG. 2 is a schematic perspective view of a partial structure of a robot according to a preferred embodiment of the present invention, wherein a robotic arm and an end effector are shown;
  • FIG. 3 is a schematic perspective view of the partial structure of the robot in FIG. 2 , wherein the robotic arm and the end effector are shown, and the partial structure of the robotic arm is shown in an exploded view;
  • FIG. 4 is a perspective view of a connecting arm of the robotic arm in FIG. 3;
  • Fig. 5 is another three-dimensional schematic diagram of the connecting arm of the manipulator in Fig. 3;
  • FIG. 6 is a schematic cross-sectional view of the robot arm in FIG. 5 .
  • the present invention provides a connecting arm 110 , a robotic arm 100 and a robot.
  • the robot can be a surgical robot, an industrial robot, an entertainment teaching robot, and the like.
  • the robot is a surgical robot as an example for description.
  • the robot may include at least one robotic arm 100 and an actuator 170 disposed at the end of the robotic arm 100 .
  • the robotic arm 100 can drive the executing instrument 170, so that the executing instrument 170 can be inserted into a preset small hole of the patient's skin and rotated to complete the corresponding operation. Since the implementing instrument 170 is a structure known in the art, it will not be described in detail.
  • the robot arm 100 according to the present invention will be described in detail below with reference to FIGS. 2 to 6 .
  • the robotic arm 100 mainly includes at least one connecting arm 110.
  • the at least two connecting arms 110 are connected end to end, and two adjacent connecting arms 110 are pivotally connected.
  • three connecting arms 110 are shown as an example, and the three connecting arms 110 are connected in the first place. It can be understood that the number of the connecting arms 110 can be determined according to actual needs, for example, it can be one, four or more.
  • the connecting arm 110 is configured in a rod shape, and has an inner cavity 111 extending along the length direction L thereof.
  • the inner cavity 111 passes through both ends of the connecting arm 110 along a linear direction (specifically, the length direction L of the connecting arm 110 ).
  • the section of the inner cavity 111 perpendicular to the length direction L of the connecting arm 110 is at least partially closed, so that the smooth transmission of the force flow and the continuity of the force can be ensured, and the connecting arm 110 only has a closed structure. Smaller wall thicknesses and simpler structures are required to meet stiffness and torque requirements.
  • the cross section of the inner cavity 111 is configured as a rectangle, that is, the cross section of the inner cavity 111 in the longitudinal direction L perpendicular to the connecting arm 110 is configured as a rectangle.
  • the cross-sectional shape of the inner cavity 111 is not limited to this embodiment, and the cross-sectional shape of the inner cavity 111 can also be configured as a circle, an ellipse, a square, an irregular shape or any other suitable structure as required. .
  • the inner cavity 111 of the connecting arm 110 includes two end openings 112 and two pairs of side openings 113 .
  • the shape and size of the end opening 112 are adapted to the cross-sectional shape and size of the lumen 111, respectively.
  • the two end openings 112 are provided at both ends of the length direction L of the connecting arm 110 , and are generally configured as rectangular openings.
  • one pair of side openings 113 is provided at one end of the length direction L of the connecting arm 110 and oppositely arranged on both sides of the connecting arm 110
  • the other pair of side openings 113 is provided at the connecting arm 110 .
  • the other end of the length direction L of the arm 110 is oppositely disposed on both sides of the connecting arm 110 . That is, the side opening 113 is disposed close to the end opening 112 , and the side opening 113 may be configured as a circular opening or any other suitable shape.
  • the robotic arm 100 further includes at least two sets of flexible transmission assemblies and at least two pivot shafts 130 (see FIG. 3 ). At least one set of flexible transmission assemblies is disposed in the inner cavity 111 of each connecting arm 110 . In this embodiment, a set of flexible transmission components are disposed in the inner cavity 111 of the connecting arms 110 , and the flexible transmission components disposed in the inner cavity 111 of two adjacent connecting arms 110 are connected via the pivot shaft 130 . Since the robotic arm 100 in this embodiment includes three connecting arms 110 , and a set of flexible transmission components is disposed in the inner cavity 111 of each connecting arm 110 , the robotic arm 100 may include three sets of flexible transmission components. It can be understood that the number of flexible transmission components can be determined according to actual needs.
  • a set of flexible transmission assemblies includes a pair of rotating wheels 121 (see FIG. 3 ) and a flexible member (not shown) tensioned on the pair of rotating wheels 121 .
  • the pair of rotating wheels 121 are respectively disposed at the side openings 113 located at both ends of the inner cavity 111 of the connecting arm 110 , and can enter into the inner cavity 111 through the end openings 112 .
  • the flexible transmission assembly is a belt transmission assembly
  • the rotating wheel 121 is a pulley
  • the flexible member is a steel belt.
  • the flexible drive assembly may be a rope drive assembly, and the flexible member may be a flexible rope.
  • the length M (see FIG. 5 ) of the end opening 112 is greater than the outer diameter of the rotating wheel 121
  • the width N (see FIG. 5 ) of the end opening 112 is greater than the thickness of the rotating wheel 121 , by This facilitates the loading of the turning wheel 121 into the inner cavity 111 via the end opening 112 .
  • the pivot shaft 130 is used for connecting with the rotating wheel 121 in the inner cavity 111 of the two adjacent connecting arms 110 via the side opening 113 .
  • the rotating wheels 121 in the inner cavities 111 of two adjacent connecting arms 110 are sleeved on the same pivot shaft 130 .
  • the pivot shaft 130 includes an end cover portion 131 and a pivot portion 132 connected with the end cover portion 131 .
  • the end cap portion 131 is generally configured in the shape of a disk.
  • the pivot portion 132 is provided at the center of the end cap portion 131 , and is configured in a cylindrical shape extending in a direction perpendicular to the end cap portion 131 .
  • the end cap portion 131 is disposed at the side opening 113 of one of the two adjacent connecting arms 110 and is connected with the connecting arm 110 , specifically, the end cap portion 131 is disposed away from the other of the two adjacent connecting arms 110 At the side opening 113 of the connecting arm 110 .
  • the rotating wheels 121 in the inner cavities 111 of two adjacent connecting arms 110 are sleeved on the pivot portion 132 of the same pivot shaft 130 .
  • the connecting arm 110 includes a connecting arm body 118 and a supporting portion 115 integrally formed with the connecting arm body 118 , the inner cavity 111 is provided in the connecting arm body 118 , and the supporting portion 115 is used for supporting and/or limiting Bit flexible transmission components.
  • the support portion 115 can support and limit the rotating wheel 121 of the flexible transmission assembly in the axial direction.
  • the support portion 115 is provided in the side opening 113 .
  • a support portion 115 may be provided in at least one of each pair of side openings 113 .
  • the support portion 115 includes a first support rib 116 extending in the circumferential direction and a second support rib 117 connected with the first support rib 116 .
  • the second support ribs 117 are configured to extend outward from the first support ribs 116 in a radial direction of the first support ribs 116 .
  • the pivot portion 132 of the pivot shaft 130 extends through the inner hole of the first support rib 116 , and the first support rib 116 can support and limit the pivot portion 132 .
  • the robot arm 100 may further include an end shield 140 for closing the end opening 112 and a side shield 150 for closing the side opening 113 .
  • the shape and size of the end shield 140 correspond to the shape and size of the end opening 112 , respectively, so as to be able to completely cover the end opening 112 .
  • the side shield 150 is disposed at the side opening 113 and connected with the connecting arm 110 .
  • the side shielding member 150 may be disposed at the side opening 113 of the other connecting arm 110 of the adjacent two connecting arms 110 away from the end cap portion 131 .
  • the end opening 112 and the side opening 113 are provided to facilitate the operation and maintenance of the transmission components such as the rotating wheel 121 .
  • the connecting arm 110 is an integrated structure.
  • the connecting arm 110 may be integrally formed (for example, formed by machining such as wire cutting), or may be formed by drawing and then formed by a profile, or may be formed by casting.
  • the outer surface of the connecting arm 110 may also be provided with at least one groove 114 .
  • These grooves 114 can be used to accommodate wires, circuit boards, sensors, connection flanges, and other mechanical and electrical components.
  • Two grooves 114 are shown in FIG. 6 , which are disposed oppositely on both sides of the connecting arm 110 , and at least one of the two grooves 114 can be used to place wires.
  • the connecting arm 110 may also include a cover plate (not shown) for covering the groove 114, the cover plate can be connected to the connecting arm 110, and can shield the wires.
  • the connecting arm 110 of the present invention can be used not only in the above-mentioned flexible transmission system, but also in other types of belt transmission systems or wire transmission systems, etc., where there is a great demand for the miniaturization of the cavity and high rigidity .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种连接臂、机械臂和机器人，所述机械臂包括至少一个连接臂，所述连接臂构造为杆状，并且具有沿所述连接臂的长度方向延伸的内腔，其中，所述内腔在垂直于所述长度方向上的截面至少部分地为封闭的结构。根据本发明的机械臂，由于连接臂的内腔的截面至少部分地为封闭结构，因此可以保证力流的顺畅传递以及力的连续性，并且该连接臂仅需要较小的壁厚以及较为简单的结构就能满足刚度和扭矩的要求。

Description

连接臂、机械臂和机器人
说明书
技术领域
本发明涉及机械技术领域，具体而言涉及一种连接臂、机械臂和机器人。
背景技术
医疗手术微器械具有定位准确、运行稳定、灵巧性强、工作范围大、不怕辐射和感染等优点，广泛的应用于各种手术中。手术机器人作为医疗手术器械中的一种，在手术过程中，医护人员将病人的病床推到手术机器人跟前，手术机器人的多个机械臂通过控制移动到病人的身体上面，并通过病人皮肤的预置小孔完成相应的手术。手术期间，机械臂能够围绕病人身上的预置小孔转动和***，机器臂绕固定转轴的旋转点被称为RCM(Remote center of motion)点。
既往的手术机器人发展出了以机械平行四边形机构约束实现机械臂绕RCM点转动的功能。如通过钢丝或者钢带对连接臂的转动传递和约束，使连接在机械臂的末端的执行器械单元的杆件表现出平行四边形的耦合特性。对于多连接臂串联且很长的机械臂结构中，带传动机械臂的紧凑性及高刚度对手术机器人手术性能有至关重要的影响。
已知的机械臂的连接臂结构，如图1所示，一个连接臂由一个上盖11和一个下底板12通过紧固件连接在一起，上盖11和下底板12之间形成有容纳腔，柔性传动组件容纳在该容纳腔中，这种结构的连接臂对下底板12的刚度要求较高。如果该连接臂设置在机械臂的末端，则在运动和医护人员操作过程中，该连接臂会同时受到较大的弯矩和扭矩。由于上盖11与下底板12的连接处存在缝隙，因此在该缝隙处会发生较大的层移，同时使得下底板12承受比较大的扭转变形。而这种扭转变形对于多连接臂串联的细长机械臂来说，会在末端产生很大的误差累计，从而降低手术机器人的末 端精度。
此外，这种连接臂的结构也给柔性传动组件的维护带来一些困难。一般情况下，柔性传动组件的柔性件通过螺栓等形式拧紧在转动轮的圆弧面上，在转动轮的圆弧面上对应地设置有柔性件张紧机构。在柔性件张紧时，上盖11和下底板12的结构在一定程度上妨碍了螺丝刀或者扳手对张紧螺栓的拧紧操作，因此需要在下底板12上设置用于张紧、测量和维护操作转动轮及钢带的操作口。
为此，本发明提供了一种连接臂、机械臂和机器人，以至少部分地解决现有技术中的问题。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本发明的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
为了至少部分地解决上述问题，根据本发明的第一个方面，公开了一种机械臂，所述机械臂包括：
至少一个连接臂，所述连接臂构造为杆状，并且具有沿所述连接臂的长度方向延伸的内腔，
其中，所述内腔在垂直于所述长度方向上的截面至少部分地为封闭的结构。
根据本发明的机械臂，由于连接臂的内腔的截面至少部分地为封闭结构，因此可以保证力流的顺畅传递以及力的连续性，并且该连接臂仅需要较小的壁厚以及较为简单的结构就能满足刚度和扭矩的要求。
可选地，所述连接臂为一体化结构。
可选地，所述连接臂的外表面设置有至少一个凹槽。
根据本方案，这些凹槽可以用于容纳机械臂的导线、电路板、传感器、连接法兰等其他机械、电气零部件。
可选地，所述内腔包括两个端部开口，所述两个端部开口设置在所述连接臂的所述长度方向的两端。
根据本方案，柔性传动组件可以通过端部开口进入到内腔中，端部开 口可以供扳手在端面实施维护紧固，因此便于安装柔性传动组件以及张紧转动轮，并且便于对转动轮等传动部件进行维护。
可选地，所述内腔还包括两对侧部开口，其中一对所述侧部开口设置在所述连接臂的所述长度方向的一端并且相对地设置在所述连接臂的两侧，另外一对所述侧部开口设置在所述连接臂的所述长度方向的另一端并且相对地设置在所述连接臂的两侧。
根据本方案，侧部开口可以供扳手在侧面实施维护紧固，以便于对转动轮等传动部件进行操作和维护。
可选地，所述机械臂包括至少两个所述连接臂，所述至少两个连接臂首尾相接，并且相邻两个所述连接臂之间可枢转地连接。
可选地，所述机械臂还包括至少两组柔性传动组件和至少两个枢转轴，每一个所述连接臂的所述内腔中设置有至少一组所述柔性传动组件，设置在相邻两个所述连接臂的所述内腔中的所述柔性传动组件经由所述枢转轴连接。
可选地，所述连接臂的所述内腔中设置有一组柔性传动组件，所述一组柔性传动组件包括一对转动轮和张紧在所述一对转动轮上的柔性件，所述一对转动轮分别设置在位于所述内腔的两端的所述侧部开口处，并且用于经由所述端部开口进入到所述内腔，所述枢转轴用于经由所述侧部开口与相邻两个所述连接臂的所述内腔中的所述转动轮相连。
可选地，所述机械臂还包括用于封闭所述端部开口的端遮蔽件和用于封闭所述侧部开口的侧遮蔽件，所述侧遮蔽件设置在所述侧部开口处并且与所述连接臂相连。
根据本发明的第二方面，公开了一种连接臂，所述连接臂沿所述连接臂的长度方向开设有内腔，所述内腔贯通所述连接臂的两端，其中，所述连接臂一体成型。
根据本发明的连接臂，由于连接臂一体成型，因此可以保证力流的顺畅传递以及力的连续性，并且该连接臂仅需要较小的壁厚以及较为简单的结构就能满足刚度和扭矩的要求。
可选地，所述内腔沿直线方向贯通所述连接臂的两端。
可选地，所述内腔的横截面构造为矩形、圆形或者椭圆形。
可选地，所述连接臂的外表面设置有至少一个凹槽。
可选地，所述内腔包括两个端部开口，所述两个端部开口设置在所述连接臂的所述长度方向的两端，所述端部开口的形状和尺寸与所述内腔的横截面形状和尺寸分别相适配。
可选地，所述连接臂包括连接臂本体和与所述连接臂本体一体成型的支撑部，所述内腔设置于所述连接臂本体，所述支撑部用于支撑和/或限位柔性传动组件。
根据本发明的第三方面，公开了一种机械臂，其特征在于，包括至少一个根据上述第二方面中任一项所述的连接臂。
可选地，所述机械臂包括至少两个所述连接臂，所述至少两个连接臂首尾相接，并且相邻两个所述连接臂之间可枢转地连接。
可选地，所述机械臂还包括至少两组柔性传动组件和至少两个枢转轴，每一个所述连接臂的所述内腔中设置有至少一组所述柔性传动组件，设置在相邻两个所述连接臂的所述内腔中的所述柔性传动组件经由所述枢转轴连接。
可选地，所述连接臂的所述内腔中设置有一组柔性传动组件，所述一组柔性传动组件包括一对转动轮和张紧在所述一对转动轮上的柔性件，所述枢转轴与相邻两个所述连接臂的所述内腔中的所述转动轮相连。
根据本发明的第四方面，公开了一种机器人，其包括至少一个根据上述第一方面和第三方面中任一项所述的机械臂。
根据本发明的机器人，由于连接臂的内腔的截面至少部分地为封闭结构，和/或连接臂一体成型，因此可以保证力流的顺畅传递以及力的连续性，并且该连接臂仅需要较小的壁厚以及较为简单的结构就能满足刚度和扭矩的要求。
附图说明
本发明的下列附图在此作为本发明的一部分用于理解本发明。附图中示出了本发明的实施例及其描述，用来解释本发明的原理。
附图中：
图1为现有技术中的机器人的机械臂的连接臂的立体分解示意图；
图2为根据本发明的一个优选实施方式的机器人的局部结构的立体示意图，其中示出了机械臂和末端执行器械；
图3为图2中的机器人的局部结构的立体示意图，其中示出了机械臂和末端执行器械，并且机械臂的局部结构以分解图示出；
图4为图3中的机械臂的连接臂的立体示意图；
图5为图3中的机械臂的连接臂的另一个立体示意图；
图6为图5中的机械臂的剖视示意图。
附图标记说明：
100：机械臂
10/110：连接臂
11：上盖
12：下底板
111：内腔
112：端部开口
113：侧部开口
114：凹槽
115：支撑部
116：第一支撑筋
117：第二支撑筋
118：连接臂本体
121：转动轮
130：枢转轴
131：端盖部
132：枢转部
140：端遮蔽件
150：侧遮蔽件
170：执行器械
L：连接臂的长度方向
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员来说显而易见的是，本发明实施方式可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与 本发明实施方式发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底了解本发明实施方式，将在下列的描述中提出详细的结构。显然，本发明实施方式的施行并不限定于本领域的技术人员所熟习的特殊细节。需要说明的是，本发明中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其他含义，例如特定的顺序等。而且，例如，术语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。本发明中所使用的术语“上”、“下”、“前”、“后”、“左”、“右”以及类似的表述只是为了说明的目的，并非限制。
如图2和图3所示，本发明提供了一种连接臂110、机械臂100和机器人。该机器人可以为手术机器人、工业机器人、娱乐教学机器人等。在本实施方式中，以该机器人为手术机器人为例进行说明。
机器人可以包括至少一个机械臂100以及设置在机械臂100的末端的执行器械170。机械臂100可以驱动执行器械170，使得执行器械170能够***病人皮肤的预置小孔并且转动以完成相应的手术。由于执行器械170为本领域已知的结构，因此不再进行详细的说明。
下面将结合图2至图6对根据本发明的机械臂100进行详细的说明。
机械臂100主要包括至少一个连接臂110，当机械臂100包括至少两个连接臂110时，该至少两个连接臂110首尾相接，并且相邻两个连接臂110之间可枢转地连接。图2和图3中示例性地示出了三个连接臂110，该三个连接臂110首位相接。可以理解，连接臂110的数量可以根据实际需要确定，例如可以为一个、四个或者更多个。
在本实施方式中，连接臂110构造为杆状，并且具有沿其长度方向L延伸的内腔111。内腔111沿直线方向(具体地指连接臂110的长度方向L)贯通连接臂110的两端。如图6所示，内腔111在垂直于连接臂110的长度方向L上的截面至少部分地为封闭的结构，由此可以保证力流的顺畅传递以及力的连续性，并且连接臂110仅需要较小的壁厚以及较为简单的结构就能满足刚度和扭矩的要求。
在本实施方式中，内腔111的横截面构造为矩形，也就是说，内腔111在垂直于连接臂110的长度方向L上的截面构造为矩形。本领域技术人员可以理解，内腔111的横截面形状不限于本实施方式，根据需要，内腔111的横截面还可以构造为圆形、椭圆形、正方形、不规则形状或者其他任意 合适的结构。
如图4和图5所示，连接臂110的内腔111包括两个端部开口112和两对侧部开口113。优选地，端部开口112的形状和尺寸与内腔111的横截面形状和尺寸分别相适配。具体地，该两个端部开口112设置在连接臂110的长度方向L的两端，并且大致构造为长方形开口。在该两对侧部开口113中，其中一对侧部开口113设置在连接臂110的长度方向L的一端并且相对地设置在连接臂110的两侧，另外一对侧部开口113设置在连接臂110的长度方向L的另一端并且相对地设置在连接臂110的两侧。即侧部开口113靠近端部开口112设置，并且侧部开口113可以构造为圆形开口或者其他任意合适的形状。
机械臂100还包括至少两组柔性传动组件和至少两个枢转轴130(参见图3)，每一个连接臂110的内腔111中设置有至少一组柔性传动组件。在本实施方式中，连接臂110的内腔111中设置有一组柔性传动组件，设置在相邻两个连接臂110的内腔111中的柔性传动组件经由枢转轴130连接。由于本实施方式中的机械臂100包括三个连接臂110，并且每一个连接臂110的内腔111中设置有一组柔性传动组件，因此机械臂100可以包括三组柔性传动组件。可以理解，柔性传动组件的数量可以根据实际需要确定。
具体地，一组柔性传动组件包括一对转动轮121(参见图3)和张紧在一对转动轮121上的柔性件(未示出)。该一对转动轮121分别设置在位于连接臂110的内腔111的两端的侧部开口113处，并且可以经由端部开口112进入到内腔111中。在本实施方式中，柔性传动组件为带传动组件，转动轮121为带轮，并且柔性件为钢带。在一个未示出的实施方式中，柔性传动组件可以为绳传动组件，柔性件可以为柔性绳。
如图3所示，优选地，端部开口112的长度M(参见图5)大于转动轮121的外径，并且端部开口112的宽度N(参见图5)大于转动轮121的厚度，由此便于将转动轮121经由端部开口112装入内腔111中。枢转轴130用于经由侧部开口113与相邻两个连接臂110的内腔111中的转动轮121相连。具体地，相邻两个连接臂110的内腔111中的转动轮121套设在同一枢转轴130上。
如图3所示，枢转轴130包括端盖部131和与端盖部131相连的枢转 部132。端盖部131大致构造为圆盘形。枢转部132设置在端盖部131的中心，并且构造为沿垂直于端盖部131的方向延伸的圆柱形。端盖部131设置在相邻两个连接臂110中的一个的侧部开口113处并且与连接臂110相连，具体地，端盖部131设置在相邻两个连接臂110中的远离另一个连接臂110的侧部开口113处。相邻两个连接臂110的内腔111中的转动轮121套设在同一枢转轴130的枢转部132上。
如图3和图5所示，连接臂110包括连接臂本体118和与连接臂本体118一体成型的支撑部115，内腔111设置于连接臂本体118，支撑部115用于支撑和/或限位柔性传动组件。例如，支撑部115能够在轴向方向对柔性传动组件的转动轮121进行支撑和限位。
具体地，支撑部115设置在侧部开口113中。每一对侧部开口113的至少一个中可以设置有支撑部115。支撑部115包括沿周向延伸的第一支撑筋116和与第一支撑筋116相连的第二支撑筋117。第二支撑筋117构造为沿第一支撑筋116的径向方向从第一支撑筋116向外延伸。枢转轴130的枢转部132延伸穿过第一支撑筋116的内孔，第一支撑筋116可以支撑并且限位枢转部132。
如图2和图3所示，机械臂100还可以包括用于封闭端部开口112的端遮蔽件140和用于封闭侧部开口113的侧遮蔽件150。端遮蔽件140的形状和尺寸与端部开口112的形状和尺寸分别相对应，以能够完全覆盖端部开口112。侧遮蔽件150设置在侧部开口113处并且与连接臂110相连。具体地，侧遮蔽件150可以设置在相邻两个连接臂110中的另一个连接臂110的远离端盖部131的侧部开口113处。通过设置端部开口112和侧部开口113，以便于对转动轮121等传动构件进行操作和维护。
根据本实施方式的连接臂110为一体化结构。具体地，该连接臂110可以一体成型(例如，通过线切割等机械加工成型)，或者可以通过型材拉拔后加工成型，或者可以铸造成型。
此外，连接臂110的外表面还可以设置有至少一个凹槽114。这些凹槽114可以用于容纳导线、电路板、传感器、连接法兰等其他机械、电气零部件。图6中示出了两个凹槽114，其相对地设置在连接臂110的两侧，这两个凹槽114中的至少一个可以用于放置导线。连接臂110还可以包括用于覆盖凹槽114的盖板(未示出)，该盖板能够连接至连接臂110，并且 可以遮挡导线。
本发明的连接臂110不仅可以用于如上所述的柔性传动***中，还可用于其它类型的带传动***中或者丝传动***等对型腔小型化有极大需求同时又要求高刚度的场合。
除非另有定义，本文中所使用的技术和科学术语与本发明的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本发明。本文中出现的诸如“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本发明已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本发明限制于所描述的实施方式范围内。本领域技术人员可以理解的是，根据本发明的教导还可以做出更多种的变型和修改，这些变型和修改均落在本发明所要求保护的范围以内。

Claims (20)

  1. 一种机械臂，其特征在于，所述机械臂包括：
    至少一个连接臂，所述连接臂构造为杆状，并且具有沿所述连接臂的长度方向延伸的内腔，
    其中，所述内腔在垂直于所述连接臂的所述长度方向上的截面至少部分地为封闭的结构。
  2. 根据权利要求1所述的机械臂，其特征在于，所述连接臂为一体化结构。
  3. 根据权利要求1所述的机械臂，其特征在于，所述连接臂的外表面设置有至少一个凹槽。
  4. 根据权利要求1至3中任一项所述的机械臂，其特征在于，所述内腔包括两个端部开口，所述两个端部开口设置在所述连接臂的所述长度方向的两端。
  5. 根据权利要求4所述的机械臂，其特征在于，所述内腔还包括两对侧部开口，其中一对所述侧部开口设置在所述连接臂的所述长度方向的一端并且相对地设置在所述连接臂的两侧，另外一对所述侧部开口设置在所述连接臂的所述长度方向的另一端并且相对地设置在所述连接臂的两侧。
  6. 根据权利要求5所述的机械臂，其特征在于，所述机械臂包括至少两个所述连接臂，所述至少两个连接臂首尾相接，并且相邻两个所述连接臂之间可枢转地连接。
  7. 根据权利要求6所述的机械臂，其特征在于，所述机械臂还包括至少两组柔性传动组件和至少两个枢转轴，每一个所述连接臂的所述内腔中设置有至少一组所述柔性传动组件，设置在相邻两个所述连接臂的所述内腔中的所述柔性传动组件经由所述枢转轴连接。
  8. 根据权利要求7所述的机械臂，其特征在于，所述连接臂的所述内腔中设置有一组柔性传动组件，所述一组柔性传动组件包括一对转动轮和张紧在所述一对转动轮上的柔性件，所述一对转动轮分别设置在位于所述内腔的两端的所述侧部开口处，并且用于经由所述端部开口进入到所述内腔，所述枢转轴用于经由所述侧部开口与相邻两个所述连接臂的所述内腔 中的所述转动轮相连。
  9. 根据权利要求5所述的机械臂，其特征在于，所述机械臂还包括用于封闭所述端部开口的端遮蔽件和用于封闭所述侧部开口的侧遮蔽件，所述侧遮蔽件设置在所述侧部开口处并且与所述连接臂相连。
  10. 一种连接臂，其特征在于，所述连接臂沿所述连接臂的长度方向开设有内腔，所述内腔贯通所述连接臂的两端，其中，所述连接臂一体成型。
  11. 根据权利要求10所述的连接臂，其特征在于，所述内腔沿直线方向贯通所述连接臂的两端。
  12. 根据权利要求10或11所述的连接臂，其特征在于，所述内腔的横截面构造为矩形、圆形或者椭圆形。
  13. 根据权利要求10或11所述的连接臂，其特征在于，所述连接臂的外表面设置有至少一个凹槽。
  14. 根据权利要求10或11所述的连接臂，其特征在于，所述内腔包括两个端部开口，所述两个端部开口设置在所述连接臂的所述长度方向的两端，所述端部开口的形状和尺寸与所述内腔的横截面形状和尺寸分别相适配。
  15. 根据权利要求10或11所述的连接臂，其特征在于，所述连接臂包括连接臂本体和与所述连接臂本体一体成型的支撑部，所述内腔设置于所述连接臂本体，所述支撑部用于支撑和/或限位柔性传动组件。
  16. 一种机械臂，其特征在于，包括至少一个根据权利要求10至15中任一项所述的连接臂。
  17. 根据权利要求16所述的机械臂，其特征在于，所述机械臂包括至少两个所述连接臂，所述至少两个连接臂首尾相接，并且相邻两个所述连接臂之间可枢转地连接。
  18. 根据权利要求17所述的机械臂，其特征在于，所述机械臂还包括至少两组柔性传动组件和至少两个枢转轴，每一个所述连接臂的所述内腔中设置有至少一组所述柔性传动组件，设置在相邻两个所述连接臂的所述内腔中的所述柔性传动组件经由所述枢转轴连接。
  19. 根据权利要求18所述的机械臂，其特征在于，所述连接臂的所述内腔中设置有一组柔性传动组件，所述一组柔性传动组件包括一对转动轮 和张紧在所述一对转动轮上的柔性件，所述枢转轴与相邻两个所述连接臂的所述内腔中的所述转动轮相连。
  20. 一种机器人，其特征在于，包括至少一个根据权利要求1至9和16至19中任一项所述的机械臂。
PCT/CN2021/132877 2021-01-06 2021-11-24 连接臂、机械臂和机器人 WO2022148167A1 (zh)

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