CN103876834A - Positioning mechanical arm - Google Patents
Positioning mechanical arm Download PDFInfo
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- CN103876834A CN103876834A CN201210554589.0A CN201210554589A CN103876834A CN 103876834 A CN103876834 A CN 103876834A CN 201210554589 A CN201210554589 A CN 201210554589A CN 103876834 A CN103876834 A CN 103876834A
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Abstract
The invention provides a positioning mechanical arm. The positioning mechanical arm comprises a tail pulley component (100), a big arm (200), a middle pulley component (300), a small arm (400), a front wheel component (500), a lifting arm (600) and a small connecting arm (700). A way of simultaneously locking a plurality of rotating joints through a band-type brake is adopted by the positioning mechanical arm, the limitation of locking single rotating joint through single band-type brake can be solved, accumulated gaps brought by the plurality of band-type brakes can be reduced, the integral quality of the mechanical arm can be reduced, and the operating precision can be improved.
Description
Technical field
The present invention relates to rotatable mechanical arm field, relate in particular to a kind of in armarium the positioning mechanical arm for the many Steel Belt Transmission of single band-type brake of location of operation.
Background technology
Along with the sickness rate of the vascular group diseases such as cardiovascular and cerebrovascular vessel is constantly soaring, the utilization rate of minimally-invasive vascular intervene operation is also raising.In minimally-invasive vascular intervene operation process, need in human vas, send pipe or wire feed, the Main Function of positioning mechanical arm fixedly send pipe wire feeder exactly, and makes to send pipe wire feeder to reach required locus.
The positioning principle of existing positioning mechanical arm adopts band-type brake location more, and when band-type brake obtains electric holding tightly, corresponding cradle head can freely be rotated; When band-type brake dead electricity is unclamped, corresponding cradle head is by locked.List of references 1 (China Patent Publication No.: CN 202313715U) is a kind of micro-wound operation robot mechanical arm arrangements structure, please refer to Fig. 1, it is brought in and is controlled from operating side by main operation, and the first rotary joint from operating side, the second rotary joint, the 3rd rotary joint all adopt band-type brake to carry out locked location.List of references 2 (China Patent Publication No.: CN 201987528U) is a kind of mechanical arm for endoscope location, it comprises location adjustment member and attitude adjustment member, and location adjustment is to carry out the relative motion between locked or release support, support link and connecting rod by three band-type brakes.
Can find out from above-mentioned two sections of lists of references, the general mode that adopts the locked cradle head of single band-type brake of the positioning mechanical arm of prior art, and multiple cradle heads are carried out when locked, need to starting multiple band-type brakes when needs.But between band-type brake, inevitably there is space, and multiple band-type brake will there is larger accumulation space, thereby cause under lock-up condition, the still space of existence activity likely, joint, this is definitely unallowed in high-precision minimally-invasive vascular operation.
Summary of the invention
(1) technical problem that will solve
For solving above-mentioned one or more problems, the invention provides a kind of positioning mechanical arm.
(2) technical scheme
According to an aspect of the present invention, provide a kind of positioning mechanical arm.This positioning mechanical arm comprises: tail-wheel assembly 100 and at least two cradle heads.Tail-wheel assembly 100, this tail-wheel assembly 100 comprises: hollow base 105; Hollow shaft housing 112, is coaxially fixed on hollow base; The locking mechanism of at least two groups, every group of locking mechanism comprises: sleeve, is sheathed in hollow shaft housing 112; Moving plate, is connected with the lower end of sleeve, does not relatively rotate between the two, can move along sleeve axis; Quiet plate, is connected in hollow base 105, between the two without relatively rotating, can move along sleeve axis; Band-type brake 102, its bottom is fixed in the bottom of hollow base 105, and the locking mechanism that its top is arranged at least two groups is positioned at the below of one group of locking mechanism of downside.At least two cradle heads, this at least two cradle head connects successively, the cradle head that is wherein positioned at front end is connected in the top of hollow shaft housing, and each cradle head directly or be connected to the upper end of the sleeve of corresponding locking mechanism at least two group locking mechanisms by drive mechanism.Wherein, in the time that band-type brake 102 is held tightly, between the moving plate of every group of locking mechanism and quiet plate, can relatively rotate, the sleeve being connected with moving plate can rotate along sleeve axis, and the cradle head being connected with this sleeve is in free rotary state; In the time that band-type brake 102 unclamps, on its top, rise, in the locking mechanism of compression at least two groups, be positioned at one group of locking mechanism of downside, between the moving plate of every group of locking mechanism and quiet plate, all can not relatively rotate, the sleeve being connected with moving plate can not rotate along sleeve axis, with this sleeve connection of rotating joint in locking state.
(3) beneficial effect
Can find out from technique scheme, positioning mechanical arm of the present invention has following beneficial effect:
(1) adopt a band-type brake locked multiple cradle heads simultaneously, solved the limitation of the locked single cradle head of single band-type brake, reduced the accumulation gap that multiple band-type brakes bring, and mechanical arm total quality is alleviated, performance accuracy improves.
(2) in five cradle heads of series connection, the turning cylinder in first three joint is vertical axes, makes the little linking arm can be at horizontal in-plane moving, all directions force balance, therefore the moving axis that rotates while moving is clockwise and rotate counterclockwise required power equal and opposite in direction, does not need to increase bascule;
(3) in five cradle heads of series connection, the pivot center in latter two joint is horizontal line, realize the motion of little linking arm in vertical plane, certainly the focusing on the moment around the first horizontal rotation axis producing in rotation process and can be balanced by scroll spring of its medium and small linking arm and the surgical end effector that is connected with little linking arm, and the surgical end effector that little linking arm end connects only need meet its center of gravity on the extended line of the second horizontal rotation axis when mounted, when being rotated, it does not produce the rotating torque around the second horizontal rotation axis direction, and then can meet the Equilibrium in this joint.Therefore, entirety of the present invention can realize Equilibrium, without carrying out auxiliary balance by motor or other external force.
(4) the present invention adopts Steel Belt Transmission, avoids using decelerator, and object is that total quality is reduced, and Steel Belt Transmission bearing capacity is larger simultaneously, and service life is longer.
Brief description of the drawings
Fig. 1 is the structural representation of prior art positioning mechanical arm;
Fig. 2 is according to the population structure schematic diagram of embodiment of the present invention positioning mechanical arm;
Fig. 3 is the overall cross-sectional view of tail-wheel assembly in positioning mechanical arm described in Fig. 2;
Fig. 4 A is the partial structurtes schematic diagram of tail-wheel assembly shown in Fig. 3;
Fig. 4 B is the partial structurtes exploded perspective view of tail-wheel assembly shown in Fig. 3;
Fig. 5 is large arm population structure exploded perspective view in positioning mechanical arm described in Fig. 2;
Fig. 6 is the partial structurtes schematic diagram of large arm shown in Fig. 5;
Fig. 7 be shown in Fig. 5 in large arm first arm adjust wheels population structure schematic diagram;
Fig. 8 A be shown in Fig. 5 in large arm second largest arm adjust wheels population structure schematic diagram;
Fig. 8 B be shown in Fig. 5 in large arm second largest arm adjust wheels population structure schematic diagram;
Fig. 9 is first arm guiding wheels population structure schematic diagram in large arm shown in Fig. 5;
Figure 10 is second largest arm guiding wheels population structure schematic diagram in large arm shown in Fig. 5;
Figure 11 be described in Fig. 2 in positioning mechanical arm in the overall cross-sectional view of pulley assemblies;
Figure 12 is forearm population structure exploded perspective view in positioning mechanical arm described in Fig. 2;
Figure 13 is the overall cross-sectional view of front component in positioning mechanical arm described in Fig. 2;
Figure 14 is the partial structurtes exploded perspective view of front component shown in Figure 13;
Figure 15 is the partial structurtes exploded perspective view of front component shown in Figure 13;
Figure 16 is lifting arm population structure exploded perspective view in positioning mechanical arm described in Fig. 2;
Figure 17 is the medium and small linking arm population structure of positioning mechanical arm exploded perspective view described in Fig. 2.
[main element symbol description of the present invention]
100-tail-wheel assembly; The large arm of 200-; Pulley assemblies in 300-;
400-forearm; 500-front component; 600-lifting arm;
The little linking arm of 700-;
101-the second screw; 102-band-type brake; 103-band-type brake base plate;
104-the first screw; 105-hollow base; 106-forearm turnbarrel;
The large arm turnbarrel of 107-; 108-height is adjusted sleeve; Sleeve is adjusted in 109-pitching;
110-hand-screw rotaring sleeve; The large arm rotation of 111-master collet; 112-hollow shaft housing;
113-silencing pad; 114-the 5th bearing; 115-the 4th bearing;
116-the 3rd bearing; 117-the second bearing; 118-bearing seat ring;
119-clutch shaft bearing; 120-the 6th bearing; 121-the first belt wheel;
122-the second belt wheel; 123-the 3rd belt wheel; 124-four-tape wheel;
The 125-oval styletable holding screw of slotting; The moving plate one of 126-first;
The quiet plate of 127-first; The moving plate two of 128-first; 129-the 3rd quiet plate;
The moving plate of 130-the 3rd; 221-first determines frame;
131-the 5th quiet plate; The moving plate of 132-the 5th; The moving plate of 133-the 6th;
134-the 6th quiet plate; The moving plate of 135-the 4th; 136-the 4th quiet plate;
The moving plate of 137-second; The quiet plate of 138-second; The large arm mesochite of 201-;
The large arm upper casing of 202-; 203-the first hole is stifled; 204-the second hole is stifled;
205-the 4th hole is stifled; 206-the 3rd hole is stifled; The large arm lower casing of 207-;
The first arm band of 208-; The second largest arm band of 209-; The third-largest arm band of 210-;
The fourth-largest arm band of 211-; The first arm of 220-is adjusted wheels; The second largest arm of 230-is adjusted wheels;
The first arm guiding of 240-wheels; The second largest arm guiding of 250-wheels;
222-the first fork; 223-the first regulating wheel; 224-the first fixed wheel;
225-the first adjustment rack; 226-the first holding screw; 2301-second determines frame;
2302-the 3rd fork; 2303-the 3rd regulating wheel; 2304-the 3rd holding screw;
2305-the 4th fixed wheel; 2306-the second fixed wheel; 2307-the 3rd fixed wheel;
2308-the second adjustment rack; 2309-the 4th regulating wheel; 2310-the 4th fork;
2311-the second fork; 2312-the second regulating wheel; 2313-the second holding screw;
2314-the 4th holding screw; The first arm directive wheel of 241-framing; The first arm guiding of 242-wheels wheel body;
On the second largest arm guiding of 251-wheels, take turns; In the second largest arm guiding of 252-wheels, take turns;
The second largest arm guiding of 253-wheels lower whorl; The second largest arm directive wheel of 254-framing;
The little round nut of 301-; 302-the second bearing outer support; 303-the second middle part hand-screw turns belt wheel;
304-the second middle part pitching belt wheel; 305-the second middle part height belt wheel;
306-forearm rotation belt wheel; 307-the first middle part height belt wheel; 308-the first middle part pitching belt wheel;
309-the first middle part hand-screw turns belt wheel; 310-clutch shaft bearing outer support;
311-check ring; 312-middle part hand-screw turns belt shaft; 315-the 7th bearing;
313-middle part pitching belt shaft; 314-middle part height belt shaft; 316-the 8th bearing;
317-the 9th bearing; 318-the tenth bearing; Bearing in 319-bearing;
320-the 11 bearing; 321-the 12 bearing; 322-the 13 bearing;
323-the 14 bearing; 324-the 15 bearing; Card under 325-belt wheel;
401-forearm main support; 402-forearm bracket lower plate; 403-forearm guiding wheels;
404-forearm is adjusted wheels; 405-forearm rotating band; 406-forearm pitching band;
407-forearm take off and landing strip; 501-nut; 502-the 20 bearing;
503-gear isolating pad; Under 504-pitching gear shaft; 505-pitching gear bush;
506-hand-screw turns belt shaft; 507-shading ring; 508-bearing shading ring;
509-the 21 bearing; 510-height is adjusted belt wheel; Under 511-pitching belt wheel;
On 512-pitching belt wheel; 513-hand-screw turns under belt wheel; 514-hand-screw turns on belt wheel;
It is large that 515-hand-screw turns Bearing with wheel upper cover; It is little that 516-hand-screw turns Bearing with wheel upper cover;
517-pitching belt shaft; 518-height is adjusted belt shaft; 519-the 16 bearing;
520-the 17 bearing; 521-the 18 bearing; In 522-height belt shaft bearing;
523-the 19 bearing; Under 524-height belt shaft bearing; 525-the 5th holding screw;
526-the 6th holding screw;
527-pitching cogs; 528-pitching lower gear; On 529-pitching gear;
530-balance gear; Under 531-pitching gear; 540-balancing spring guiding mechanism;
541-end cap; 542-scroll spring; 543-spring case;
601-lifting arm shell; The right shell of 602-lifting arm; 603-lifting arm upper belt-wheel;
The left shell of 604-lifting arm; 605-regulating wheel; 606-the 7th holding screw;
607-tension wheel shaft; 608-lifting arm band; Belt wheel under 609-lifting arm;
701-cable trough; 702-mechanical hand contiguous block; 703-the 22 bearing;
704-bearing baffle ring; 705-B type circlip for shaft.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
It should be noted that, in accompanying drawing or description description, similar or identical part is all used identical figure number.The implementation that does not illustrate in accompanying drawing or describe is form known to a person of ordinary skill in the art in affiliated technical field.The direction term of mentioning in following examples, for example " on ", D score, 'fornt', 'back', " left side ", " right side " etc., be only the direction with reference to accompanying drawing.Therefore, the direction term of use is to be not used for limiting the present invention for illustrating.
In one exemplary embodiment of the present invention, provide a kind of positioning mechanical arm.Please refer to Fig. 2, this positioning mechanical arm comprises: tail-wheel assembly 100, large arm 200, middle pulley assemblies 300, forearm 400, front component 500, lifting arm 600 and little linking arm 700 7 parts.
Tail-wheel assembly 100
Fig. 3 is the overall cross-sectional view of tail-wheel assembly in positioning mechanical arm described in Fig. 2.Please refer to Fig. 3, hollow base 105 and hollow shaft housing 112 in tail-wheel assembly 100 are connected by bolt, hollow base 105 bottoms are connected by the first screw 104 with band-type brake base plate 103, the band-type brake base plate 103 upper surfaces band-type brake 102 that is connected, the second screw 101 is used for regulating the position of the relative hollow base of band-type brake base plate, and then adjust band-type brake position, and guarantee band-type brake 102 is normally worked, and install at the first screw 104 and the second screw 101 intervals.
Fig. 4 A is the partial structurtes schematic diagram of tail-wheel assembly shown in Fig. 3.Please refer to Fig. 3 and Fig. 4 A, in hollow shaft housing 112, is respectively that large arm rotation master collet 111, hand-screw rotaring sleeve 110, pitching are adjusted sleeve 109, height is adjusted sleeve 108, large arm turnbarrel 107, forearm turnbarrel 106 from outside to inside.Hollow shaft housing 112 and large arm rotation master collet 111 are connected by the oval styletable holding screw 125 of slotting, and centre is also equipped with silencing pad 113, are used for reducing the noise that relative tail-wheel assembly 100 motions of large arm 200 produce.
The upper end of large arm rotation master collet 111 is connected with large arm lower casing 207, and large arm rotation master collet 111 is supported by the outer ring of the 5th bearing 114, and the inner ring of the 5th bearing 114 and hand-screw rotaring sleeve 110 coordinate.
Hand-screw rotaring sleeve 110 and four-tape wheel 124 are connected, four-tape wheel 124 is supported by the outer ring of the 4th bearing 115, and the inner ring of the 4th bearing 115 and pitching are adjusted sleeve 109 and coordinated, and four-tape wheel 124 is used for supporting the fourth-largest arm band 211, the fourth-largest arm band 211 moves, and drives four-tape wheel 124 to rotate.
Height adjusts sleeve 108 and the second belt wheel 122 is connected, the second belt wheel 122 is supported by the outer ring of the second bearing 117, and the inner ring of the second bearing 117 and bearing seat ring 118 coordinate, and the second belt wheel 122 is used for supporting second largest arm band 209, second largest arm band 209 moves, and drives the second belt wheel 122 to rotate.
Bearing seat ring 118 and large arm turnbarrel 107 are connected on large arm mesochite 201, the inner ring of large arm turnbarrel 107 and clutch shaft bearing 119 coordinates, the first belt wheel 121 is supported in the outer ring of clutch shaft bearing 119, the first belt wheel 121 and forearm turnbarrel 106 are connected, the first belt wheel 121 is used for supporting first arm band 208, first arm band 208 moves, and drives the first belt wheel 121 to rotate.
Article four, the motion of large arm band is non-interference.The inner ring of forearm turnbarrel 106 and the 6th bearing 120 coordinates, and the outer ring of the 6th bearing 120 is fixed on large arm upper casing 201.
Fig. 4 B is the partial structurtes exploded perspective view of tail-wheel assembly shown in Fig. 3.Please refer to Fig. 4 B and Fig. 4 A, the lower end of large arm rotation master collet 111 is equipped with the first moving plate 1, the first quiet plate 127, the first moving plate 2 128.The lower end of hand-screw rotaring sleeve 110 is equipped with the second quiet plate 138, the second moving plate 137.The lower end that sleeve 109 is adjusted in pitching is equipped with the 3rd quiet plate 129, the 3rd moving plate 130.The lower end that height is adjusted sleeve 108 is equipped with the 4th quiet plate 136, the 4th moving plate 135.The lower end of large arm turnbarrel 107 is equipped with the 5th quiet plate 131, the 5th moving plate 132.The lower end of forearm turnbarrel 106 is provided with the 6th quiet plate 134, the 6th moving plate 133.
All moving plates all connect with spline form with corresponding sleeve, ensure not relatively rotate between moving plate and corresponding sleeve.The projecting teeth of all quiet plate peripheries is all stuck in the groove of hollow base 105 inner sides, and quiet plate does not rotate with the rotation of sleeve.In the time that moving plate and quiet plate compress mutually, moving plate, because frictional force stops operating, can not rotate sleeve, thus the location of realizing positioning mechanical arm.Install at moving plate (totally seven) and quiet plate (totally six) interval, and be superimposed on band-type brake armature surface.
In the time that band-type brake 102 is held tightly, band-type brake armature and band-type brake yoke attract each other because of magnetic force, compression band-type brake stage clip, between moving plate and quiet plate, there is no pressure, thereby there is gap, do not have frictional force, forearm turnbarrel 106, large arm turnbarrel 107, height are adjusted sleeve 108, pitching and are adjusted the rotation that all can be independent of each other of sleeve 109, hand-screw rotaring sleeve 110, large arm rotation master collet 111.
In the time that band-type brake 102 unclamps, because not there is not magnetic force in band-type brake armature and band-type brake yoke, the band-type brake stage clip shape that resiles, band-type brake armature is because of the rising of band-type brake stage clip elastic force active position, hold out against the 6th moving plate 133, the 6th moving plate 133 moves up, compress the 6th quiet plate 134, the 6th quiet plate 134 compresses again the 5th moving plate 132, the like, all moving plate and quiet plates are pressed, gap between moving plate and quiet plate disappears, produce frictional force, cause forearm turnbarrel 106, large arm turnbarrel 107, height is adjusted sleeve 108, sleeve 109 is adjusted in pitching, hand-screw rotaring sleeve 110, large arm rotation master collet 111 can not rotate, thereby make the first belt wheel 121 being connected with relevant sleeve, the second belt wheel 122, the 3rd belt wheel 123, four-tape wheel 124 can not rotate, the steel band being wrapped on belt wheel also can stop motion in the situation that of tension.
Fig. 5 is large arm population structure exploded perspective view in the positioning mechanical arm shown in Fig. 2, Fig. 6 is the partial structurtes schematic diagram of large arm shown in Fig. 5, with reference to Fig. 5 and Fig. 6, large arm 200 comprises that large arm upper casing 202, large arm mesochite 201, large arm lower casing 207, the first hole are stifled 203, the second hole is stifled 204, the 3rd hole is stifled 206, the 4th hole is stifled 205, first arm band 208, second largest arm band 209, the third-largest arm band 210, the fourth-largest arm band 211, first arm are adjusted wheels 220, second largest arm is adjusted wheels 230, first arm guiding wheels 240, second largest arm guiding wheels 250.Large arm mesochite 201 is used for fixing the position of first arm adjustment wheels 220, second largest arm adjustment wheels 230, first arm guiding wheels 240, second largest arm guiding wheels 250.
Fig. 7 be shown in Fig. 5 in large arm first arm adjust wheels population structure schematic diagram, with reference to Fig. 7, first arm adjustment wheels 220 mainly contain first and determine frame 221, the first fork 222, the first adjustment rack 225, the first regulating wheel 223, the first fixed wheel 224, the first holding screw 226.First determines frame 221 and the first adjustment rack 225 is connected on large arm mesochite 201.First determines frame 221 is used for fixing the first fork 222 rotation ends.The first fixed wheel 224 is used for increasing the cornerite between first arm band 208 and the first belt wheel 121, increase the frictional force between steel band and belt wheel, pull up stifled 203, the first regulating wheels 223 in the first hole and adjust tightness and the tensile force of first arm band 208 by the first holding screw 226, avoid skidding.
Fig. 8 A and Fig. 8 B be shown in Fig. 5 in large arm second largest arm adjust wheels population structure schematic diagrams (different visual angles), with reference to Fig. 8 A and Fig. 8 B, second largest arm adjustment wheels 230 mainly contain second and determine frame 2301, the second fork 2311, the 3rd fork 2302, the 4th fork 2310, the second adjustment rack 2308, the second regulating wheel 2312, the 3rd regulating wheel 2303, the 4th regulating wheel 2309, the second fixed wheel 2306, the 3rd fixed wheel 2307, the 4th fixed wheel 2305, the second holding screw 2313, the 3rd holding screw 2304, the 4th holding screw 2314.Second determines frame 2301 and the second adjustment rack 2308 is connected on large arm lower casing 207.Second determines frame 2301 is used for fixing the rotation end of the second fork 2311, the 3rd fork 2302, the 4th fork 2310.The second fixed wheel 2306 is used for increasing the cornerite between second largest arm band 209 and the second belt wheel 122, and the second regulating wheel 2312 is adjusted tightness and the tensile force of second largest arm band 209 by the second holding screw 2313, avoid skidding.The 3rd fixed wheel 2307 is used for increasing the cornerite between the third-largest arm band 210 and the 3rd belt wheel 123, and the 3rd regulating wheel 2303 is adjusted tightness and the tensile force of the third-largest arm band 210 by the 3rd holding screw 2304, avoid skidding.The 4th fixed wheel 2305 is used for increasing the cornerite between the fourth-largest arm band 211 and four-tape wheel 124, and the 4th regulating wheel 2309 is adjusted tightness and the tensile force of the fourth-largest arm band 211 by the 4th holding screw 2314, avoid skidding.The existence that hole is stifled, in the situation that not taking large arm support apart, regulates regulating wheel easily.
Fig. 9 is first arm guiding wheels population structure schematic diagram in large arm shown in Fig. 5, and with reference to Fig. 9, first arm guiding wheels 240 mainly contain first arm directive wheel framing 241, first arm guiding wheels wheel body 242.First arm directive wheel framing 241 is connected on large arm mesochite 201, and the Main Function of first arm guiding wheels 240 is the first arm bands 208 in location, increases first arm band 208 and the contact area that forearm rotates belt wheel 306, avoids skidding.
Figure 10 is second largest arm guiding wheels population structure schematic diagram in large arm shown in Fig. 5, with reference to Figure 10, second largest arm guiding wheels 250 mainly contain and on second largest arm guiding wheels, take turns 251, take turns 252 in second largest arm guiding wheels, second largest arm guiding wheels lower whorl 253, second largest arm directive wheel framing 254.Second largest arm directive wheel framing 254 is connected on large arm lower casing 207, and on second largest arm guiding wheels, taking turns 251 Main Function is the second largest arm band 209 in location, increases second largest arm band 209 and the just contact area of belt wheel 305 of the second middle part, avoids skidding.In like manner, 252 the effect taken turns in second largest arm guiding wheels is the contact area that increases the third-largest arm band 210 and the second middle part pitching belt wheel 304, and the effect of second largest arm guiding wheels lower whorl 253 is contacts area that the fourth-largest arm band 211 of increase and the second middle part hand-screw turn belt wheel 303.
Below band-type brake 102 being controlled to large arm 200 describes along the situation of the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis:
(1) in the time that band-type brake is held tightly, between the first moving plate 1, the first quiet plate 127, the first moving plate 2 128, can relatively rotate, large arm rotation master collet 111 can rotate around the axis of hollow shaft housing 112, thereby large arm 200 can be along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis;
(2) in the time that band-type brake unclamps, between the first moving plate 1, the first quiet plate 127, the first moving plate 2 128, can not relatively rotate, large arm rotation master collet 111 stops mutual rotation with hollow shaft housing 112, thereby large arm 200 is along being locked perpendicular to the Plane Rotation of described tail-wheel assembly 100 central axis.
Figure 11 be described in Fig. 2 in positioning mechanical arm in the overall cross-sectional view of pulley assemblies, the first half of middle pulley assemblies 300 and forearm 400 link, the latter half links with large arm 200, makes forearm 400 and between arm 200, has mutual rotation greatly.
Please refer to Figure 11, middle part hand-screw turns belt shaft 312 upper ends circlip 311 is installed, be used for fixing the outer ring of the 7th bearing 315, the inner ring of the 7th bearing 315 and the first middle part hand-screw turn belt wheel 309 and coordinate, the first middle part hand-screw turns belt wheel 309 and middle part hand-screw and turns belt shaft 312 upper ends and be connected, and clutch shaft bearing outer support 310 is supported in the outer ring of the 7th bearing 315.Clutch shaft bearing outer support 310 is stuck in the groove of forearm main support 401 inner sides.The first middle part hand-screw turns belt wheel 309 and is used for supporting forearm rotating band 405.The first middle part hand-screw turns the part of belt wheel 309 and the part of the first middle part pitching belt wheel 308 is coordinated by the 8th bearing 316, the first middle part pitching belt wheel 308 and middle part pitching belt shaft 313 upper ends coordinate with spline form, ensure mutually not rotate between the two, the first middle part pitching belt wheel 308 is used for supporting forearm pitching band 406.
The part of the part of the first middle part pitching belt wheel 308 and the first middle part height belt wheel 307 is coordinated by the 9th bearing 317, the first middle part height belt wheel 307 and height belt shaft 314 upper ends, middle part coordinate with spline form, ensure mutually not rotate between the two, the first middle part height belt wheel 307 is used for supporting forearm take off and landing strip 407.
In the part of the first middle part height belt wheel 307 and bearing, bearing 319 is coordinated by the tenth bearing 318, and in bearing, bearing 319 is enclosed within the outside of middle part height belt shaft 314.In forearm rotation belt wheel 306 and bearing, bearing 319 is coordinated by the 11 bearing 320, and forearm rotation belt wheel 306 is connected in forearm bracket lower plate 402, and in bearing, the lower end of bearing 319 is connected on large arm mesochite 201.Forearm rotation belt wheel 306 is used for supporting first arm band 208.
The part of the second middle part height belt wheel 305 and the boss of large arm mesochite 201 are coordinated by the 12 bearing 321, the second middle part height belt wheel 305 and height belt shaft 314 lower ends, middle part coordinate with spline form, ensure mutually not rotate between the two, the second middle part height belt wheel 305 is used for supporting second largest arm band 209.
The part of the second middle part pitching belt wheel 304 and the second middle part height belt wheel 305 is coordinated by the 13 bearing 322, the second middle part pitching belt wheel 304 and middle part pitching belt shaft 313 lower ends coordinate with spline form, ensure mutually not rotate between the two, the second middle part pitching belt wheel 304 is used for supporting the third-largest arm band 210.
The part that the second middle part hand-screw turns the part second middle part pitching belt wheel 304 of belt wheel 303 is coordinated by the 14 bearing 323, and the second middle part hand-screw turns belt wheel 303 and is used for supporting the fourth-largest arm band 211.The second bearing outer support 302 and the second middle part hand-screw turn belt wheel 303 parts and are coordinated by the 15 bearing 324, and the second bearing outer support 302 is stuck in the groove of large arm lower casing 207.Under belt wheel, card 325 turns belt shaft 312 with spline form and middle part hand-screw and is connected, and ensures mutually not rotate between the two.Meanwhile, under belt wheel, card 325 is used for fixing the inner ring of the 15 bearing 324.Under belt wheel, below card 325, be equipped with roundlet nut 301, roundlet nut 301 turns belt shaft 312 with middle part hand-screw and is connected, and further fixes the position of the 15 bearing 324.
In the time of 208 stop motion of first arm band, forearm rotation belt wheel 306 will stop operating, and forearm 400 stops relative to rotating of large arm 200.In like manner, in the time of 209 stop motion of second largest arm band, the second middle part height belt wheel 305 can stop operating, and middle part height belt shaft 314 also can stop operating thereupon, causes the first middle part height belt wheel 307 to stop operating, 407 stop motions of forearm take off and landing strip.In the time of 210 stop motion of the third-largest arm band, the second middle part pitching belt wheel 304 can stop operating, and middle part pitching belt shaft 313 also can stop operating thereupon, causes the first middle part pitching belt wheel 308 to stop operating, and forearm pitching band 406 will stop motion.In the time of 211 stop motion of the fourth-largest arm band, the second middle part hand-screw turns belt wheel 303 and can stop operating, and middle part hand-screw turns belt shaft 312 and also can stop operating thereupon, causes the first middle part hand-screw to turn belt wheel 309 and stops operating, and forearm rotating band 405 will stop motion.
Figure 12 is forearm population structure exploded perspective view in positioning mechanical arm described in Fig. 2, with reference to Figure 12, forearm 400 mainly contains forearm main support 401, forearm bracket lower plate 402, forearm adjustment wheels 404, forearm guiding wheels 403, forearm rotating band 405, forearm pitching band 406, forearm take off and landing strip 407.Forearm main support 401, forearm bracket lower plate 402 can be used for fixing forearm adjusts the position of wheels 404 and forearm guiding wheels 403; it is identical that forearm is adjusted the effect that the effect of wheels 404 adjusts wheels 230 with second largest arm, and the effect of forearm guiding wheels 403 is identical with the effect of second largest arm guiding wheels 250.
Below band-type brake 102 being controlled to forearm 400 describes along the situation of the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis:
(1) in the time that band-type brake 102 is held tightly, between the 6th moving plate 133 and the 6th quiet plate 134, can relatively rotate; forearm turnbarrel 106 can be around the axis rotation of hollow shaft housing 112; described the first belt wheel 121 is free to rotate; the forearm rotation belt wheel 306 connecting by first arm band 208 is free to rotate, thereby forearm 400 can be around middle pulley assemblies 300 along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis;
(2) in the time that band-type brake 102 unclamps, between the 6th moving plate 133 and the 6th quiet plate 134, can not relatively rotate; forearm turnbarrel 106 can not be around the axis rotation of hollow shaft housing 112; described the first belt wheel 121 is not free to rotate; the forearm rotation belt wheel 306 connecting by first arm band 208 is not free to rotate yet, thereby forearm 400 is locked perpendicular to the rotation of described tail-wheel assembly 100 central axis planes around middle pulley assemblies 300 edges.
Figure 13 is the overall cross-sectional view of front component in positioning mechanical arm described in Fig. 2, with reference to Figure 13, the upper end that hand-screw in front component 500 turns belt shaft 506 turns the little 516 use pins of Bearing with wheel upper cover with hand-screw and is connected, hand-screw turns Bearing with wheel upper cover large 515 and hand-screw and turns on belt wheel 514 part and coordinated by the 16 bearing 519, hand-screw turns Bearing with wheel upper cover little 516 and hand-screw and turns on belt wheel 514 and be connected, and hand-screw turns Bearing with wheel upper cover large 515 and is stuck in the groove of forearm main support 401.Hand-screw turn on belt wheel 514 and hand-screw turn under belt wheel 513 and be connected, hand-screw turns on belt wheel 514, and to turn under belt wheel 513 radius identical with hand-screw, both support forearm rotating band 405 jointly.Hand-screw turn under belt wheel 513 and pitching belt wheel on 512 coordinated by the 17 bearing 520, on pitching belt wheel 512 and pitching belt shaft 517 be connected, pitching belt shaft 517 is enclosed within hand-screw and turns the outside of belt shaft 506.On pitching belt wheel 512 and pitching belt wheel under 511 be connected, on pitching belt wheel, 512 is identical with 511 radiuses under pitching belt wheel, both support forearm pitching band 406 jointly.Under pitching belt wheel 511 and the height part of adjusting belt wheel 510 coordinated by the 18 bearing 521, height is adjusted belt wheel 510 and height and is adjusted belt shaft 518 and be connected, height is adjusted belt shaft 518 and is enclosed within the outside of pitching belt shaft 517.Height adjusts in belt wheel 510 and height belt shaft bearing 522,524 coordinated by the 19 bearing 523 under height belt shaft bearing, in height belt shaft bearing 522, under height belt shaft bearing 524 and forearm bracket lower plate 402 be connected, height is adjusted belt wheel 510 and is used for supporting forearm take off and landing strip 407.
Figure 14 is the partial structurtes exploded perspective view of front component shown in Figure 13, with reference to Figure 13 and Figure 14, pitching cog 527 and height adjust belt shaft 518 and be connected by the 5th holding screw 525, ensure pitching cog 527 and height adjust between belt shaft 518 and mutually do not rotate.On pitching gear 529 and pitching belt shaft 517 be connected by the 6th holding screw 526, ensure on pitching gear 529 and pitching belt shaft 517 between mutually do not rotate.Pitching cog 527 and pitching lower gear 528 engage, pitching lower gear 528 and balance gear 530 engage.On pitching gear 529 and pitching gear under 531 engagement.The pitching 527 drive pitching lower gears 528 that cog rotate, and pitching lower gear 528 drives balance gear 530 to rotate.On pitching gear, 529 drive 531 rotations under pitching gear.Under pitching gear shaft, 504 inner sides that are enclosed within hand-screw and turn belt shaft 506 lateral parts, carry out axial location by pitching gear bush 505, by flat key transmit under pitching gear 531 and pitching gear shaft under moment of torsion between 504.Pitching lower gear 528 and hand-screw turn belt shaft 506 and are coordinated by two the 21 identical bearings 509, and the 21 bearing 509 is located by shading ring 507 and bearing shading ring 508, and the right shell 602 of pitching lower gear 528 and lifting arm is connected.Balance gear 530 is positioned at hand-screw and turns the lower end of belt shaft 506, and by gear isolating pad 503 and nut 501 axial location, balance gear 530 and hand-screw turn belt shaft 506 and coordinated by the 20 bearing 502.
Figure 15 is the partial structurtes exploded perspective view of front component shown in Figure 13, and with reference to Figure 14 and Figure 15, the lower end of balance gear 530 and balancing spring guiding mechanism 540 are connected.Balancing spring guiding mechanism 540 mainly comprises spring case 543, end cap 541, scroll spring 542.One end of scroll spring 542 is stuck in the groove that hand-screw turns belt shaft 506 lower ends, and the other end is fixed on spring case 543 inwalls.The effect of scroll spring 542 is 504 moments of torsion that produce under the relative pitching gear shaft of weight of the little linking arm of balance and the surgical end effector that connects with little linking arm, and spring case 543, end cap 541 are used for sealing scroll spring 542.
In the time of 405 stop motion of forearm rotating band, hand-screw turn on belt wheel 514 and hand-screw turn under belt wheel 513 and all can stop operating, hand-screw turns belt shaft 506 and also can stop operating thereupon, like this, front component 500 will stop relative to rotating of forearm 400.In the time of 406 stop motion of forearm pitching band, on pitching belt wheel 512 and pitching belt wheel under 511 all can stop operating, pitching belt shaft 517 also can stop operating thereupon, like this, on pitching gear 529 and pitching gear under 531 all can stop operating, under pitching gear shaft, 504 also can stop operating.In the time that forearm take off and landing strip 407 stops operating, height is adjusted belt wheel 510 and is stopped operating, and height is adjusted belt shaft 518 and will be stopped operating, pitching cog 527 and pitching lower gear 528 stop operating.
Below band-type brake 102 being controlled to front component 500 describes along the situation of the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis:
(1) in the time that band-type brake 102 is held tightly, between the second quiet plate 138 and the second moving plate 137, can relatively rotate, hand-screw rotaring sleeve 110 can be around the axis rotation of hollow shaft housing 112, it is free to rotate that the hand-screw connecting by steel band, axle sleeve turns belt shaft 506, thereby front component 500 is along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis;
(2) in the time that band-type brake 102 unclamps, between the second quiet plate 138 and the second moving plate 137, can not relatively rotate, hand-screw rotaring sleeve 110 can not be around the axis rotation of hollow shaft housing 112, described four-tape wheel 124 is not free to rotate, it is also not free to rotate that the second middle part hand-screw connecting by the fourth-largest arm band 405 turns belt wheel 303, turning coaxial the first middle part hand-screw being connected of belt wheel 303 with the second middle part hand-screw, to turn belt wheel 309 not free to rotate, the hand-screw connecting by forearm rotating band 405 turns on belt wheel 514, it is 513 free to rotate that hand-screw does not turn under belt wheel, it is not free to rotate that thereby described hand-screw turns belt shaft 506, front component 500 is along being locked perpendicular to the Plane Rotation of described tail-wheel assembly 100 central axis.
Lifting arm 600
Figure 16 is lifting arm population structure exploded perspective view in the positioning mechanical arm described in Fig. 2, with reference to Figure 16, lifting arm 600 mainly comprises belt wheel 609, regulating wheel 605, lifting arm band 608, the 7th holding screw 606, tension wheel shaft 607 under lifting arm shell 601, the right shell 602 of lifting arm, the left shell 604 of lifting arm, lifting arm upper belt-wheel 603, lifting arm.Lifting arm shell 601 is used for sealing pitching lower gear 528, and the right shell 602 of lifting arm shell 601 and lifting arm is connected.Pitching lower gear 528 is connected on the right shell 602 of lifting arm, and the right shell 602 of lifting arm and the left shell 604 of lifting arm are connected.Lifting arm upper belt-wheel 603 504 is connected by flat key with under pitching gear shaft, and lifting arm upper belt-wheel 603 is used for supporting elevation arm band 608.Under lifting arm, belt wheel 609 is connected by flat key with cable trough 701, and under lifting arm, belt wheel 609 is used for supporting elevation arm band 608.Regulating wheel 605 regulates the tightness of lifting arm band 608 by the 7th holding screw 606.Tension wheel shaft 607 is fixed in the groove of the left shell 604 of lifting arm and the right shell 602 of lifting arm.The lower end of the left shell 604 of lifting arm and the right shell 602 of lifting arm is supported by the outer ring of the 22 bearing 703, and the axle head of the inner ring of the 22 bearing 703 and cable trough 701 coordinates.
When under pitching gear shaft 504 while stopping operating, lifting arm upper belt-wheel 603 stops operating, and lifting arm band 608 stops operating, and under lifting arm, belt wheel 609 stops operating.
Below band-type brake 102 being controlled to lifting arm 600 describes along the situation of the Plane Rotation perpendicular to described forearm 400 central axis:
(1) in the time that band-type brake 102 is held tightly, between the 4th quiet plate 136 and the 4th moving plate 135, can relatively rotate, height is adjusted sleeve 108 can be around the axis rotation of hollow shaft housing 112, the pitching lower gear 528 connecting by steel band, axle sleeve is free to rotate, thereby lifting arm 600 is along the Plane Rotation perpendicular to described forearm 400 central axis;
(2) in the time that band-type brake 102 unclamps, between the 4th quiet plate 136 and the 4th moving plate 135, can not relatively rotate, height is adjusted sleeve 108 can not be around the axis rotation of hollow shaft housing 112, the second described belt wheel 122 is not free to rotate, the the second middle part height belt wheel 305 connecting by second largest arm band 209 is not free to rotate, not free to rotate with coaxial the first middle part height belt wheel 307 being connected of the second middle part height belt wheel 305, it is not free to rotate that the height connecting by forearm take off and landing strip 407 is adjusted belt wheel 510, adjusting the coaxial pitching being connected of belt wheel 510 with height does not cog 527 free to rotate, not free to rotate with the pitching 527 pitching lower gears 528 that engage that cog, thereby lifting arm 600 is along being locked perpendicular to the Plane Rotation of described forearm 400 central axis.
Figure 17 is the medium and small linking arm population structure of the positioning mechanical arm exploded perspective view described in Fig. 2, and with reference to Figure 17, little linking arm 700 mainly comprises cable trough 701, mechanical hand contiguous block 702.The right-hand member of cable trough 701 is provided with bearing baffle ring 704 and Type B circlip for shaft 705, is used for locating the 22 bearing 703, and cable trough 701 and mechanical hand contiguous block 702 are connected.
Below band-type brake 102 being controlled to little linking arm 700 describes along the situation of the Plane Rotation perpendicular to described lifting arm (600) central axis:
(1) in the time that band-type brake 102 is held tightly, between the 3rd quiet plate 129 and the 3rd moving plate 130, can relatively rotate, sleeve 109 is adjusted in pitching can be around the axis rotation of hollow shaft housing 112, under the lifting arm connecting by steel band, axle sleeve, belt wheel 609 is free to rotate, thereby little linking arm 700 is along the Plane Rotation perpendicular to described lifting arm 600 central axis.
(2) in the time that band-type brake 102 unclamps, between the 3rd quiet plate 129 and the 3rd moving plate 130, can not relatively rotate, sleeve 109 is adjusted in pitching can not be around the axis rotation of hollow shaft housing 112, the 3rd described belt wheel 123 is not free to rotate, the the second middle part pitching belt wheel 304 connecting by the third-largest arm band 210 is not free to rotate, not free to rotate with coaxial the first middle part pitching belt wheel 308 being connected of the second middle part pitching belt wheel 304, on the pitching belt wheel connecting by forearm pitching band 406 512, under pitching belt wheel, 511 is not free to rotate, with on pitching belt wheel 512, 529 not free to rotate on the 511 coaxial pitching gears that connect under pitching belt wheel, 531 not free to rotate with under the 529 pitching gears that engage on pitching gear, not free to rotate with the 531 coaxial lifting arm upper belt-wheels 603 that are connected under pitching gear, under the lifting arm connecting by lifting arm band 608, belt wheel 609 is not free to rotate, thereby little linking arm 700 is along being locked perpendicular to the Plane Rotation of described lifting arm 600 central axis.
So far, the present embodiment positioning mechanical arm is introduced complete.
It should be noted that, the above-mentioned definition to each element is not limited in various concrete structures or the shape in embodiment, mentioned, and those skilled in the art can know simply and replace it, for example:
(1) transmission between each several part is except adopting steel band, cloth matter that can also be traditional or the conveyer belt of colloid;
(2) first arm guiding wheels 240, first arm adjustment wheels 220 and second largest arm guiding wheels 250, the second largest arm that can economize in bigger arm 200 are adjusted wheels 230;
(3) in the present embodiment, band-type brake adopts electromagnetic brake, can certainly adopt motor internal contracting brake, even manually other band-type brake types such as band-type brake.If employing electromagnetic brake, when band-type brake obtains when electric, it is realized moving plate and quiet plate and unclamps in holding state tightly; In the time of band-type brake dead electricity, it is realized moving plate and quiet plate and compresses in releasing orientation;
(4) the present embodiment positioning mechanical arm can be applied in auxiliary minimally-invasive vascular intervene operation, for sending pipe wire feeder that location is provided.This positioning mechanical arm has five degree of freedom, and the work space of mechanical arm is increased, and can realize and utilize the motion in locked five joints simultaneously of a band-type brake simultaneously, has shortened treatment worker's working time.But; but the present invention is not as limit; as everyone knows; positioning mechanical arm has a variety of; the number of degrees of freedom, having also has a variety of; and this positioning mechanical can also only comprise large arm, forearm, lifting arm, front component and little linking arm any two or more, as long as it utilizes identical operation principle to realize the locking of two or more degree of freedom by band-type brake simultaneously, equally should be within protection scope of the present invention.
In sum, positioning mechanical arm of the present invention adopts a band-type brake locked multiple cradle heads simultaneously, has solved the limitation of the locked single cradle head of single band-type brake, has reduced the accumulation gap that multiple band-type brakes bring, and mechanical arm total quality is alleviated, performance accuracy improves.Meanwhile, can alleviate mechanism's total quality, improve performance accuracy, realize force balance.Steel Belt Transmission bearing capacity is larger, and the service life of band is longer, the pretightning force of endurable retainer belt.
Owing to thering is above-mentioned advantage, positioning mechanical arm of the present invention not only can be applied to medical field, and can be applied to other automated machine device, as various fields such as entertainment service, military affairs, industry automatic control, robots, certain that is used for accurately navigating on space is a bit carried out operation, has high practical value.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (13)
1. a positioning mechanical arm, is characterized in that, comprising:
Tail-wheel assembly (100), this tail-wheel assembly (100) comprising:
Hollow base (105);
Hollow shaft housing (112), is coaxially fixed on described hollow base;
The locking mechanism of at least two groups, every group of locking mechanism comprises: sleeve, is sheathed in described hollow shaft housing (112); Moving plate, is connected with the lower end of described sleeve, does not relatively rotate between the two, can move along sleeve axis; Quiet plate, is connected in described hollow base (105), between the two without relatively rotating, can move along sleeve axis;
Band-type brake (102), its bottom is fixed in the bottom of described hollow base (105), and described in its top is arranged in, the locking mechanism of at least two groups is positioned at the below of one group of locking mechanism of downside;
At least two cradle heads, this at least two cradle head connects successively, the cradle head that is wherein positioned at front end is connected in the top of described hollow shaft housing, each cradle head upper end of the sleeve of corresponding locking mechanism at least two group locking mechanisms directly or described in being connected to by drive mechanism;
Wherein, in the time that band-type brake (102) is held tightly, between the moving plate of every group of locking mechanism and quiet plate, can relatively rotate, the sleeve being connected with moving plate can rotate along sleeve axis, and the cradle head being connected with this sleeve is in free rotary state; In the time that band-type brake (102) unclamps, on its top, rise, described in compression, in the locking mechanism of at least two groups, be positioned at one group of locking mechanism of downside, between the moving plate of every group of locking mechanism and quiet plate, all can not relatively rotate, the sleeve being connected with moving plate can not rotate along sleeve axis, with this sleeve connection of rotating joint in locking state.
2. positioning mechanical arm according to claim 1, is characterized in that, described at least two cradle heads comprise:
Large arm (200), is connected in the top of described tail-wheel assembly (100) hollow shaft housing, can be along the Plane Rotation perpendicular to described tail-wheel assembly (100) central axis;
Forearm (400), is connected in the end of described large arm (200) by middle pulley assemblies (300), can be along the Plane Rotation perpendicular to described tail-wheel assembly (100) central axis;
Front component (500) is connected in the end of described forearm (400), can be along the Plane Rotation perpendicular to described tail-wheel assembly (100) central axis;
Lifting arm (600), is connected in the end of described forearm (400) by front component (500), can be along the Plane Rotation perpendicular to described forearm (400) central axis;
Little linking arm (700), is connected in the end of described lifting arm (600), can be along the Plane Rotation perpendicular to described lifting arm (600) central axis;
Wherein, at least two in described large arm (200), forearm (400), front component (500), lifting arm (600) and little linking arm (700) are connected to respectively the upper end of the sleeve of corresponding locking mechanism.
3. positioning mechanical arm according to claim 2, is characterized in that, described at least two group locking mechanisms comprise: large arm locking mechanism;
Described large arm (200) comprising: large arm upper casing (202), large arm mesochite (201) and large arm lower casing (207), wherein, the rear end of large arm upper casing (202) is located on described hollow shaft housing (112) by bearing holder (housing, cover);
Described large arm locking mechanism comprises: large arm rotation master collet (111), be sheathed in described hollow shaft housing (112), and its upper end is affixed with the rear end of large arm lower casing (207); The first moving plate one (126), it is connected with the lower end of described large arm rotation master collet (111), does not relatively rotate between the two; The first quiet plate (127), is positioned at the bottom of the described first moving plate one (126), is connected in described hollow base (105), between the two without relatively rotating; First moves plate two (128), is positioned at the bottom of the first quiet plate (127), and it is connected with the lower end of described large arm rotation master collet (111), does not relatively rotate between the two.
4. positioning mechanical arm according to claim 3, is characterized in that, described at least two group locking mechanisms also comprise: forearm locking mechanism;
Described forearm (400) comprising: forearm main support (401), forearm bracket lower plate (402);
Described middle pulley assemblies (300), comprising:
Middle part hand-screw turns belt shaft (312);
Forearm rotation belt wheel (306), is sheathed on described middle part hand-screw and turns belt shaft (312) above, is fixed in described forearm bracket lower plate (402);
Described large arm (200) comprising: first arm band (208), and described large arm mesochite (201) is located at described middle part hand-screw by bearing holder (housing, cover) and is turned belt shaft (312),
Described forearm locking mechanism comprises: forearm turnbarrel (106), be sheathed in described hollow shaft housing (112), its upper end arranges the first belt wheel (121), and this first belt wheel (121) and described forearm rotation belt wheel (306) are by first arm band (208) interlock; The 6th moving plate (133), it is connected with the lower end of described forearm turnbarrel (106), does not relatively rotate between the two; The 6th quiet plate (134) is positioned at the top of the described the 6th moving plate (133), is connected in described hollow base (105), between the two without relatively rotating.
5. positioning mechanical arm according to claim 4, is characterized in that, described large arm (200) also comprises:
First arm guiding wheels (240), are fixed on described large arm mesochite (201) upper, for increasing the contact area between first arm band (208) and forearm rotation belt wheel (306); And
First arm is adjusted wheels (220), be fixed on described large arm mesochite (201), for increasing the contact area between first arm band (208) and the first belt wheel (121), and adjust the tightness of first arm band (208).
6. positioning mechanical arm according to claim 4, is characterized in that, described at least two group locking mechanisms also comprise: front component locking mechanism;
Described front component (500) comprising:
Hand-screw turns belt shaft (506);
Hand-screw turns on belt wheel (514), hand-screw and turns under belt wheel (513) and be all fixed on described hand-screw and turn the upper part of belt shaft (506);
Described forearm (400) comprising: forearm rotating band (405); Described forearm bracket lower plate (402) is located at described hand-screw and is turned the upper part of belt shaft (506) by bearing holder (housing, cover);
Described middle pulley assemblies (300) comprising:
The first middle part hand-screw turns belt wheel (309), is fixed on described middle part hand-screw and turns the upper end of belt shaft (312);
The second middle part hand-screw turns belt wheel (303), is fixed on described middle part hand-screw and turns the lower end of belt shaft (312);
Described large arm (200) comprising: the fourth-largest arm band (211);
Described front component locking mechanism comprises: hand-screw rotaring sleeve (110), be sheathed in described hollow shaft housing (112), its upper end arranges four-tape wheel (124), this four-tape wheel (124) and the second described middle part hand-screw turn belt wheel (303) by the fourth-largest arm band (211) interlock, described the second middle part hand-screw turns belt wheel (303) and turns belt wheel (309) with the first middle part hand-screw and be coaxially connected, the first described middle part hand-screw turns belt wheel (309) and described hand-screw turns (514) on belt wheel, hand-screw turns (513) under belt wheel and links by forearm rotating band (405), the second quiet plate (138) is connected in described hollow base (105), between the two without relatively rotating, the second moving plate (137) is positioned at the bottom of described the second quiet plate (138), and it is connected with the lower end of described hand-screw rotaring sleeve (110), does not relatively rotate between the two.
7. positioning mechanical arm according to claim 6, is characterized in that, described at least two group locking mechanisms also comprise: lifting arm locking mechanism;
Described lifting arm (600) comprising:
Lifting arm shell (601), is connected with the right shell of lifting arm (602);
The right shell of lifting arm (602), itself and pitching lower gear (528) are connected;
The left shell of lifting arm (604), is connected with the right shell of lifting arm (602);
Described forearm (400) comprising: forearm take off and landing strip (407);
Described front component (500) comprising:
Pitching lower gear (528), pitching cog (527), and both are intermeshing;
Height is adjusted belt wheel (510), adjusts belt shaft (518) upper end be connected with height;
Described height adjust belt shaft (518) lower end and pitching cog (527) be connected, and be sheathed on described hand-screw and turn belt shaft (506);
Described middle pulley assemblies (300) comprising:
Middle part height belt shaft (314), is sheathed on described middle part hand-screw and turns belt shaft (312);
The first middle part height belt wheel (307), is fixed on the just upper end of belt shaft (314), described middle part;
The second middle part height belt wheel (305), is fixed on the just lower end of belt shaft (314), described middle part;
Described large arm (200) comprising: second largest arm band (209);
Described lifting arm locking mechanism comprises: height is adjusted sleeve (108), be sheathed in described hollow shaft housing (112), its upper end arranges the second belt wheel (122), this second belt wheel (122) and described the second middle part height belt wheel (305) are by second largest arm band (209) interlock, the second middle part height belt wheel (305) is coaxially connected with the first middle part height belt wheel (307), described the first middle part height belt wheel (307) and described height are adjusted belt wheel (510) by forearm take off and landing strip (407) interlock, described pitching cog (527) engage with described pitching lower gear (528), the 4th quiet plate (136) is connected in described hollow base (105), between the two without relatively rotating, the 4th moving plate (135) is positioned at the bottom of described the 4th quiet plate (136), and it is connected with the lower end that described height is adjusted sleeve (108), does not relatively rotate between the two.
8. positioning mechanical arm according to claim 7, is characterized in that, described at least two group locking mechanisms also comprise: little linking arm locking mechanism;
Described little linking arm (700) comprising: cable trough (701); Mechanical hand contiguous block (702), is fixed on described cable trough (701);
Described lifting arm (600) comprising: belt wheel under lifting arm (609), and itself and described cable trough (701) are connected; Lifting arm band (608); Lifting arm upper belt-wheel (603);
Described front component (500) comprising:
Under pitching gear shaft (504), itself and described lifting arm upper belt-wheel (603) are connected, and are sheathed on described hand-screw and turn the lower part of belt shaft (506);
Under pitching gear (531), under itself and described pitching gear shaft, the axle head of (504) is connected;
On pitching gear (529), it engages with (531) under described pitching gear;
Pitching belt shaft (517), it is sheathed on described hand-screw and turns belt shaft (506);
On pitching belt wheel under (512), pitching belt wheel (511), on itself and described pitching gear, (529) are connected in respectively described pitching belt shaft (517) two ends;
Described forearm (400) comprising: forearm pitching band (406);
Described middle pulley assemblies (300) comprising:
Middle part pitching belt shaft (313), is sheathed on described middle part hand-screw and turns belt shaft (312);
The first middle part pitching belt wheel (308), is fixed on the upper end of described middle part pitching belt shaft (313);
The second middle part pitching belt wheel (304), is fixed on the lower end of described middle part pitching belt shaft (313);
Described large arm (200) comprising: the third-largest arm band (210);
Described little linking arm locking mechanism comprises: sleeve (109) is adjusted in pitching, be sheathed in described hollow shaft housing (112), its upper end arranges the 3rd belt wheel (123), the 3rd belt wheel (123) and described the second middle part pitching belt wheel (304) are by the third-largest arm band (210) interlock, the second middle part pitching belt wheel (304) is coaxially connected with the first middle part pitching belt wheel (308), on described the first middle part pitching belt wheel (308) and described pitching belt wheel (512), under pitching belt wheel, (511) are by forearm pitching band (406) interlock, on described pitching belt wheel (512), under pitching belt wheel, (511) are coaxially connected with (529) on described pitching gear, (531) engagement under (529) and pitching gear on pitching gear, under described pitching gear, (531) are coaxially connected with described lifting arm upper belt-wheel (603), under described lifting arm upper belt-wheel (603) and described lifting arm, belt wheel (609) links by lifting arm band (608), belt wheel under described lifting arm (609) and described cable trough (701) are connected, the 3rd quiet plate (129) is connected in described hollow base (105), between the two without relatively rotating, the 3rd moving plate (130) is positioned at the bottom of described the 3rd quiet plate (129), and it is connected with the lower end that sleeve (109) is adjusted in described pitching, does not relatively rotate between the two.
9. positioning mechanical arm according to claim 8, it is characterized in that, the moment of torsion that under the relative described pitching gear shaft of weight of described little linking arm (700) and the end effector that connects with little linking arm, (504) produce is by scroll spring (542) balance;
Described front component comprises:
Balance gear (530), it is connected in described hand-screw and turns belt shaft (506) lower end, and engages with described pitching lower gear (528);
Balancing spring guiding mechanism (540), itself and described balance gear (530) are connected;
Wherein, described balancing spring guiding mechanism (540) comprising:
Spring case (543);
Scroll spring (542), its one end is stuck in the groove that described hand-screw turns belt shaft (506) lower end, and the other end is fixed on the inwall of described spring case (543);
When moment of torsion that under the relative described pitching gear shaft of weight of described little linking arm (700) and the end effector that connects with little linking arm, (504) produce, the pitching lower gear (528) that is connected with the right shell of lifting arm (602) can produce rotating of under pitching gear shaft (504), drive described balance gear (530) to rotate, the balancing spring guiding mechanism (540) being connected with balance gear (530) rotates, now, the described scroll spring (542) being connected with the inwall of spring case (543) can produce spring torque carry out balance.
10. positioning mechanical arm according to claim 8, is characterized in that, described large arm (200) also comprises:
Second largest arm guiding wheels (250), are fixed on described large arm lower casing (207) upper, are used for locating second largest arm band (209), the third-largest arm band (210), the fourth-largest arm band (211); And
Second largest arm is adjusted wheels (230), be fixed on described large arm lower casing (207) upper, be used for adjusting the tightness of second largest arm band (209), the third-largest arm band (210), the fourth-largest arm band (211).
11. positioning mechanical arms according to claim 8, it is characterized in that, described first arm band (208), second largest arm band (209), the third-largest arm band (210), the fourth-largest arm band (211), forearm rotating band (405), forearm pitching band (406), forearm take off and landing strip (407), lifting arm band (608) are steel band.
12. according to the positioning mechanical arm described in any one in claim 1 to 11, it is characterized in that, described band-type brake is the electromagnetic brake moving up and down;
For this electromagnetic brake, when it obtains when electric, it is in holding state tightly, and in the time of its dead electricity, it is in releasing orientation.
13. according to the positioning mechanical arm described in any one in claim 1 to 10, it is characterized in that, in described at least two group locking mechanisms, between the moving plate of every group of latch-up structure and corresponding sleeve, connects with spline form; The projecting teeth of quiet plate periphery is stuck in the groove of described hollow base (105) inner side.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210554589.0A CN103876834B (en) | 2012-12-19 | 2012-12-19 | Localization machine mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210554589.0A CN103876834B (en) | 2012-12-19 | 2012-12-19 | Localization machine mechanical arm |
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| Publication Number | Publication Date |
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| CN103876834A true CN103876834A (en) | 2014-06-25 |
| CN103876834B CN103876834B (en) | 2015-11-18 |
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| CN105841649A (en) * | 2016-05-19 | 2016-08-10 | 合肥工业大学 | Oscillating joint using built-in volute spiral spring for realizing gravity balancing |
| WO2018000870A1 (en) * | 2016-06-29 | 2018-01-04 | 微创（上海）医疗机器人有限公司 | Surgical robot and mechanical arm thereof |
| CN108081310A (en) * | 2016-11-23 | 2018-05-29 | 克恩-里伯斯(太仓)有限公司 | A kind of gravity balance device of mechanical arm |
| CN109394344A (en) * | 2018-12-29 | 2019-03-01 | 苏州康多机器人有限公司 | A kind of data self calibration main manipulator |
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| CN105841649A (en) * | 2016-05-19 | 2016-08-10 | 合肥工业大学 | Oscillating joint using built-in volute spiral spring for realizing gravity balancing |
| WO2018000870A1 (en) * | 2016-06-29 | 2018-01-04 | 微创（上海）医疗机器人有限公司 | Surgical robot and mechanical arm thereof |
| CN108081310A (en) * | 2016-11-23 | 2018-05-29 | 克恩-里伯斯(太仓)有限公司 | A kind of gravity balance device of mechanical arm |
| CN109394344A (en) * | 2018-12-29 | 2019-03-01 | 苏州康多机器人有限公司 | A kind of data self calibration main manipulator |
| CN109394344B (en) * | 2018-12-29 | 2024-02-06 | 苏州康多机器人有限公司 | Data self-calibration main manipulator |
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| Publication number | Publication date |
|---|---|
| CN103876834B (en) | 2015-11-18 |
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Effective date of registration: 20190428 Address after: 315400 No. 175 Anshan Road, Chengdong New District, Yuyao Economic Development Zone, Zhejiang Province Patentee after: Zhejiang Yu Yu intelligent robot Co., Ltd. Address before: 066004 438 west section of Hebei Avenue, Qinhuangdao, Hebei. Patentee before: Yanshan University |
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Effective date of registration: 20190612 Address after: 063200 C4 Training Building of New Town Big Data Industrial Park, Caofeidian District, Tangshan City, Hebei Province Patentee after: Tangshan Hairong Intelligent Robot Technology Co., Ltd. Address before: 315400 No. 175 Anshan Road, Chengdong New District, Yuyao Economic Development Zone, Zhejiang Province Patentee before: Zhejiang Yu Yu intelligent robot Co., Ltd. |
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Correction item: Patentee|Address Correct: Tangshan Hairong Intelligent Robot Technology Co., Ltd.|063200 C4 Training Building of New Town Big Data Industrial Park, Caofeidian District, Tangshan City, Hebei Province False: Tangshan Hairong Intelligent Robot Technology Co., Ltd.|063200 C4 Training Building of New Town Big Data Industrial Park, Caofeidian District, Tangshan City, Hebei Province Number: 26-02 Volume: 35 |
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