CN103876834B - Localization machine mechanical arm - Google Patents
Localization machine mechanical arm Download PDFInfo
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- CN103876834B CN103876834B CN201210554589.0A CN201210554589A CN103876834B CN 103876834 B CN103876834 B CN 103876834B CN 201210554589 A CN201210554589 A CN 201210554589A CN 103876834 B CN103876834 B CN 103876834B
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Abstract
The invention provides a kind of localization machine mechanical arm.This localization machine 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) seven part.This localization machine mechanical arm adopts the mode of band-type brake locked multiple cradle head simultaneously, and solve the limitation of the locked single cradle head of single band-type brake, reduce the accumulation gap that multiple band-type brake brings, and mechanical arm total quality is alleviated, performance accuracy improves.
Description
Technical field
The present invention relates to rotary apparatus mechanical arm field, particularly relate to a kind of in armarium the localization machine 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 constantly rises, the utilization rate of interventional surgery is also in rising.In interventional surgery process, need to send pipe or wire feed in human vas, the Main Function of localization machine mechanical arm fixedly send pipe wire feeder exactly, and makes the locus of sending pipe wire feeder to reach required.
Positioning principle many employings band-type brake location of existing localization machine mechanical arm, 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 locked.List of references 1 (China Patent Publication No.: CN202313715U) is a kind of micro-wound operation robot mechanical arm arrangements structure, please refer to Fig. 1, it controls from operating side by main operation end, all adopts band-type brake to carry out locked location from the first rotary joint operating side, the second rotary joint, the 3rd rotary joint.List of references 2 (China Patent Publication No.: CN201987528U) is a kind of mechanical arm for endoscope location, it comprises location adjustment member and pose adjustment part, and location adjustment carrys out the locked or relative motion of release between support, support link and connecting rod by three band-type brakes.
As can be seen from above-mentioned two sections of lists of references, the localization machine mechanical arm of prior art generally adopts the mode of the locked cradle head of single band-type brake, and when needs carry out locked to multiple cradle head, needs to start multiple band-type brake.But inevitably have space between band-type brake, and multiple band-type brake will have larger accumulation space, thus cause under lock-up condition, the space of joint still likely existence activity, 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 localization machine mechanical arm.
(2) technical scheme
According to an aspect of the present invention, a kind of localization machine mechanical arm is provided.This localization machine 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, often organizes locking mechanism and comprises: sleeve, is sheathed in hollow shaft housing 112; Dynamic 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 to hollow base 105, between the two without relatively rotating, can move along sleeve axis; Band-type brake 102, is fixed in the bottom of hollow base 105 bottom it, 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 being wherein positioned at front end is connected to the top of hollow shaft housing, and each cradle head directly or be connected to the upper end of sleeve of corresponding locking mechanism at least two group locking mechanisms by drive mechanism.Wherein, when band-type brake 102 is held tightly, often organize between the dynamic plate of locking mechanism and quiet plate and can relatively rotate, the sleeve be connected with dynamic plate can rotate along sleeve axis, is in free rotary state with the cradle head of this sleeve connection; When band-type brake 102 unclamps, its top rises, compress the one group of locking mechanism being positioned at downside in the locking mechanism of at least two groups, often organize between the dynamic plate of locking mechanism and quiet plate and all can not relatively rotate, the sleeve be connected with dynamic plate can not rotate along sleeve axis, is in locking state with this sleeve connection cradle head.
(3) beneficial effect
As can be seen from technique scheme, localization machine mechanical arm of the present invention has following beneficial effect:
(1) adopt a band-type brake locked multiple cradle head simultaneously, solve the limitation of the locked single cradle head of single band-type brake, reduce the accumulation gap that multiple band-type brake brings, and mechanical arm total quality is alleviated, performance accuracy improves.
(2) in five cradle heads of connecting, the turning cylinder in first three joint is vertical axes, makes little linking arm can at horizontal in-plane moving, all directions force balance, therefore the moving axis that rotates during motion is clockwise and rotate counterclockwise required power equal and opposite in direction, does not need to increase bascule;
(3) in five cradle heads of connecting, 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 produced 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, the rotating torque around the second horizontal rotation axis direction is not produced when making it rotate, and then the Equilibrium in this joint can be met.Therefore, entirety of the present invention can realize Equilibrium, without the need to 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 comparatively large simultaneously, and service life is longer.
Accompanying drawing explanation
Fig. 1 is the structural representation of prior art localization machine mechanical arm;
Fig. 2 is the population structure schematic diagram according to embodiment of the present invention localization machine mechanical arm;
Fig. 3 is tail-wheel assembly general profile structural representation in localization machine mechanical arm described in Fig. 2;
The partial structurtes schematic diagram that Fig. 4 A is tail-wheel assembly shown in Fig. 3;
The partial structurtes exploded perspective view that Fig. 4 B is tail-wheel assembly shown in Fig. 3;
Fig. 5 is large arm population structure exploded perspective view in localization machine mechanical arm described in Fig. 2;
The partial structurtes schematic diagram that Fig. 6 is large arm shown in Fig. 5;
Fig. 7 is the first large arm regulating wheel group population structure schematic diagram in large arm shown in Fig. 5;
Fig. 8 A is the second large arm regulating wheel group population structure schematic diagram in large arm shown in Fig. 5;
Fig. 8 B is the second large arm regulating wheel group population structure schematic diagram in large arm shown in Fig. 5;
Fig. 9 is the first large arm directive wheel group population structure schematic diagram in large arm shown in Fig. 5;
Figure 10 is the second large arm directive wheel group population structure schematic diagram in large arm shown in Fig. 5;
Figure 11 is pulley assemblies general profile structural representation middle in localization machine mechanical arm described in Fig. 2;
Figure 12 is localization machine mechanical arm medium and small arm population structure exploded perspective view described in Fig. 2;
Figure 13 is front component general profile structural representation in localization machine mechanical arm described in Fig. 2;
The partial structurtes exploded perspective view that Figure 14 is front component shown in Figure 13;
The partial structurtes exploded perspective view that Figure 15 is front component shown in Figure 13;
Figure 16 is lifting arm population structure exploded perspective view in localization machine mechanical arm described in Fig. 2;
Figure 17 is localization machine mechanical arm medium and small linking arm population structure exploded perspective view described in Fig. 2.
[main element symbol description of the present invention]
100-tail-wheel assembly; 200-large arm; Pulley assemblies in 300-;
400-forearm; 500-front component; 600-lifting arm;
The little linking arm of 700-;
101-second screw; 102-band-type brake; 103-band-type brake base plate;
104-first screw; 105-hollow base; 106-forearm turnbarrel;
107-large arm turnbarrel; 108-height adjusts sleeve; 109-pitching adjustment sleeve;
110-hand-screw rotaring sleeve; 111-large arm rotates master collet; 112-hollow shaft housing;
113-silencing pad; 114-the 5th bearing; 115-the 4th bearing;
116-the 3rd bearing; 117-second bearing; 118-bearing seat ring;
119-clutch shaft bearing; 120-the 6th bearing; 121-first belt wheel;
122-second belt wheel; 123-the 3rd belt wheel; 124-the 4th belt wheel;
125-slots oval styletable holding screw; 126-first moves plate one;
The quiet plate of 127-first; 128-first moves plate two; The quiet plate of 129-the 3rd;
The dynamic plate of 130-the 3rd; 221-first determines frame;
The quiet plate of 131-the 5th; The dynamic plate of 132-the 5th; The dynamic plate of 133-the 6th;
The quiet plate of 134-the 6th; The dynamic plate of 135-the 4th; The quiet plate of 136-the 4th;
137-second moves plate; The quiet plate of 138-second; 201-large arm mesochite;
202-large arm upper casing; 203-first hole is blocked up; 204-second hole is blocked up;
205-the 4th hole is blocked up; 206-the 3rd hole is blocked up; 207-large arm lower casing;
The first arm straps of 208-; The second largest arm straps of 209-; The third-largest arm straps of 210-;
The fourth-largest arm straps of 211-; 220-first large arm regulating wheel group; 230-second large arm regulating wheel group;
240-first large arm directive wheel group; 250-second large arm directive wheel group;
222-first fork; 223-first regulating wheel; 224-first fixed wheel;
225-first adjustment rack; 226-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-second fixed wheel; 2307-the 3rd fixed wheel;
2308-second adjustment rack; 2309-the 4th regulating wheel; 2310-the 4th fork;
2311-second fork; 2312-second regulating wheel; 2313-second holding screw;
2314-the 4th holding screw; 241-first large arm directive wheel framing; 242-first large arm directive wheel group wheel body;
251-second large arm directive wheel group is taken turns; Take turns in 252-second large arm directive wheel group;
253-second large arm directive wheel group lower whorl; 254-second large arm directive wheel framing;
The little round nut of 301-; 302-second bearing outer support; In the middle part of 303-second, hand-screw turns belt wheel;
Pitching belt wheel in the middle part of 304-second; Height belt wheel in the middle part of 305-second;
306-forearm rotates belt wheel; Height belt wheel in the middle part of 307-first; Pitching belt wheel in the middle part of 308-first;
In the middle part of 309-first, hand-screw turns belt wheel; 310-clutch shaft bearing outer support;
311-check ring; In the middle part of 312-, hand-screw turns belt shaft; 315-the 7th bearing;
Pitching belt shaft in the middle part of 313-; Height belt shaft in the middle part of 314-; 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 adjustment 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 adjusts belt wheel; Under 511-pitching belt wheel;
On 512-pitching belt wheel; Under 513-hand-screw turns 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 adjustment belt wheel 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-is elevated arm straps; 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 clearly understand, 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 describe, similar or identical part all uses identical figure number.The implementation not illustrating in accompanying drawing or describe is form known to a person of ordinary skill in the art in art.The direction term mentioned in following examples, such as " on ", D score, "front", "rear", "left", "right" etc., be only the direction with reference to accompanying drawing.Therefore, the direction term of use is used to illustrate and is not used for limiting the present invention.
In one exemplary embodiment of the present invention, provide a kind of localization machine mechanical arm.Please refer to Fig. 2, this localization machine 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 part.
Tail-wheel assembly 100
Fig. 3 is tail-wheel assembly general profile structural representation in localization machine mechanical arm described in Fig. 2.Please refer to Fig. 3, hollow base 105 in tail-wheel assembly 100 and hollow shaft housing 112 are connected by bolt, be connected by the first screw 104 with band-type brake base plate 103 bottom hollow base 105, band-type brake base plate 103 upper surface is connected band-type brake 102, second screw 101 is used for regulating the position of band-type brake base plate opposite hollow pedestal, and then adjustment band-type brake position, ensure that band-type brake 102 normally works, the first screw 104 and the second screw 101 interval are installed.
The partial structurtes schematic diagram that Fig. 4 A is tail-wheel assembly shown in Fig. 3.Please refer to Fig. 3 and Fig. 4 A, in hollow shaft housing 112, is that large arm rotates master collet 111, hand-screw rotaring sleeve 110, pitching adjustment sleeve 109, height adjustment sleeve 108, large arm turnbarrel 107, forearm turnbarrel 106 from outside to inside respectively.Hollow shaft housing 112 and large arm are rotated master collet 111 and are connected by the oval styletable holding screw 125 of fluting, are middlely also equipped with silencing pad 113, be used for reducing large arm 200 relatively tail-wheel assembly 100 to move the noise produced.
Upper end and the large arm lower casing 207 of large arm rotation master collet 111 are connected, and large arm rotates master collet 111 and supported by the outer ring of the 5th bearing 114, and inner ring and the hand-screw rotaring sleeve 110 of the 5th bearing 114 coordinate.
Hand-screw rotaring sleeve 110 and the 4th belt wheel 124 are connected, 4th belt wheel 124 is supported by the outer ring of the 4th bearing 115, and the inner ring of the 4th bearing 115 and pitching adjustment sleeve 109 coordinate, and the 4th belt wheel 124 is used for supporting the fourth-largest arm straps 211, the fourth-largest arm straps 211 is moved, and drives the 4th belt wheel 124 to rotate.
Pitching adjustment sleeve 109 and the 3rd belt wheel 123 are connected, 3rd belt wheel 123 is supported by the outer ring of the 3rd bearing 116, and inner ring and the height adjustment sleeve 108 of the 3rd bearing 116 coordinate, and the 3rd belt wheel 123 is used for supporting the third-largest arm straps 210, the third-largest arm straps 210 is moved, and drives the 3rd belt wheel 123 to rotate.
Height adjustment sleeve 108 and the second belt wheel 122 are connected, second belt wheel 122 is supported by the outer ring of the second bearing 117, and inner ring and the bearing seat ring 118 of the second bearing 117 coordinate, and the second belt wheel 122 is used for supporting second largest arm straps 209, second largest arm straps 209 is moved, 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 outer ring of clutch shaft bearing 119 supports the first belt wheel 121, first belt wheel 121 and forearm turnbarrel 106 are connected, first belt wheel 121 is used for supporting first arm straps 208, first arm straps 208 is moved, and drives the first belt wheel 121 to rotate.
Article four, the motion of large arm straps 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.
The partial structurtes exploded perspective view that Fig. 4 B is tail-wheel assembly shown in Fig. 3.Please refer to Fig. 4 B and Fig. 4 A, the lower end that large arm rotates master collet 111 is equipped with the dynamic plate 2 128 of first dynamic plate the one 126, first quiet plate 127, first.The lower end of hand-screw rotaring sleeve 110 is equipped with the dynamic plate 137 of the second quiet plate 138, second.The lower end of pitching adjustment sleeve 109 is equipped with the 3rd quiet plate 129, the 3rd dynamic plate 130.The lower end of height adjustment sleeve 108 is equipped with the 4th quiet plate 136, the 4th dynamic plate 135.The lower end of large arm turnbarrel 107 is equipped with the 5th quiet plate 131, the 5th dynamic plate 132.The lower end of forearm turnbarrel 106 is provided with the 6th quiet plate 134, the 6th dynamic plate 133.
All dynamic plates all connect with spline form with corresponding sleeve, ensure to move not relatively rotate between plate with corresponding sleeve.The projecting teeth of all quiet plate peripheries is all stuck in the groove inside hollow base 105, and quiet plate does not rotate with the rotation of sleeve.When dynamic plate and quiet plate compress mutually, dynamic plate stops operating because of frictional force, sleeve can not be rotated, thus realize the location of localization machine mechanical arm.Dynamic plate (totally seven) and quiet plate (totally six) interval are installed, and are superimposed on band-type brake armature surface.
When 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, dynamic do not have pressure between plate and quiet plate, thus there is gap, there is not frictional force, forearm turnbarrel 106, large arm turnbarrel 107, height adjust sleeve 108, pitching adjusts sleeve 109, hand-screw rotaring sleeve 110, large arm rotation master collet 111 all can be independent of each other rotation.
When band-type brake 102 unclamps, because there is not magnetic force in band-type brake armature and band-type brake yoke, band-type brake stage clip resiles shape, band-type brake armature is because of the rising of band-type brake stage clip elastic force active position, hold out against the 6th dynamic plate 133, 6th dynamic plate 133 moves up, compress the 6th quiet plate 134, 6th quiet plate 134 compresses again the 5th dynamic plate 132, the like, all dynamic plates and quiet plate are pressed, dynamic gap between plate and quiet plate disappears, produce frictional force, cause forearm turnbarrel 106, large arm turnbarrel 107, height adjustment sleeve 108, pitching adjustment sleeve 109, hand-screw rotaring sleeve 110, large arm rotates master collet 111 and can not rotate, thus make the first belt wheel 121 of being connected with relevant sleeve, second belt wheel 122, 3rd belt wheel 123, 4th belt wheel 124 can not rotate, the steel band be wrapped on belt wheel also can stop motion when straining.
Large arm 200
Fig. 5 is large arm population structure exploded perspective view in the localization machine mechanical arm shown in Fig. 2, the partial structurtes schematic diagram that Fig. 6 is 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, stifled 206, the 4th hole, stifled 204, the 3rd hole, stifled 203, second hole, large arm lower casing 207, first hole are stifled 205, first arm straps 208, second largest arm straps 209, the third-largest arm straps 210, the fourth-largest arm straps 211, first large arm regulating wheel group 220, second large arm regulating wheel group 230, first large arm directive wheel group 240, second large arm directive wheel group 250.Large arm mesochite 201 is used for fixing the position of the first large arm regulating wheel group 220, second large arm regulating wheel group 230, first large arm directive wheel group 240, second large arm directive wheel group 250.
Fig. 7 is the first large arm regulating wheel group population structure schematic diagram in large arm shown in Fig. 5, with reference to Fig. 7, the first large arm regulating wheel group 220 mainly contains first and determines frame 221, first fork 222, first adjustment rack 225, first regulating wheel 223, first fixed wheel 224, 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 turning end.First fixed wheel 224 is used for increasing the cornerite between first arm straps 208 and the first belt wheel 121, increase the frictional force between steel band and belt wheel, pull up stifled 203, first regulating wheel 223 in the first hole adjusts first arm straps 208 tightness and tensile force by the first holding screw 226, avoid skidding.
Fig. 8 A and Fig. 8 B is the second large arm regulating wheel group population structure schematic diagram (different visual angles) in large arm shown in Fig. 5, with reference to Fig. 8 A and Fig. 8 B, the second large arm regulating wheel group 230 mainly contains second and determines frame 2301, second fork 2311, the 3rd fork 2302, the 4th fork 2310, second adjustment rack 2308, second regulating wheel 2312, the 3rd regulating wheel 2303, the 4th regulating wheel 2309, second fixed wheel 2306, the 3rd fixed wheel 2307, the 4th fixed wheel 2305, 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 the turning end that frame 2301 is used for fixing the second fork 2311, the 3rd fork 2302, the 4th fork 2310.Second fixed wheel 2306 is used for increasing the cornerite between second largest arm straps 209 and the second belt wheel 122, and the second regulating wheel 2312 adjusts tightness and the tensile force of second largest arm straps 209 by the second holding screw 2313, avoids skidding.3rd fixed wheel 2307 is used for increasing the cornerite between the third-largest arm straps 210 and the 3rd belt wheel 123, and the 3rd regulating wheel 2303 adjusts tightness and the tensile force of the third-largest arm straps 210 by the 3rd holding screw 2304, avoids skidding.4th fixed wheel 2305 is used for increasing the cornerite between the fourth-largest arm straps 211 and the 4th belt wheel 124, and the 4th regulating wheel 2309 adjusts tightness and the tensile force of the fourth-largest arm straps 211 by the 4th holding screw 2314, avoids skidding.The existence that hole is stifled, when not taking large arm support apart, regulates regulating wheel easily.
Fig. 9 is the first large arm directive wheel group population structure schematic diagram in large arm shown in Fig. 5, and with reference to Fig. 9, the first large arm directive wheel group 240 mainly contains the first large arm directive wheel framing 241, first large arm directive wheel group wheel body 242.First large arm directive wheel framing 241 is connected on large arm mesochite 201, and the Main Function of the first large arm directive wheel group 240 is the first arm straps 208 in location, increases the contact area that first arm straps 208 and forearm rotate belt wheel 306, avoids skidding.
Figure 10 is the second large arm directive wheel group population structure schematic diagram in large arm shown in Fig. 5, with reference to Figure 10, the second large arm directive wheel group 250 mainly contains in the second large arm directive wheel group and takes turns wheel the 252, second large arm directive wheel group lower whorl 253, second large arm directive wheel framing 254 in the 251, second large arm directive wheel group.Second large arm directive wheel framing 254 is connected on large arm lower casing 207, and the Main Function of the second large arm directive wheel group being taken turns 251 is the second largest arm straps 209 in location, increases the contact area of height belt wheel 305 in the middle part of second largest arm straps 209 and second, avoids skidding.In like manner, the effect taking turns 252 in second large arm directive wheel group is the contact area increasing pitching belt wheel 304 in the middle part of the third-largest arm straps 210 and second, and the effect of the second large arm directive wheel group lower whorl 253 is contacts area that in the middle part of the fourth-largest arm straps of increase 211 and second, hand-screw turns belt wheel 303.
Control large arm 200 to band-type brake 102 to be below described along the situation of the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis:
(1) when band-type brake is held tightly, can relatively rotate between the dynamic plate 2 128 of first dynamic plate the one 126, first quiet plate 127, first, large arm rotates master collet 111 and can rotate around the axis of hollow shaft housing 112, thus large arm 200 can along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis;
(2) when band-type brake unclamps, can not relatively rotate between the dynamic plate 2 128 of first dynamic plate the one 126, first quiet plate 127, first, large arm rotates master collet 111 and stops mutual rotation with hollow shaft housing 112, thus large arm 200 is locked along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis.
Middle pulley assemblies 300
Figure 11 is pulley assemblies general profile structural representation middle in localization machine mechanical arm described in Fig. 2, and the first half and the forearm 400 of middle pulley assemblies 300 link, and the latter half and large arm 200 link, and make there is mutual rotation between forearm 400 and large arm 200.
Please refer to Figure 11, middle part hand-screw turns belt shaft 312 upper end and is provided with circlip 311, be used for fixing the outer ring of the 7th bearing 315, in the middle part of the inner ring and first of the 7th bearing 315, hand-screw turns belt wheel 309 and coordinates, in the middle part of in the of first, hand-screw turns belt wheel 309 and middle part hand-screw and turns belt shaft 312 upper end and be connected, and the outer ring of the 7th bearing 315 supports clutch shaft bearing outer support 310.Clutch shaft bearing outer support 310 is stuck in the groove inside forearm main support 401.In the middle part of in the of first, hand-screw turns belt wheel 309 and is used for supporting forearm rotating band 405.In the middle part of the part and first that in the middle part of in the of first, hand-screw turns belt wheel 309, the part of pitching belt wheel 308 is coordinated by the 8th bearing 316, in the middle part of in the of first, pitching belt wheel 308 and middle part pitching belt shaft 313 upper end coordinate with spline form, ensure mutually not rotate therebetween, in the middle part of in the of first, pitching belt wheel 308 is used for supporting forearm pitching band 406.
In the middle part of in the of first pitching belt wheel 308 part and first in the middle part of height belt wheel 307 part coordinated by the 9th bearing 317, in the middle part of in the of first, height belt wheel 307 and height belt shaft 314 upper end, middle part coordinate with spline form, ensure mutually not rotate therebetween, in the middle part of in the of first, height belt wheel 307 is used for supporting forearm take off and landing strip 407.
In the middle part of in the of first, in the height part of 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.Forearm rotates bearing 319 in belt wheel 306 and bearing and is coordinated by the 11 bearing 320, and forearm rotates belt wheel 306 and 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 rotates belt wheel 306 and is used for supporting first arm straps 208.
In the middle part of in the of second, the height part of belt wheel 305 and the boss of large arm mesochite 201 are coordinated by the 12 bearing 321, in the middle part of in the of second, height belt wheel 305 and height belt shaft 314 lower end, middle part coordinate with spline form, ensure mutually not rotate therebetween, in the middle part of in the of second, height belt wheel 305 is used for supporting second largest arm straps 209.
In the middle part of in the of second, in the middle part of pitching belt wheel 304 and second, the part of height belt wheel 305 is coordinated by the 13 bearing 322, in the middle part of in the of second, pitching belt wheel 304 and middle part pitching belt shaft 313 lower end coordinate with spline form, ensure mutually not rotate therebetween, in the middle part of in the of second, pitching belt wheel 304 is used for supporting the third-largest arm straps 210.
In the middle part of the part second that in the middle part of in the of second, hand-screw turns belt wheel 303, the part of pitching belt wheel 304 is coordinated by the 14 bearing 323, and in the middle part of in the of second, hand-screw turns belt wheel 303 and is used for supporting the fourth-largest arm straps 211.In the middle part of second bearing outer support 302 and second, hand-screw turns belt wheel 303 part and is 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 therebetween.Meanwhile, under belt wheel, card 325 is used for fixing the inner ring of the 15 bearing 324.Be equipped with little round nut 301 below card 325 under belt wheel, little round nut 301 and middle part hand-screw turn belt shaft 312 and are connected, and fix the position of the 15 bearing 324 further.
When first arm straps 208 stop motion, forearm rotates belt wheel 306 and will stop operating, and forearm 400 rotates stopping relative to large arm 200.In like manner, when second largest arm straps 209 stop motion, in the middle part of in the of second, height belt wheel 305 can stop operating, and middle part height belt shaft 314 also can stop operating thereupon, and in the middle part of causing first, height belt wheel 307 stops operating, forearm take off and landing strip 407 stop motion.When the third-largest arm straps 210 stop motion, in the middle part of in the of second, pitching belt wheel 304 can stop operating, and middle part pitching belt shaft 313 also can stop operating thereupon, and in the middle part of causing first, pitching belt wheel 308 stops operating, and forearm pitching band 406 will stop motion.When the fourth-largest arm straps 211 stop motion, in the middle part of in the of second, 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, and in the middle part of causing first, hand-screw turns belt wheel 309 and stops operating, and forearm rotating band 405 will stop motion.
Forearm 400
Figure 12 is localization machine mechanical arm medium and small arm population structure exploded perspective view 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 the position of forearm adjustment wheels 404 and forearm guiding wheels 403; effect of forearm adjustment wheels 404 is identical with the effect of the second large arm regulating wheel group 230, and the effect of forearm guiding wheels 403 is identical with the effect of the second large arm directive wheel group 250.
Control forearm 400 to band-type brake 102 to be below described along the situation of the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis:
(1) when band-type brake 102 is held tightly, 6th dynamic can relatively rotate between plate 133 and the 6th quiet plate 134; forearm turnbarrel 106 can rotate around the axis of hollow shaft housing 112; described first belt wheel 121 is free to rotate; the forearm rotation belt wheel 306 connected by first arm straps 208 is free to rotate, thus forearm 400 can around middle pulley assemblies 300 along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis;
(2) when band-type brake 102 unclamps, 6th dynamic can not relatively rotate between plate 133 and the 6th quiet plate 134; forearm turnbarrel 106 can not rotate around the axis of hollow shaft housing 112; described first belt wheel 121 is not free to rotate; the forearm rotation belt wheel 306 connected by first arm straps 208 is not free to rotate yet, thus forearm 400 is locked along the rotation perpendicular to described tail-wheel assembly 100 central axis plane around middle pulley assemblies 300.
Front component 500
Figure 13 is front component general profile structural representation in localization machine 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 Bearing with wheel upper cover little 516 with hand-screw and is connected with pin, hand-screw turns the part that Bearing with wheel upper cover large 515 and hand-screw turn on belt wheel 514 and is coordinated by the 16 bearing 519, hand-screw turns Bearing with wheel upper cover little 516 and hand-screw and to turn 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 to turn on belt wheel 514 and hand-screw to turn under belt wheel 513 and be connected, hand-screw to turn on belt wheel 514 with hand-screw turn under belt wheel 513 radius identical, both common support forearm rotating bands 405.Hand-screw to turn under belt wheel on 513 and pitching belt wheel 512 and is 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 the outside that hand-screw turns belt shaft 506.On pitching belt wheel 512 and pitching belt wheel under 511 to be connected, on pitching belt wheel, 512 is identical with 511 radiuses under pitching belt wheel, both common support forearm pitching bands 406.Under pitching belt wheel, 511 are coordinated by the 18 bearing 521 with the part of height adjustment belt wheel 510, and height adjustment belt wheel 510 is connected with height adjustment belt wheel shaft 518, and height adjustment belt wheel shaft 518 is enclosed within the outside of pitching belt shaft 517.In height adjustment belt wheel 510 and height belt shaft bearing 522, under height belt shaft bearing, 524 are coordinated by the 19 bearing 523, in height belt shaft bearing 522, under height belt shaft bearing 524 and forearm bracket lower plate 402 be connected, height adjustment belt wheel 510 is used for supporting forearm take off and landing strip 407.
The partial structurtes exploded perspective view that Figure 14 is front component shown in Figure 13, with reference to Figure 13 and Figure 14, pitching cog 527 and height adjustment belt wheel shaft 518 be connected by the 5th holding screw 525, ensure that pitching cogs between 527 and height adjustment belt wheel 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 pitching gear does not rotate between 529 and pitching belt shaft 517 mutually.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.531 rotations under 529 drive pitching gears on pitching gear.Under pitching gear shaft, 504 are enclosed within the inner side that hand-screw turns belt shaft 506 lateral part, carry out axial location by pitching gear bush 505, to transmit under pitching gear the moment of torsion under 531 and pitching gear shaft between 504 by flat key.Pitching lower gear 528 and hand-screw turn belt shaft 506 and are coordinated by two identical the 21 bearings 509, and the 21 bearing 509 is located by shading ring 507 and bearing shading ring 508, and pitching lower gear 528 and the right shell 602 of lifting arm are connected.Balance gear 530 is positioned at the lower end that hand-screw turns 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.
The partial structurtes exploded perspective view that Figure 15 is front component shown in Figure 13, with reference to Figure 14 and Figure 15, lower end and the balancing spring guiding mechanism 540 of balance gear 530 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 hand-screw and turns in the groove of belt shaft 506 lower end, and the other end is fixed on spring case 543 inwall.The effect of scroll spring 542 is 504 moments of torsion produced under the little linking arm of balance and pitching gear shaft relative to the weight of the surgical end effector that little linking arm connects, and spring case 543, end cap 541 are used for sealing scroll spring 542.
When 405 stop motion of forearm rotating band, hand-screw to turn on belt wheel 514 and hand-screw to turn under belt wheel 513 and all can stop operating, hand-screw turns belt shaft 506 and also can stop operating thereupon, and like this, front component 500 will stop relative to rotating of forearm 400.When forearm pitching band 406 stop motion, on pitching belt wheel 512 and pitching belt wheel under 511 all to stop operating, pitching belt shaft 517 also can stop operating thereupon, like this, on pitching gear 529 and pitching gear under 531 all to stop operating, under pitching gear shaft, 504 also can stop operating.When forearm take off and landing strip 407 stops operating, height adjustment belt wheel 510 stops operating, and height adjustment belt wheel shaft 518 will stop operating, pitching cog 527 and pitching lower gear 528 stop operating.
Control front component 500 to band-type brake 102 to be below described along the situation of the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis:
(1) when band-type brake 102 is held tightly, can relatively rotate between second quiet plate 138 and the second dynamic plate 137, hand-screw rotaring sleeve 110 can rotate around the axis of hollow shaft housing 112, it is free to rotate that the hand-screw connected by steel band, axle sleeve turns belt shaft 506, thus front component 500 is along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis;
(2) when band-type brake 102 unclamps, can not relatively rotate between second quiet plate 138 and the second dynamic plate 137, hand-screw rotaring sleeve 110 can not rotate around the axis of hollow shaft housing 112, the 4th described belt wheel 124 is not free to rotate, in the middle part of in the of connected by the fourth-largest arm straps 405 second, to turn belt wheel 303 not free to rotate yet for hand-screw, with hand-screw in the middle part of in the of second turn belt wheel 303 coaxial be connected first in the middle part of hand-screw to turn belt wheel 309 not free to rotate, the hand-screw connected by forearm rotating band 405 to turn on belt wheel 514, hand-screw not to turn under belt wheel 513 free to rotate, thus described hand-screw to turn belt shaft 506 not free to rotate, front component 500 is locked along the Plane Rotation perpendicular to described tail-wheel assembly 100 central axis.
Lifting arm 600
Figure 16 is lifting arm population structure exploded perspective view in the localization machine mechanical arm described in Fig. 2, with reference to Figure 16, lifting arm 600 mainly comprises belt wheel 609 under lifting arm shell 601, the right shell of lifting arm 602, the left shell 604 of lifting arm, lifting arm upper belt-wheel 603, lifting arm, regulating wheel 605, lifting arm straps 608, the 7th holding screw 606, tension wheel shaft 607.Lifting arm shell 601 is used for closed pitching lower gear 528, and lifting arm shell 601 and the right shell 602 of lifting arm are connected.Pitching lower gear 528 is connected on the right shell 602 of lifting arm, and the right shell of lifting arm 602 and the left shell 604 of lifting arm are connected.Lifting arm upper belt-wheel 603 504 to be connected by flat key with under pitching gear shaft, and lifting arm upper belt-wheel 603 is used for supporting elevation arm straps 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 straps 608.Regulating wheel 605 regulates the tightness of lifting arm straps 608 by the 7th holding screw 606.Tension wheel shaft 607 is fixed in the groove of the left shell of lifting arm 604 and the right shell 602 of lifting arm.The lower end of the left shell of lifting arm 604 and the right shell 602 of lifting arm is supported by the outer ring of the 22 bearing 703, and the inner ring of the 22 bearing 703 and the axle head of cable trough 701 coordinate.
When under pitching gear shaft 504 stop operating time, lifting arm upper belt-wheel 603 stops operating, lifting arm straps 608 stop operating, under lifting arm, belt wheel 609 stops operating.
Control lifting arm 600 to band-type brake 102 to be below described along the situation of the Plane Rotation perpendicular to described forearm 400 central axis:
(1) when band-type brake 102 is held tightly, can relatively rotate between 4th quiet plate 136 and the 4th dynamic plate 135, height adjustment sleeve 108 can rotate around the axis of hollow shaft housing 112, the pitching lower gear 528 connected by steel band, axle sleeve is free to rotate, thus lifting arm 600 is along the Plane Rotation perpendicular to described forearm 400 central axis;
(2) when band-type brake 102 unclamps, can not relatively rotate between 4th quiet plate 136 and the 4th dynamic plate 135, height adjustment sleeve 108 can not rotate around the axis of hollow shaft housing 112, the second described belt wheel 122 is not free to rotate, in the middle part of in the of connected by second largest arm straps 209 second, height belt wheel 305 is not free to rotate, with height belt wheel 305 in the middle part of in the of second coaxial be connected first in the middle part of just belt wheel 307 is not free to rotate, the height adjustment belt wheel 510 connected by forearm take off and landing strip 407 is not free to rotate, adjusting the coaxial pitching be 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 engaged that cog, thus lifting arm 600 is locked along the Plane Rotation perpendicular to described forearm 400 central axis.
Little linking arm 700
Figure 17 is the localization machine mechanical arm medium and small linking arm population structure 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 location the 22 bearing 703, and cable trough 701 and mechanical hand contiguous block 702 are connected.
Control little linking arm 700 to band-type brake 102 to be below described along the situation of the Plane Rotation perpendicular to described lifting arm (600) central axis:
(1) when band-type brake 102 is held tightly, can relatively rotate between 3rd quiet plate 129 and the 3rd dynamic plate 130, pitching adjustment sleeve 109 can rotate around the axis of hollow shaft housing 112, under the lifting arm connected by steel band, axle sleeve, belt wheel 609 is free to rotate, thus little linking arm 700 is along the Plane Rotation perpendicular to described lifting arm 600 central axis.
(2) when band-type brake 102 unclamps, can not relatively rotate between 3rd quiet plate 129 and the 3rd dynamic plate 130, pitching adjustment sleeve 109 can not rotate around the axis of hollow shaft housing 112, the 3rd described belt wheel 123 is not free to rotate, in the middle part of in the of connected by the third-largest arm straps 210 second, pitching belt wheel 304 is not free to rotate, with pitching belt wheel 304 in the middle part of in the of second coaxial be connected first in the middle part of pitching belt wheel 308 not free to rotate, by forearm pitching band 406 connect pitching belt wheel on 512, under pitching belt wheel, 511 is not free to rotate, with on pitching belt wheel 512, on the pitching gears of 511 coaxial connections under pitching belt wheel, 529 is not free to rotate, 531 not free to rotate with under the 529 pitching gears engaged on pitching gear, not free to rotate with the 531 coaxial lifting arm upper belt-wheels 603 be connected under pitching gear, under the lifting arm connected by lifting arm straps 608, belt wheel 609 is not free to rotate, thus little linking arm 700 is locked along the Plane Rotation perpendicular to described lifting arm 600 central axis.
So far, the present embodiment localization machine mechanical arm is introduced complete.
It should be noted that, the above-mentioned definition to each element is not limited in the various concrete structure or shape mentioned in embodiment, and those skilled in the art can replace it with knowing simply, such as:
(1) transmission between each several part, can also the conveyer belt of traditional cloth matter or colloid except adopting except steel band;
(2) the first large arm directive wheel group 240, first large arm regulating wheel group 220 and the second large arm directive wheel group 250, second large arm regulating wheel group 230 in large arm 200 can be omitted;
(3), in the present embodiment, band-type brake adopts electromagnetic brake, can certainly adopt motor internal contracting brake, even other band-type brake types such as manual band-type brake.If employing electromagnetic brake, when band-type brake obtains electric, it is in the state of holding tightly, and the dynamic plate of realization and quiet plate unclamp; When band-type brake dead electricity, it is in releasing orientation, realizes dynamic plate and quiet plate compression;
(4) the present embodiment localization machine mechanical arm can be applied in auxiliary interventional surgery, provides location for sending pipe wire feeder.This localization machine mechanical arm has five degree of freedom, and the work space of mechanical arm is increased, and the while of can realizing utilizing a band-type brake, the motion in locked five joints, shortens the working time for the treatment of worker simultaneously.But; but the present invention is not as limit; as everyone knows; localization machine mechanical arm has a variety of; the number of degrees of freedom, had 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 within protection scope of the present invention.
In sum, localization machine mechanical arm of the present invention adopts a band-type brake locked multiple cradle head simultaneously, solves the limitation of the locked single cradle head of single band-type brake, reduces the accumulation gap that multiple band-type brake brings, and mechanical arm total quality is alleviated, performance accuracy improves.Meanwhile, whole mechanism quality can be alleviated, improve performance accuracy, realize force balance.Steel Belt Transmission bearing capacity is comparatively large, and the service life of band is longer, the pretightning force of endurable retainer belt.
Owing to having above-mentioned advantage, localization machine mechanical arm of the present invention not only can be applied to medical field, and other automated machine device can be applied to, as various fields such as entertainment service, military affairs, industry automatic control, robots, being used for certain accurately navigating to spatially a bit carries out operation, has high practical value.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be 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 made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. a localization machine 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, often organizes locking mechanism and comprises: sleeve, is sheathed in described hollow shaft housing (112); Dynamic 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 to described hollow base (105), between the two without relatively rotating, can move along sleeve axis;
Band-type brake (102), is fixed in the bottom of described hollow base (105) bottom it, the locking mechanism of at least two groups described in its top is arranged in 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 being wherein positioned at front end is connected to the top of described hollow shaft housing, the upper end of each cradle head sleeve of corresponding locking mechanism directly or at least two group locking mechanisms described in being connected to by drive mechanism;
Wherein, when band-type brake (102) is held tightly, often organize between the dynamic plate of locking mechanism and quiet plate and can relatively rotate, the sleeve be connected with dynamic plate can rotate along sleeve axis, is in free rotary state with the cradle head of this sleeve connection; When band-type brake (102) unclamps, its top rises, one group of locking mechanism of downside is positioned in the locking mechanism of at least two groups described in compression, often organize between the dynamic plate of locking mechanism and quiet plate and all can not relatively rotate, the sleeve be connected with dynamic plate can not rotate along sleeve axis, is in locking state with this sleeve connection cradle head.
2. localization machine mechanical arm according to claim 1, is characterized in that, described at least two cradle heads comprise:
Large arm (200), is connected to the top of described tail-wheel assembly (100) hollow shaft housing, can along the Plane Rotation perpendicular to described tail-wheel assembly (100) central axis;
Forearm (400), is connected to the end of described large arm (200) by middle pulley assemblies (300), can along the Plane Rotation perpendicular to described tail-wheel assembly (100) central axis;
Front component (500) is connected to the end of described forearm (400), can along the Plane Rotation perpendicular to described tail-wheel assembly (100) central axis;
Lifting arm (600), is connected to the end of described forearm (400) by front component (500), can along the Plane Rotation perpendicular to described forearm (400) central axis;
Little linking arm (700), is connected to the end of described lifting arm (600), can 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) upper ends being connected to the sleeve of corresponding locking mechanism respectively.
3. localization machine 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 rotates master collet (111), and be sheathed in described hollow shaft housing (112), the rear end of its upper end and large arm lower casing (207) is affixed; First dynamic plate one (126), the lower end that itself and described large arm rotate master collet (111) is connected, and does not relatively rotate between the two; First quiet plate (127), being positioned at the bottom of the described first dynamic plate one (126), being connected to described hollow base (105), between the two without relatively rotating; First dynamic plate two (128), be positioned at the bottom of the first quiet plate (127), the lower end that itself and described large arm rotate master collet (111) is connected, and does not relatively rotate between the two.
4. localization machine 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 rotates belt wheel (306), is sheathed on described middle part hand-screw and turns on belt shaft (312), be fixed in described forearm bracket lower plate (402);
Described large arm (200) comprising: first arm straps (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 are rotated belt wheel (306) and linked by first arm straps (208); 6th dynamic plate (133), it is connected with the lower end of described forearm turnbarrel (106), does not relatively rotate between the two; 6th quiet plate (134) is positioned at the top of the described 6th dynamic plate (133), is connected to described hollow base (105), between the two without relatively rotating.
5. localization machine mechanical arm according to claim 4, is characterized in that, described large arm (200) also comprises:
First large arm directive wheel group (240), is fixed on described large arm mesochite (201), rotates the contact area between belt wheel (306) for increasing first arm straps (208) and forearm; And
First large arm regulating wheel group (220), be fixed on described large arm mesochite (201), for increasing the contact area between first arm straps (208) and the first belt wheel (121), and adjust the tightness of first arm straps (208).
6. localization machine 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 (513) under (514), hand-screw turn belt wheel on belt wheel and is all fixed on described hand-screw and turns belt shaft (506) upper part;
Described forearm (400) comprising: forearm rotating band (405); Described forearm bracket lower plate (402) is located at by bearing holder (housing, cover) the upper part that described hand-screw turns belt shaft (506);
Described middle pulley assemblies (300) comprising:
In the middle part of in the of first, hand-screw turns belt wheel (309), is fixed on the upper end that described middle part hand-screw turns belt shaft (312);
In the middle part of in the of second, hand-screw turns belt wheel (303), is fixed on the lower end that described middle part hand-screw turns belt shaft (312);
Described large arm (200) comprising: the fourth-largest arm straps (211);
Described front component locking mechanism comprises: hand-screw rotaring sleeve (110), be sheathed in described hollow shaft housing (112), its upper end arranges the 4th belt wheel (124), in the middle part of 4th belt wheel (124) and described second, hand-screw is turned belt wheel (303) and is linked by the fourth-largest arm straps (211), in the middle part of in the of described second, hand-screw turns belt wheel (303) and turns belt wheel (309) with hand-screw in the middle part of in the of first and be coaxially connected, in the middle part of in the of described first, hand-screw turns belt wheel (309) and described hand-screw turns (514) on belt wheel, under hand-screw turns belt wheel, (513) are linked by forearm rotating band (405), second quiet plate (138) is connected to described hollow base (105), between the two without relatively rotating, second dynamic plate (137) is positioned at the bottom of described 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. localization machine 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 engage each other;
Height adjusts belt wheel (510), is connected with height adjustment belt wheel shaft (518) upper end;
Described height adjustment belt wheel 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);
Height belt wheel (307) in the middle part of in the of first, is fixed on the upper end at described middle part height belt shaft (314);
Height belt wheel (305) in the middle part of in the of second, is fixed on the lower end at described middle part height belt shaft (314);
Described large arm (200) comprising: second largest arm straps (209);
Described lifting arm locking mechanism comprises: height adjusts sleeve (108), be sheathed in described hollow shaft housing (112), its upper end arranges the second belt wheel (122), in the middle part of this second belt wheel (122) and described second, height belt wheel (305) is linked by second largest arm straps (209), in the middle part of in the of second, height belt wheel (305) is coaxially connected with height belt wheel (307) in the middle part of in the of first, in the middle part of in the of described first, height belt wheel (307) and described height adjustment belt wheel (510) are linked by forearm take off and landing strip (407), described pitching cog (527) engage with described pitching lower gear (528), 4th quiet plate (136) is connected to described hollow base (105), between the two without relatively rotating, 4th dynamic plate (135) is positioned at the bottom of described 4th quiet plate (136), and the lower end that itself and described height adjust sleeve (108) is connected, and does not relatively rotate between the two.
8. localization machine 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 (609) under lifting arm, and itself and described cable trough (701) are connected; Lifting arm straps (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 the lower part that described hand-screw turns 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), it is connected in described pitching belt shaft (517) two ends respectively with (529) on described pitching gear;
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);
Pitching belt wheel (308) in the middle part of in the of first, is fixed on the upper end of described middle part pitching belt shaft (313);
Pitching belt wheel (304) in the middle part of in the of second, is fixed on the lower end of described middle part pitching belt shaft (313);
Described large arm (200) comprising: the third-largest arm straps (210);
Described little linking arm locking mechanism comprises: pitching adjustment sleeve (109), be sheathed in described hollow shaft housing (112), its upper end arranges the 3rd belt wheel (123), in the middle part of 3rd belt wheel (123) and described second, pitching belt wheel (304) is linked by the third-largest arm straps (210), in the middle part of in the of second, pitching belt wheel (304) is coaxially connected with pitching belt wheel (308) in the middle part of in the of first, in the middle part of in the of described first on pitching belt wheel (308) and described pitching belt wheel (512), under pitching belt wheel, (511) are linked by forearm pitching band (406), 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) is by lifting arm straps (608) interlock, under described lifting arm, belt wheel (609) and described cable trough (701) are connected, 3rd quiet plate (129) is connected to described hollow base (105), between the two without relatively rotating, 3rd dynamic plate (130) is positioned at the bottom of described 3rd quiet plate (129), and the lower end that itself and described pitching adjust sleeve (109) is connected, and does not relatively rotate between the two.
9. localization machine mechanical arm according to claim 8, it is characterized in that, the moment of torsion that under described little linking arm (700) and described pitching gear shaft relative to the weight of the end effector that little linking arm connects, (504) produce is balanced by scroll spring (542);
Described front component comprises:
Balance gear (530), it is connected to 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 described hand-screw and turns in the groove of belt shaft (506) lower end, and the other end is fixed on the inwall of described spring case (543);
Under described little linking arm (700) and described pitching gear shaft relative to the weight of the end effector that little linking arm connects (504) produce moment of torsion time, the pitching lower gear (528) be connected with the right shell of lifting arm (602) can produce rotating of under pitching gear shaft (504), described balance gear (530) is driven to rotate, the balancing spring guiding mechanism (540) be connected with balance gear (530) rotates, now, the described scroll spring (542) be connected with the inwall of spring case (543) can produce spring torque to balance.
10. localization machine mechanical arm according to claim 8, is characterized in that, described large arm (200) also comprises:
Second large arm directive wheel group (250), is fixed on described large arm lower casing (207), is used for locating second largest arm straps (209), the third-largest arm straps (210), the fourth-largest arm straps (211); And
Second large arm regulating wheel group (230), be fixed on described large arm lower casing (207), be used for adjusting the tightness of second largest arm straps (209), the third-largest arm straps (210), the fourth-largest arm straps (211).
11. localization machine mechanical arm according to claim 8, it is characterized in that, described first arm straps (208), second largest arm straps (209), the third-largest arm straps (210), the fourth-largest arm straps (211), forearm rotating band (405), forearm pitching band (406), forearm take off and landing strip (407), lifting arm straps (608) are steel band.
12. localization machine mechanical arm according to any one of claim 1 to 11, it is characterized in that, described band-type brake is the electromagnetic brake moved up and down;
For this electromagnetic brake, when it obtains electric, it is in the state of holding tightly, and when its dead electricity, it is in releasing orientation.
13. localization machine mechanical arm according to any one of claim 1 to 10, is characterized in that, often organize the dynamic plate of latch-up structure and connect with spline form with between corresponding sleeve in described at least two group locking mechanisms; 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 |
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| CN201210554589.0A CN103876834B (en) | 2012-12-19 | 2012-12-19 | Localization machine mechanical arm |
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| CN103876834A CN103876834A (en) | 2014-06-25 |
| CN103876834B true CN103876834B (en) | 2015-11-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN106175934B (en) * | 2016-06-29 | 2019-04-30 | 微创（上海）医疗机器人有限公司 | Operating robot and its mechanical arm |
| 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 |
| 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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| CN201987528U (en) * | 2011-01-13 | 2011-09-28 | 天津大学 | Mechanical arm for positioning endoscope |
| CN202313715U (en) * | 2011-09-05 | 2012-07-11 | 周宁新 | Mechanical arm arrangement structure for minimally-invasive-surgery robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201987528U (en) * | 2011-01-13 | 2011-09-28 | 天津大学 | Mechanical arm for positioning endoscope |
| CN202313715U (en) * | 2011-09-05 | 2012-07-11 | 周宁新 | Mechanical arm arrangement structure for minimally-invasive-surgery robot |
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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 |