CN105232153A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN105232153A CN105232153A CN201510567721.5A CN201510567721A CN105232153A CN 105232153 A CN105232153 A CN 105232153A CN 201510567721 A CN201510567721 A CN 201510567721A CN 105232153 A CN105232153 A CN 105232153A
- Authority
- CN
- China
- Prior art keywords
- rotary joint
- rotating shaft
- mechanical arm
- shell
- brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention provides a mechanical arm. A slide part, a first rotating joint, a swing part and a second rotating joint are in sequential connection. The swing part comprises a connecting rod and a pull rod, two ends of each of the connecting rod and the pull rod are connected with the first rotating joint and the second rotating joint respectively to form four connection points, and sequential connection lines of the four connection points form a parallelogram. Therefore, the mechanical arm has a four-degree-of-freedom adjustment structure, and an operation direction of an implement arm mounted on the second rotating joint can be flexibly adjusted. Moreover, since a slider of a horizontal moving joint and a parallelogram mechanism are both positioned inside relevant parts, the mechanical arm is compact in integral structure, posture stability of the implement arm can be well kept without influences on integral rigidity of the implement arm, and flexibility of the mechanical arm is further improved.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly a kind of mechanical arm.
Background technology
Minimally invasive surgery (minimallyinvasive) refers to a kind of modus operandi of being performed a surgical operation in body cavity inside by the endoscope such as peritoneoscope, thoracoscope.Minimally invasive surgery have compared with routine operation wound little, appear fully, the advantage such as damage is light, after-operation response is little, recovery is fast, cicatrix is little.Along with the development that Micro trauma surgical operation and intelligent surgical are performed the operation, the intelligent operation artificially represented with machine is equipped in surgical clinical and obtains increasing application.The minimally invasive surgery of applied robot is compared traditional minimally invasive surgery and is had precisely reliable especially, and doctor bears gently, more the advantage of dexterity.
Robot realizes operation technique by its mechanical arm, surgical engine mechanical arm is made up of guiding mechanism and the arm tool that is connected with described guiding mechanism, guiding mechanism is used for adjusting the position of arm tool relative patient, arm tool performs the operation technique to patient, so that operator carries out related surgical operation.
China Patent Publication No. CN102973317A discloses a kind of minimally invasive surgery robot arm arrangement, horizontally rotates by three the locus that joint and moving sets moved up and down adjust arm tool.But this minimally invasive surgery robot arm has two sections of adjustment arms, and make the length of the mechanical arm of horizontal direction long, structural rigidity and stability are not easy to be protected, and structure is not compact.
U.S. Patent number US2007156122A1 discloses a kind of Three Degree Of Freedom guiding mechanism, there are two rotary joints and a linking arm in this mechanism, be provided with compression spring in linking arm, balanced the gravity of connected mechanical arm by compression spring tractive steel wire through pulley.But the shortcoming of this guiding mechanism is: the adjustment that only can realize front end tool arm three-dimensional space position, can not the sensing of adjustment means arm, and spring is in pressured state in its bascule, and system stability is poor, affect operating characteristics and the safety of whole guiding mechanism; In addition, compression spring needs extra stopping means to prevent spring shifted laterally, adds complexity and the frictional force of structure, enhances operation adjustment resistance.
In order to overcome the above-mentioned defect existing for existing minimally invasive surgery robot arm, design the minimally invasive surgery robot arm with good serviceability, those skilled in the art are carrying out correlational study always.
Summary of the invention
The object of the present invention is to provide a kind of mechanical arm, to overcome the shortcomings and deficiencies existing for existing minimally invasive surgery robot arm.
For solving the problems of the technologies described above, the invention provides a kind of mechanical arm, described mechanical arm comprises:
The slide unit connected in turn, the first rotary joint, tilting member and the second rotary joint; Wherein, described tilting member comprises connecting rod and pull bar, the two ends of described connecting rod are connected with described second rotary joint with described first rotary joint respectively, the two ends of described pull bar are connected with described second rotary joint with described first rotary joint respectively, form four points of connection, the line that described four points of connection is connected in turn forms parallelogram.
Optionally, in described mechanical arm, described first rotary joint is axially parallel with described second rotary joint.
Optionally, in described mechanical arm, described connecting rod, described pull bar are parallel with the axis of the first rotary joint with the line of the junction point of described first rotary joint.
Optionally, in described mechanical arm, the axes normal of described first rotary joint is in horizontal plane.
Optionally, in described mechanical arm, described slide unit comprise guide rail, with described guide rail with the use of slide block and contiguous block, one end of described contiguous block is connected with described slide block, and the other end is connected with described first rotary joint.
Optionally, in described mechanical arm, described slide unit also comprises the arrestment mechanism be arranged between described guide rail and described slide block, for locking the position of described slide block on described guide rail.
Optionally, in described mechanical arm, the brake that described first rotary joint comprises shell, is arranged at the rotating shaft in described shell and is arranged between described shell and described rotating shaft, described brake is for controlling described shell relative to the motion of described rotating shaft or stopping.
Optionally, in described mechanical arm, described first rotary joint also comprises the first angular encoder, and described first angular encoder is arranged between described shell and described rotating shaft, to measure the angle that the relatively described rotating shaft rotation of described shell turns over.
Optionally, in described mechanical arm, the brake that described second rotary joint comprises shell, is arranged at the rotating shaft in described shell and is arranged between described shell and described rotating shaft, described brake is for controlling described shell relative to the motion of described rotating shaft or stopping.
Optionally, in described mechanical arm, described second rotary joint also comprises the second angular encoder, and described second angular encoder is arranged between described shell and described rotating shaft, to measure the angle that the relatively described rotating shaft rotation of described shell turns over.
Optionally, in described mechanical arm, described brake comprises stator and rotor, described stator is fixed on described shell, and described rotor is fixed in described rotating shaft, when described brake obtains electric, described stator separates with described rotor, rotates relative to described rotating shaft to make described shell; During described brake dead electricity, described stator and described rotor obvolvent, rotate relative to described rotating shaft to stop described shell.
Optionally, described mechanical arm, described brake is replaced by motor, deceleration device and locking device thereof.
Optionally, in described mechanical arm, described rotating shaft is provided with arcuate groove, for limiting the rotational limitation angle of described shell relative to rotating shaft.
Optionally, in described mechanical arm, also comprise the gravitational equilibrium parts be arranged on described tilting member.
Optionally, in described mechanical arm, described gravitational equilibrium parts comprise tension spring and/or balancing weight and/or motor, and described tension spring one end is connected with the first rotary joint, and one end is connected with tilting member; Described balancing weight is arranged at and is configured at tilting member one end away from described second rotary joint.
Optionally, in described mechanical arm, described pull bar is positioned at the side of connecting rod away from the first rotary joint, and described connecting rod is provided with stopper slot near first rotary joint one end, and described pull bar is connected with described first rotary joint by described stopper slot.
In mechanical arm provided by the present invention, slide unit, the first rotary joint, tilting member and the second rotary joint connect in turn; Described tilting member comprises connecting rod and pull bar, the two ends of described connecting rod are connected with described second rotary joint with described first rotary joint respectively, the two ends of described pull bar are connected with on described first rotary joint and described second rotary joint respectively, form four points of connection, the line that described four points of connection connects successively forms parallelogram; Wherein, slide unit is used for the front and back position of reconditioner mechanical arm entirety; First rotary joint adjusts the right position of tilting member and the second rotary joint entirety with the form of rotation; Tilting member regulates the upper-lower position of the second rotary joint with the form rotated, and retrains the attitude change rotating up and down and bring simultaneously; Second rotary joint is adjusted back with the form of rotation the pose that the first rotary joint rotary motion brings and is changed, and regulates the position of coupled structure subtly.Known based on said structure design, the mechanical arm of the application has four-degree-of-freedom adjust structure, and the operation that can adjust the arm tool be installed on the second rotary joint is flexibly pointed to.Meanwhile, owing to moving horizontally joint slider part and parallel-crank mechanism, to be all present in relevant parts inner, make mechanical arm overall structure comparatively compact, when not affecting mechanical arm integral rigidity, can the attitude stability of retaining tool arm preferably, further increase the motility of mechanical arm.Meanwhile, the gravity torque of the pulling force equalising torque mechanical arm produced when stretching by tension spring, is realized the trim of the gravity of mechanical arm, improves steady statue and the security performance of mechanical arm entirety.
Accompanying drawing explanation
Fig. 1 is the structural front view of mechanical arm in one embodiment of the invention;
Fig. 2 is the sectional view of Fig. 1 along A-A direction;
Fig. 3 is the sectional view of slide unit in one embodiment of the invention;
Fig. 4 is the gravitational equilibrium parts of mechanical arm in one embodiment of the invention front views when only comprising tension spring;
Fig. 4 a is the cutaway view Amplified image of a part in Fig. 4;
Fig. 5 is the gravitational equilibrium parts of mechanical arm in one embodiment of the invention front views when only comprising balancing weight;
Fig. 6 is the gravitational equilibrium parts of mechanical arm in one embodiment of the invention front views when comprising tension spring and balancing weight.
In figure, slide unit 1; Guide rail 10; Slide block 11; Contiguous block 12; First rotary joint 2; Second rotary joint 3; Shell 20,30; Rotating shaft 21,31; Brake 22,32; Tilting member 4; Connecting rod 40; Stopper slot 400; Pull bar 41; Bearing pin 402,412,403,423; Tension spring 5; Balancing weight 6.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the mechanical arm that the present invention proposes is described in further detail.According to the following describes and claims, advantages and features of the invention will be clearer.It should be noted that, accompanying drawing all adopts the form that simplifies very much and all uses non-ratio accurately, only in order to object that is convenient, the aid illustration embodiment of the present invention lucidly.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the structural front view of mechanical arm in one embodiment of the invention, and Fig. 2 is the sectional view of Fig. 1 along A-A direction.As shown in Figures 1 and 2, described mechanical arm comprises slide unit 1, first rotary joint 2, tilting member 4 and the second rotary joint 3 that connect in turn; Described tilting member 4 comprises connecting rod 40, pull bar 41; The two ends of described connecting rod 40 are connected with described second rotary joint 3 with described first rotary joint 2 respectively, the two ends of described pull bar are connected with on described first rotary joint 2 and described second rotary joint 3 respectively, form four points of connection, the line of described four points of connection forms parallelogram.Wherein, the two ends of described connecting rod 40 are connected with described second rotary joint 3 with described first rotary joint 2 respectively by a junction point, and the two ends of described pull bar 41 are connected with described second rotary joint 3 with described first rotary joint 2 respectively by a junction point; Described slide unit 1, for adjusting the front and back position of described mechanical arm entirety; Described first rotary joint 2, adjusts the right position of described tilting member 4 and described second rotary joint 3 entirety with the form of rotation; Described tilting member 4, regulates the upper-lower position of self and described second rotary joint 3 with the form rotated; Described second rotary joint 3, adjusts back with the form of rotation the pose that the first rotary joint rotary motion brings and changes, regulate the position of coupled structure subtly.Known based on said structure, the mechanical arm of the application has four-degree-of-freedom adjust structure, namely slide unit 1, tilting member 4, first rotary joint 2 and the second rotary joint 3, can realize the adjustment of mechanical arm different directions, improve motility and the accuracy of mechanical arm.
In order to understand concrete structure and the operation principle of the mechanical arm various piece of the application preferably, be described in detail below in conjunction with Fig. 2 and Fig. 3.
As shown in Figure 3, described slide unit 1 comprise guide rail 10, with described guide rail 10 with the use of slide block 11 and contiguous block 12, one end of described contiguous block 12 is connected with described slide block 11, and the other end is connected with described first rotary joint 2.Preferably, described slide unit 1 also comprises the arrestment mechanism be arranged between described guide rail 10 and described slide block 11, for locking the position of described slide block 11 on described guide rail 10.For driving slide unit 1 along the automatic adjustment of conduit, motor can be set up in slide unit 1.In order to operate slide unit 1 comparatively accurately, grating scale can be set up on guide rail 10, so that slide unit 1 adjusts the measurement of front and back position.The selection of the present invention to motor, grating scale is not particularly limited, and those skilled in the art can obtain concrete type and installation method according to prior art.
As shown in Figure 2, the first rotary joint 2 described in the present embodiment comprise shell 20, be arranged at be connected with contiguous block 12 in described shell 20 rotating shaft 21, be preferably arranged at brake 22 between described shell 20 and described rotating shaft 21 and the first angular encoder in addition.Described brake 22 is for controlling described shell 20 relative to the motion of described rotating shaft 21 or stopping.In the present embodiment, described brake 22 comprises stator and rotor, and described stator is fixed on described shell 20, described rotor is fixed in described rotating shaft 21, when described brake 22 obtains electric, described stator separates with described rotor, rotates relative to described rotating shaft 21 to make described shell 20; During described brake 22 dead electricity, described stator and described rotor obvolvent, rotate relative to described rotating shaft 21 to stop described shell 20.Certainly, the stators and rotators of brake 22 can transposition, as long as it can realize the work of brake 22.Described brake also can be combined by motor, deceleration device and locking device thereof and be realized, and motor and decelerator make shell 20 move to assigned address, then start locking device, disable motor, and this shell 20 position is fixed.Described first angular encoder is arranged at (in the present embodiment, the first angular encoder is fixedly mounted between shell 20 and rotating shaft 21 by screw and support) between described shell 20 and described rotating shaft 21, to measure the angle that described shell 20 relatively described rotating shaft 21 rotation turns over.Preferably, in the present embodiment, described rotating shaft 21 is provided with arcuate groove (not marking), for limiting the extreme angles that described shell 20 rotates relative to rotating shaft 21.Preferably, the first rotary joint 2 also comprises motor, rotates for cover of driver 20.The selection of the present invention to motor is not particularly limited, and those skilled in the art can obtain concrete type and installation method according to prior art.
Please continue to refer to Fig. 2, the second rotary joint 3 described in this enforcement comprises shell 30, the rotating shaft 31 be arranged in described shell 30, described rotating shaft 31 fastening means arm.Preferably, the second rotary joint 3 also comprises and is arranged at brake 32 between described shell 30 and described rotating shaft 31 and the second angular encoder.Described brake 32 is for controlling described shell 30 relative to the motion of described rotating shaft 31 or stopping.In the present embodiment, described brake 32 comprises stator and rotor, and described stator is fixed on described shell 30, described rotor is fixed in described rotating shaft 31, when described brake 32 obtains electric, described stator separates with described rotor, rotates relative to described rotating shaft 31 to make described shell 30; During described brake 32 dead electricity, described stator and described rotor obvolvent, rotate relative to described rotating shaft 31 to stop described shell 30.Certainly, the stators and rotators of brake 32 can transposition, as long as it can realize the work of brake 32.Described brake also can be combined by motor, deceleration device and locking device thereof and be realized, and motor and decelerator make shell 30 move to assigned address, then start locking device, disable motor, and this shell 30 position is fixed.Described second angular encoder is arranged at (in the present embodiment, the second angular encoder is fixedly mounted between shell 30 and rotating shaft 31 by screw and support) between described shell 30 and described rotating shaft 31, to measure the angle that described shell 30 relatively described rotating shaft 31 rotation turns over.In the present embodiment, described rotating shaft 31 is provided with arcuate groove (figure does not mark), for limiting described shell 30 relative to rotating shaft 31 rotational limitation angle.Preferably, the second rotary joint 3 also comprises motor, rotates for cover of driver 3.The selection of the present invention to motor is not particularly limited, and those skilled in the art can obtain concrete type and installation method according to prior art.
As shown in Fig. 2, Fig. 4 a, described first rotary joint and described second rotary joint are provided with two junction points, be connected with tilting member with described second rotary joint for the first rotary joint, the line that four points of connection connects successively forms parallelogram.In the present embodiment, the first rotary joint realizes being connected by bearing pin at four points of connection place with tilting member with described second rotary joint.Concrete, connecting rod 40 and the pull bar 41 of described first rotary joint 2 and tilting member 4 all (refer to that the label in figure is followed successively by 402 here by bearing pin, 412) connect, connecting rod 40 and the pull bar 41 of described second rotary joint 3 and tilting member 4 all (refer to that the label in figure is followed successively by 403 here by bearing pin, 413) connect, and bearing pin 402, the line of 412 and bearing pin 403, the line of 413 is parallel, and described bearing pin label 402, the spacing of 412 two bearing pins and bearing pin label are that the distance between 403,413 two bearing pins is equal.Therefore, the line of four bearing pins 402,412,413,403 forms parallelogram.Preferably, the first rotary joint 2 and the second rotary joint 3 are axially parallel to each other; More preferably, label is 402, the line of 412 two bearing pins and/or label parallel with the axis of described first rotary joint 2 is that the line of 403,413 two bearing pins is parallel with the axis of described second rotary joint 3, and most preferably the horizontal plane that is axially perpendicular to of the first rotary joint 2 is arranged.Described parallel-crank mechanism is used for position between constraint rotating shaft 21 and rotating shaft 31, when connecting rod 40 rotates around bearing pin 402, and rotating shaft 21 and rotating shaft 31 keeping parallelism relation all the time between the two.In an embodiment of the present invention, pull bar 41 is positioned at the side of connecting rod 40 away from the first rotary joint 2, limited location groove 400 on connecting rod 40, and pull bar 41 is connected with the first rotary joint 2 through stopper slot 400 by bearing pin 412.The shape of stopper slot 400 matches around bearing pin 402 movement locus with hypothesis bearing pin 412, like this when connecting rod 40 rotates around bearing pin 402, does not rub between bearing pin 412 and stopper slot 400.The rotational angle of the length limiting rod 40 of stopper slot 400, the rotation space of connecting rod 40 limits the scope that moves up and down of corresponding parallel-crank mechanism.Preferably, brake can be set up, for moving up and down of locked parallel-crank mechanism by the rotating mechanism between rotary joint shell 20 and connecting rod 40.The mode that brake can use said stator, rotor cooperatively interacts realizes, and also can be combined by above-mentioned motor, deceleration device and locking device thereof and realize.Preferably, encoder can be set up by the rotating mechanism between rotary joint shell 20 and connecting rod 40, measure the relative angle turned between the two.Motor can be set up by rotating mechanism between rotary joint shell 20 and connecting rod 40, for the automatic adjustment of upper-lower position.Described motor also can as mechanical arm gravitational equilibrium mechanism of the present invention, or as the part of gravitational equilibrium mechanism, is used for the gravity of balanced controls deadweight and rear bonding tool arm.
Mechanical arm of the present invention adopts the mode arranging gravitational equilibrium parts on described tilting member 4, realizes the trim of the gravity after mechanical arm deadweight and mechanical arm after bonding tool arm.Below in conjunction with Fig. 4 ~ Fig. 6, on the basis of above-described embodiment, elaborate concrete structure and the operation principle of gravitational equilibrium parts.
Please refer to Fig. 4, it is the gravitational equilibrium parts of mechanical arm in one embodiment of the invention front views when only comprising tension spring 5.As shown in Figure 4, described gravitational equilibrium parts only comprise tension spring 5, and tension spring 5 one end is connected with the first rotary joint 2, and one end is connected with tilting member 4.Here be the gravity torque by described tension spring 5 mechanical arm described in the pulling force equalising torque that produces when stretching.Concrete, please refer to Fig. 4 a, the described pull bar 41 in tilting member 4 is connected with described first rotary joint 2 by bearing pin 412, and one end of described tension spring 5 is connected with described connecting rod 40, and the other end is connected with described bearing pin 412.Here it should be noted that tension spring two ends can by flexible attachment components as silk or rope respectively with as described in connecting rod 40 be fixedly connected with bearing pin 412.
Please refer to Fig. 5, it is the gravitational equilibrium parts of mechanical arm in one embodiment of the invention front views when only comprising balancing weight 6.As shown in Figure 5, described gravitational equilibrium parts only comprise balancing weight 6, are configured at tilting member 4 one end away from described second rotary joint 3, by the gravity of mechanical arm described in the trim of described balancing weight 6.In the present embodiment, described connecting rod 40 has extension in the one end away from described second rotary joint 3, and described balancing weight 6 is arranged at described extension.
Please refer to Fig. 6, it is the gravitational equilibrium parts of mechanical arm in one embodiment of the invention front views when comprising tension spring 5 and balancing weight 6.As shown in Figure 6, described gravitational equilibrium parts comprise tension spring 5 and balancing weight 6, combine the Calculate Ways in above-described embodiment.When practical application, first adopt the gravity of balancing weight 6 balance crane part mechanical arm, adopt the gravity of the mechanical arm of tension spring 5 trim remainder afterwards.Here, one end of described tension spring 5 is fixedly connected with described connecting rod 40, and the other end is fixedly connected with described bearing pin 412, and described balancing weight 6 is arranged at one end of the described tilting member 4 away from described second rotary joint 3.In addition, gravitational equilibrium parts can also be substituted by motor.
To sum up, in mechanical arm provided by the present invention, the slide unit connected in turn, the first rotary joint, tilting member and the second rotary joint; Described tilting member comprises connecting rod and pull bar, the two ends of described connecting rod are connected with described second rotary joint with described first rotary joint respectively, the two ends of described pull bar are connected with on described first rotary joint and described second rotary joint respectively, form four points of connection, the line that described four points of connection connects successively forms parallelogram; Wherein, slide unit is used for the front and back position of reconditioner mechanical arm entirety; First rotary joint adjusts the right position of tilting member and the second rotary joint entirety with the form of rotation; Tilting member regulates the upper-lower position of the second rotary joint with the form rotated, and retrains the attitude change rotating up and down and bring simultaneously; Second rotary joint is adjusted back with the form of rotation the pose that the first rotary joint rotary motion brings and is changed, and regulates the position of coupled structure subtly.Known based on said structure design, the mechanical arm of the application has four-degree-of-freedom adjust structure, and the operation that can adjust the arm tool be installed on the second rotary joint is flexibly pointed to.Meanwhile, owing to moving horizontally joint slider part and parallel-crank mechanism, to be all present in relevant parts inner, make mechanical arm overall structure comparatively compact, when not affecting mechanical arm integral rigidity, can the attitude stability of retaining tool arm preferably, further increase the motility of mechanical arm.Meanwhile, by tension spring, balancing weight, motor etc., realize the trim of the gravity of mechanical arm, improve steady statue and the security performance of mechanical arm entirety.
Foregoing description is only the description to present pre-ferred embodiments, any restriction not to the scope of the invention, and any change that the those of ordinary skill in field of the present invention does according to above-mentioned disclosure, modification, all belong to the protection domain of claims.
Claims (16)
1. a mechanical arm, is characterized in that, comprising: the slide unit connected in turn, the first rotary joint, tilting member and the second rotary joint; Wherein, described tilting member comprises connecting rod and pull bar, the two ends of described connecting rod are connected with described second rotary joint with described first rotary joint respectively, the two ends of described pull bar are connected with described second rotary joint with described first rotary joint respectively, form four points of connection, the line that described four points of connection is connected in turn forms parallelogram.
2. mechanical arm as claimed in claim 1, is characterized in that, described first rotary joint is axially parallel with described second rotary joint.
3. mechanical arm as claimed in claim 2, it is characterized in that, described connecting rod, described pull bar are parallel with the axis of the first rotary joint with the line of the junction point of described first rotary joint.
4. mechanical arm as claimed in claim 3, it is characterized in that, the axes normal of described first rotary joint is in horizontal plane.
5. mechanical arm as claimed in claim 1, is characterized in that, described slide unit comprise guide rail, with described guide rail with the use of slide block and contiguous block, one end of described contiguous block is connected with described slide block, and the other end is connected with described first rotary joint.
6. mechanical arm as claimed in claim 5, it is characterized in that, described slide unit also comprises the arrestment mechanism be arranged between described guide rail and described slide block, for locking the position of described slide block on described guide rail.
7. mechanical arm as claimed in claim 1, it is characterized in that, the brake that described first rotary joint comprises shell, is arranged at the rotating shaft in described shell and is arranged between described shell and described rotating shaft, described brake is for controlling described shell relative to the motion of described rotating shaft or stopping.
8. mechanical arm as claimed in claim 7, it is characterized in that, described first rotary joint also comprises the first angular encoder, and described first angular encoder is arranged between described shell and described rotating shaft, to measure the angle that the relatively described rotating shaft rotation of described shell turns over.
9. mechanical arm as claimed in claim 1, it is characterized in that, the brake that described second rotary joint comprises shell, is arranged at the rotating shaft in described shell and is arranged between described shell and described rotating shaft, described brake is for controlling described shell relative to the motion of described rotating shaft or stopping.
10. mechanical arm as claimed in claim 9, it is characterized in that, described second rotary joint also comprises the second angular encoder, and described second angular encoder is arranged between described shell and described rotating shaft, to measure the angle that the relatively described rotating shaft rotation of described shell turns over.
11. mechanical arms as described in claim 7 or 9, it is characterized in that, described brake comprises stator and rotor, described stator is fixed on described shell, described rotor is fixed in described rotating shaft, when described brake obtains electric, described stator separates with described rotor, rotates relative to described rotating shaft to make described shell; During described brake dead electricity, described stator and described rotor obvolvent, rotate relative to described rotating shaft to stop described shell.
12. mechanical arms as described in claim 7 or 9, it is characterized in that, described brake is replaced by motor, deceleration device and locking device thereof.
13. mechanical arms as described in claim 7 or 9, is characterized in that, described rotating shaft is provided with arcuate groove, for limiting the rotational limitation angle of described shell relative to rotating shaft.
14. mechanical arms as claimed in claim 1, is characterized in that, also comprise the gravitational equilibrium parts be arranged on described tilting member.
15. mechanical arms as claimed in claim 14, is characterized in that, described gravitational equilibrium parts comprise tension spring and/or balancing weight and/or motor, and described tension spring one end is connected with the first rotary joint, and one end is connected with tilting member; Described balancing weight is arranged at and is configured at tilting member one end away from described second rotary joint.
16. mechanical arms as claimed in claim 1, it is characterized in that, described pull bar is positioned at the side of connecting rod away from the first rotary joint, and described connecting rod is provided with stopper slot near first rotary joint one end, and described pull bar is connected with described first rotary joint by described stopper slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567721.5A CN105232153B (en) | 2015-09-08 | 2015-09-08 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567721.5A CN105232153B (en) | 2015-09-08 | 2015-09-08 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105232153A true CN105232153A (en) | 2016-01-13 |
| CN105232153B CN105232153B (en) | 2019-03-26 |
Family
ID=55030174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510567721.5A Active CN105232153B (en) | 2015-09-08 | 2015-09-08 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105232153B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
| CN106175934A (en) * | 2016-06-29 | 2016-12-07 | 微创（上海）医疗机器人有限公司 | Operating robot and mechanical arm thereof |
| CN106426129A (en) * | 2016-12-26 | 2017-02-22 | 重庆乐铠机器人技术开发有限责任公司 | Multi-section mechanical arm device |
| CN107320195A (en) * | 2017-08-18 | 2017-11-07 | 深圳先进技术研究院 | A kind of tandem type Minimally Invasive Surgery main manipulator |
| CN107374579A (en) * | 2017-08-22 | 2017-11-24 | 于洁 | A kind of multi-functional obstetrical and gynecological disease medical therapeutical device |
| CN107511831A (en) * | 2017-09-27 | 2017-12-26 | 武汉科技大学 | A kind of new mechanical arm |
| CN107537947A (en) * | 2017-09-27 | 2018-01-05 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator device |
| CN107738278A (en) * | 2017-10-27 | 2018-02-27 | 珠海格力智能装备有限公司 | Spacing anti-collision structure and there is its robot |
| CN108338841A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| WO2018152678A1 (en) * | 2017-02-21 | 2018-08-30 | 微创（上海）医疗机器人有限公司 | Main control arm and robot |
| CN109846518A (en) * | 2019-01-29 | 2019-06-07 | 青岛市市立医院 | A kind of affected part check device of psoriasis |
| CN110974420A (en) * | 2019-11-29 | 2020-04-10 | 上海交通大学 | Mechanical arm tail end stabilizing device for craniotomy |
| CN111656631A (en) * | 2017-10-12 | 2020-09-11 | 株式会社永木精机 | Work tool support device |
| CN113440262A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Abdominal cavity minimally invasive surgery robot |
| CN113524257A (en) * | 2021-09-10 | 2021-10-22 | 深圳市资福医疗技术有限公司 | Gravity balance supporting arm and magnetic anchoring equipment applying same |
| CN113842218A (en) * | 2021-10-13 | 2021-12-28 | 中南大学 | Primary adjustment mechanical arm braking system of surgical robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3640075A1 (en) * | 1985-12-18 | 1987-06-19 | Yaskawa Denki Seisakusho Kk | Compensating device for a robot arm |
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| US20050193451A1 (en) * | 2003-12-30 | 2005-09-01 | Liposonix, Inc. | Articulating arm for medical procedures |
| CN101722515A (en) * | 2008-10-17 | 2010-06-09 | 施托布利法韦日公司 | Articulated structure for a multi-axis robot, and a robot including such a structure |
| CN102764158A (en) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN102764156A (en) * | 2011-12-06 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| US20140245855A1 (en) * | 2013-03-01 | 2014-09-04 | Mitaka Kohki Co., Ltd. | Arm structure |
| CN104546066A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Passive type nasal endoscopic surgery assisting robot |
| CN104690708A (en) * | 2014-01-16 | 2015-06-10 | 北京航空航天大学 | Balance mechanism of force operator |
| CN104758052A (en) * | 2014-01-02 | 2015-07-08 | 中国科学院沈阳自动化研究所 | Position and posture adjusting passive manipulator for digestive endoscopy conveying robot |
-
2015
- 2015-09-08 CN CN201510567721.5A patent/CN105232153B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3640075A1 (en) * | 1985-12-18 | 1987-06-19 | Yaskawa Denki Seisakusho Kk | Compensating device for a robot arm |
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| US20050193451A1 (en) * | 2003-12-30 | 2005-09-01 | Liposonix, Inc. | Articulating arm for medical procedures |
| CN101722515A (en) * | 2008-10-17 | 2010-06-09 | 施托布利法韦日公司 | Articulated structure for a multi-axis robot, and a robot including such a structure |
| CN102764156A (en) * | 2011-12-06 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN102764158A (en) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| US20140245855A1 (en) * | 2013-03-01 | 2014-09-04 | Mitaka Kohki Co., Ltd. | Arm structure |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN104758052A (en) * | 2014-01-02 | 2015-07-08 | 中国科学院沈阳自动化研究所 | Position and posture adjusting passive manipulator for digestive endoscopy conveying robot |
| CN104690708A (en) * | 2014-01-16 | 2015-06-10 | 北京航空航天大学 | Balance mechanism of force operator |
| CN104546066A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Passive type nasal endoscopic surgery assisting robot |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175934A (en) * | 2016-06-29 | 2016-12-07 | 微创（上海）医疗机器人有限公司 | Operating robot and mechanical arm thereof |
| EP3479775A4 (en) * | 2016-06-29 | 2019-09-25 | Microport (Shanghai) Medbot Co., Ltd. | Surgical robot and mechanical arm thereof |
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
| 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 |
| CN106426129B (en) * | 2016-12-26 | 2018-11-02 | 重庆乐铠机器人技术开发有限责任公司 | A kind of multi-section type robot arm device |
| CN106426129A (en) * | 2016-12-26 | 2017-02-22 | 重庆乐铠机器人技术开发有限责任公司 | Multi-section mechanical arm device |
| WO2018152678A1 (en) * | 2017-02-21 | 2018-08-30 | 微创（上海）医疗机器人有限公司 | Main control arm and robot |
| CN107320195A (en) * | 2017-08-18 | 2017-11-07 | 深圳先进技术研究院 | A kind of tandem type Minimally Invasive Surgery main manipulator |
| CN107374579A (en) * | 2017-08-22 | 2017-11-24 | 于洁 | A kind of multi-functional obstetrical and gynecological disease medical therapeutical device |
| CN107374579B (en) * | 2017-08-22 | 2018-12-04 | 于洁 | A kind of multi-functional obstetrical and gynecological disease medical therapeutical device |
| CN107537947A (en) * | 2017-09-27 | 2018-01-05 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator device |
| CN107511831A (en) * | 2017-09-27 | 2017-12-26 | 武汉科技大学 | A kind of new mechanical arm |
| TWI778138B (en) * | 2017-10-12 | 2022-09-21 | 日商永木精機股份有限公司 | work tool support |
| CN111656631A (en) * | 2017-10-12 | 2020-09-11 | 株式会社永木精机 | Work tool support device |
| CN111656631B (en) * | 2017-10-12 | 2022-04-01 | 株式会社永木精机 | Work tool support device |
| CN107738278A (en) * | 2017-10-27 | 2018-02-27 | 珠海格力智能装备有限公司 | Spacing anti-collision structure and there is its robot |
| CN108338841A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN109846518B (en) * | 2019-01-29 | 2021-12-28 | 青岛市市立医院 | Affected part inspection device of psoriasis |
| CN109846518A (en) * | 2019-01-29 | 2019-06-07 | 青岛市市立医院 | A kind of affected part check device of psoriasis |
| CN110974420B (en) * | 2019-11-29 | 2020-11-06 | 上海交通大学 | Mechanical arm tail end stabilizing device for craniotomy |
| CN110974420A (en) * | 2019-11-29 | 2020-04-10 | 上海交通大学 | Mechanical arm tail end stabilizing device for craniotomy |
| CN113440262A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Abdominal cavity minimally invasive surgery robot |
| CN113524257A (en) * | 2021-09-10 | 2021-10-22 | 深圳市资福医疗技术有限公司 | Gravity balance supporting arm and magnetic anchoring equipment applying same |
| CN113842218A (en) * | 2021-10-13 | 2021-12-28 | 中南大学 | Primary adjustment mechanical arm braking system of surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105232153B (en) | 2019-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105232153A (en) | Mechanical arm | |
| EP3479775B1 (en) | Surgical robot and mechanical arm thereof | |
| JP2781164B2 (en) | Auto-balance structure of medical stand device | |
| DK2692486T3 (en) | Scott-Russel mechanism arrangement | |
| CN104799891A (en) | Instrument for robot-assisted micro-invasive surgery | |
| CN106078724B (en) | Mechanical arm and surgical robot thereof | |
| CN107320195B (en) | A kind of tandem type Minimally Invasive Surgery main manipulator | |
| CN103433921B (en) | Three-degree-of-freedom translation force feedback hand controller | |
| CN102488554A (en) | Micro instrument terminal based on module joint and used for minimally invasive surgery robot | |
| CN109394344B (en) | Data self-calibration main manipulator | |
| CN110169825A (en) | A kind of nine-degree of freedom series connection main manipulator suitable for micro-wound operation robot | |
| JP2013167878A (en) | Adjustable stand | |
| JP7241799B2 (en) | Stand and method for torque compensation | |
| CN105455902A (en) | Wrist of robot and surgical robot | |
| WO2020090233A1 (en) | Parallel link device, master-slave system, and medical master-slave system | |
| WO2019200773A1 (en) | Laparoscope-holding robot system for laparoscopic surgery | |
| CN106037932A (en) | Surgical instrument and surgical robot adopting same | |
| WO2022068208A1 (en) | Surgical instrument, slave operating equipment, and surgical robot | |
| CN209661789U (en) | The surgical instrument mechanism of operating robot | |
| CN116492061A (en) | Mechanical arm joint with elastic force assisting and reversing balance function | |
| CN108175508A (en) | A kind of medical operating robot arm | |
| CN209734152U (en) | full passive type main operation hand | |
| CN109366451A (en) | A kind of rope drive Three Degree Of Freedom force feedback equipment | |
| CN209595890U (en) | A kind of data self calibration main manipulator | |
| CN109222860A (en) | Adjustable endoscope, motion arm, from operation equipment and operating robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |
|
| CP03 | Change of name, title or address |