CN109602494A - Multiple degrees of freedom latching mechanical arm - Google Patents
Multiple degrees of freedom latching mechanical arm Download PDFInfo
- Publication number
- CN109602494A CN109602494A CN201811553401.4A CN201811553401A CN109602494A CN 109602494 A CN109602494 A CN 109602494A CN 201811553401 A CN201811553401 A CN 201811553401A CN 109602494 A CN109602494 A CN 109602494A
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- Prior art keywords
- pivoted arm
- freedom
- reversing shaft
- sliding block
- multiple degrees
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- 238000004804 winding Methods 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a kind of multiple degrees of freedom latching mechanical arms, including the first pivoted arm and the second pivoted arm rotationally connected, first pivoted arm is provided with the first spheric seat far from one end of the second pivoted arm, inside set the first ball-joint, second pivoted arm is provided with the second spheric seat far from one end of the first pivoted arm, inside set the second ball-joint, the first sliding block is provided on first pivoted arm, first reversing shaft, the second sliding block is provided on second pivoted arm, second reversing shaft, mechanical arm, which is additionally provided with, is wound with the winding axis for tightening rope, it is connected in first connecting portion after tightening the first reversing shaft of one end pile warp of rope, it is connected in second connecting portion after the second reversing shaft of other end pile warp.It twines after tightening rope described in pivoting tightening, realizes the self-locking of mechanical arm.The latching mechanical arm freedom degree is more, and only relying on a power source can be achieved with the locking of all freedom degrees, and structure is relatively simple, is easily worked realization.
Description
Technical field
The present invention relates to multiple degrees of freedom latching mechanical arms.
Background technique
In existing puncturing operation, doctor is generally required by personal experience, and constantly adjust by medical image result
Angle is punctured manually, such surgical procedure very elapsed time and energy, and surgical effect fluctuation is larger.In order to reduce people
The problem of causing for factor, more and more puncturing operations begin to use mechanical arm to replace artificial puncture.The prior art is generally first
Mechanical arm is adjusted to designated position manually, then each joint of mechanical arm is locked, is finally punctured.However it is existing
Joint locking structure is all complex, is unfavorable for reducing cost.
Summary of the invention
The object of the present invention is to provide a kind of multiple degrees of freedom latching mechanical arms, being capable of each adjustment block of automatic synchronization adjusting
Height.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of multiple degrees of freedom latching mechanical arm, including first
Pivoted arm and the second pivoted arm, the one end of first pivoted arm are rotationally connect with the one end of second pivoted arm, and described first
Pivoted arm is provided with the first spheric seat far from one end of second pivoted arm, and is provided with to universal rotational in first spheric seat
One ball-joint, second pivoted arm are provided with the second spheric seat far from one end of first pivoted arm, in second spheric seat
It is provided with to universal rotational the second ball-joint, being provided on first pivoted arm can slide along the first pivoted arm extending direction
The first sliding block, first sliding block one end is against on first spheric seat, the other end is provided with first connecting portion, described
Be additionally provided with the first reversing shaft on one pivoted arm, first reversing shaft be located at the first connecting portion and first spheric seat it
Between, the second sliding block that can be slided along the second pivoted arm extending direction, second sliding block are provided on second pivoted arm
One end is against on second spheric seat, the other end is provided with second connecting portion, is additionally provided with second on second pivoted arm and is changed
To axis, second reversing shaft is between the second connecting portion and second spheric seat, first pivoted arm or second
Pivoted arm is rotationally provided with winding axis, and the multiple degrees of freedom latching mechanical arm further includes tightening rope, and described tighten twines in the middle part of rope
It is wound on the winding axis, is connected in the first connecting portion after the first reversing shaft described in one end pile warp for tightening rope,
It is connected to after second reversing shaft described in other end pile warp in the second connecting portion, the multiple degrees of freedom latching mechanical arm further includes
For driving the driving device for twining pivoting.
Preferably, first pivoted arm has the first accommodating chamber, and first sliding block, which is cooperatively disposed to described first, to be held
It receives in chamber, second pivoted arm has the second accommodating chamber, and second sliding block is cooperatively disposed in second accommodating chamber.
It is further preferred that first accommodating chamber includes extending direction identical with the first pivoted arm extending direction
One sliding cavity and extending direction first connecting cavity vertical with the first pivoted arm extending direction, the second accommodating chamber include prolonging
Stretch direction the second sliding cavity identical with the second pivoted arm extending direction and extending direction and second pivoted arm extension side
To the second vertical connecting cavity, first connecting cavity is connected with second connecting cavity.
It is further preferred that first sliding block is arranged in first sliding cavity with being slidably matched, described second
Sliding block is arranged in second sliding cavity with being slidably matched.
It is further preferred that the winding axis is rotatably arranged in first connecting cavity close to first sliding
One end of chamber, second connecting cavity are provided with steering shaft, described one end for tightening rope close to one end of second sliding cavity
It is successively connected in the second connecting portion after steering shaft, second reversing shaft described in pile warp from after winding axis stretching.
It is further preferred that being offered on first sliding block positioned at the first connecting portion and the first spheric seat branch
First holding tank of frame, first reversing shaft are arranged in first holding tank.
Preferably, first reversing shaft is the pulley being rotatably arranged on first pivoted arm, second commutation
Axis is the pulley being rotatably arranged on second pivoted arm, and the rope of tightening is wound on the pulley.
Preferably, first reversing shaft, the second reversing shaft, winding axis are parallel to each other.
Preferably, the multiple degrees of freedom latching mechanical arm further includes being folded between first pivoted arm and the second pivoted arm
Increase grinding.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages: twining pivoting receipts
It is tight described tighten rope after, the first sliding block is moved towards the first spheric seat, the second sliding block is moved towards the second spheric seat, first turn
The contact position mutual extrusion of arm and the second pivoted arm, under the action of frictional force, between the first spheric seat and the first ball-joint, second
It keeps relatively fixed between spheric seat and the second ball-joint, between the first pivoted arm and the second pivoted arm, realizes the self-locking of joint.It should
Latching mechanical arm freedom degree is more, and only relying on a power source can be achieved with the locking of all freedom degrees, and structure is relatively simple, holds
Easy processing is realized.
Detailed description of the invention
Attached drawing 1 is the axis surveys view of multiple degrees of freedom latching mechanical arm of the invention；
Attached drawing 2 is the cross-sectional view of multiple degrees of freedom latching mechanical arm of the invention；
Wherein: 1, the first pivoted arm；11, the first reversing shaft；12, the first accommodating chamber；121, the first sliding cavity；122, the first connection
Chamber；2, the second pivoted arm；21, the second reversing shaft；22, the second accommodating chamber；221, the second sliding cavity；222, the second connecting cavity；23, turn
To axis；3, the first spheric seat；4, the first ball-joint；5, the second spheric seat；6, the second ball-joint；7, the first sliding block；71, first connects
Socket part；72, the first holding tank；8, the second sliding block；81, second connecting portion；82, the second holding tank；9, axis is wound；10, rope is tightened；
20, increase grinding.
Specific embodiment
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
It is referring to figure 1 and figure 2 a kind of multiple degrees of freedom latching mechanical arm of the invention, including the first pivoted arm 1 and second
Pivoted arm 2, the one end of the first pivoted arm 1 are rotationally connect with the one end of the second pivoted arm 2, and the first pivoted arm 1 is far from the second pivoted arm 2
One end is provided with the first spheric seat 3, and the first ball-joint 4 is provided with to universal rotational in first spheric seat 3, and the second pivoted arm 2 is remote
One end from the first pivoted arm 1 is provided with the second spheric seat 5, and the second ball-joint 6 is provided with to universal rotational in the second spheric seat 5.
It is shown in Figure 2, the first sliding block 7 that can be slided along 1 extending direction of the first pivoted arm is provided on the first pivoted arm 1,
First sliding block, 7 one end is against on the first spheric seat 3, the other end is provided with first connecting portion 71, and is additionally provided on the first pivoted arm 1
One reversing shaft 11, the first reversing shaft 11 are located between first connecting portion 71 and the first spheric seat 3.
The second sliding block 8 that can be slided along 2 extending direction of the second pivoted arm, 8 one end of the second sliding block are provided on second pivoted arm 2
Be against on the second spheric seat 5, the other end is provided with second connecting portion 81, the second reversing shaft 21 is additionally provided on the second pivoted arm 2,
Two reversing shafts 21 are located between second connecting portion 81 and the second spheric seat 4.
First pivoted arm 1 or the second pivoted arm 2 are rotationally provided with winding axis 9, and multiple degrees of freedom latching mechanical arm further includes tightening
Rope 10, the middle part for tightening rope 10 are wrapped on winding axis 9, are connected to first after tightening the first reversing shaft of one end pile warp 11 of rope 10
On interconnecting piece 71, it is connected in second connecting portion 81 after the second reversing shaft of other end pile warp 21, multiple degrees of freedom self-locking joint also wraps
Include the driving device for driving winding axis 9 to rotate.
After rope 10 is tightened in the winding rotation tightening of axis 9, the first sliding block 7 moves towards the first spheric seat 3, the second sliding block 8 towards
Second spheric seat 5 movement, the first pivoted arm 1 and the second pivoted arm 2 contact position mutual extrusion, under the action of frictional force, the first ball
Between shape seat 3 and the first ball-joint 4, between the second spheric seat 5 and the second ball-joint 6, between the first pivoted arm 1 and the second pivoted arm 2
It keeps relatively fixed, realizes the self-locking of joint.Winding axis 9 rotate backward so that tighten rope 10 loosen after, 4 energy of the first ball-joint
It is enough rotated universally relative to the first pivoted arm 1, the second ball-joint 6 can rotate universally relative to the second pivoted arm 2,1 and of the first pivoted arm
Second pivoted arm 2 can relatively rotate, and the freedom degree of the mechanical arm is more.
Shown in Figure 2, the first pivoted arm 1 has the first accommodating chamber 12, and the first sliding block 7 is cooperatively disposed to the first accommodating chamber
In 12, the second pivoted arm 2 has the second accommodating chamber 22, and the second sliding block 8 is cooperatively disposed in the second accommodating chamber 22.Due to first turn
Arm 1 and the second pivoted arm 2 are all hollow, therefore its lighter in weight.The inside of pivoted arm is arranged in first sliding block 7 and the second sliding block 8,
Reduce the volume of mechanical arm.
Shown in Figure 2, the first accommodating chamber 12 includes extending direction the first sliding identical with 1 extending direction of the first pivoted arm
Chamber 121 and extending direction first connecting cavity 122 vertical with 1 extending direction of the first pivoted arm, the second accommodating chamber 22 include extending
Direction the second sliding cavity 221 identical with 2 extending direction of the second pivoted arm and extending direction and 2 extending direction of the second pivoted arm hang down
The second straight connecting cavity 222, the first connecting cavity 121 are connected with the second connecting cavity 221.
First sliding block 7 is arranged in the first sliding cavity 121 with being slidably matched, and the second sliding block 8 is arranged in being slidably matched
In two sliding cavities 221, guarantee that the first sliding block 7 and the second sliding block 8 slide more steady.
Winding axis 9 is rotatably arranged at one end in the first connecting cavity 122 close to the first sliding cavity 121, the second connecting cavity
222 are provided with steering shaft 23 close to one end of the second sliding cavity 221, tighten rope 10 one end from winding axis 9 stretch out after successively around
It is connected in second connecting portion 81 after diverted axis 23, the second reversing shaft 21, setting in this way can be avoided as much as increasing taut
The number of turns of tight rope 10 reduces frictional dissipation, while avoiding tightening rope 10 and the first pivoted arm 1, the generation friction of the second pivoted arm 2,
Cause the abrasion of mechanical arm.
Offer the first holding tank 72 between first connecting portion 71 and the first spheric seat 3 on first sliding block 7, first
Reversing shaft 11 is arranged in the first holding tank 72, the extension for tightening rope 10 between such the 71 to the first reversing shaft of first connecting portion 11
Direction is identical as the extending direction of the first pivoted arm 1, and the Impact direction of the first sliding block 7 is identical as its glide direction, and sliding is more
Steadily.Similarly, the second holding tank 82 between second connecting portion 81 and the second spheric seat 5 is offered on the second sliding block 8,
Second reversing shaft 21 is arranged in the second holding tank 82.
First reversing shaft 11 is the pulley being rotatably arranged on the first pivoted arm 1, and the second reversing shaft 21 is rotationally to be arranged
Pulley on the second pivoted arm 2 is tightened rope 10 and is wound on pulley, therefore frictional dissipation is smaller.
First reversing shaft 11, the second reversing shaft 21, winding axis 9 are parallel to each other, and can reduce the winding displacement hardly possible for tightening rope 10 in this way
Degree, the internal structure of mechanical arm is very clear, very simple.
Shown in Figure 1, multiple degrees of freedom latching mechanical arm further includes being folded between the first pivoted arm 1 and the second pivoted arm 2
Increase grinding 20, when tightening 10 tensioning of rope, increasing grinding 20 improves the frictional force between the first pivoted arm 1 and the second pivoted arm 2, mechanical arm
Coupling mechanism force it is higher.
In conclusion the latching mechanical arm freedom degree is more, only relying on a power source can be achieved with the lock of all freedom degrees
It is fixed, and structure is relatively simple, is easily worked realization.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of multiple degrees of freedom latching mechanical arm, including the first pivoted arm (1) and the second pivoted arm (2), the one of first pivoted arm (1)
End is rotationally connect with the one end of second pivoted arm (2), and first pivoted arm (1) is far from second pivoted arm (2)
One end is provided with the first spheric seat (3), is provided with the first ball-joint (4) to the interior universal rotational of first spheric seat (3), described
Second pivoted arm (2) is provided with the second spheric seat (5) far from one end of first pivoted arm (1), ten thousand in second spheric seat (5)
To being rotationally provided with the second ball-joint (6), it is characterised in that:
The first sliding block (7) that can be slided along the first pivoted arm (1) extending direction, institute are provided on first pivoted arm (1)
State that the first sliding block (7) one end is against on first spheric seat (3), the other end is provided with first connecting portion (71), described first
It is additionally provided on pivoted arm (1) the first reversing shaft (11), first reversing shaft (11) is located at the first connecting portion (71) and institute
It states between the first spheric seat (3),
The second sliding block (8) that can be slided along the second pivoted arm (2) extending direction, institute are provided on second pivoted arm (2)
State that the second sliding block (8) one end is against on second spheric seat (5), the other end is provided with second connecting portion (81), described second
It is additionally provided on pivoted arm (2) the second reversing shaft (21), second reversing shaft (21) is located at the second connecting portion (81) and institute
It states between the second spheric seat (4),
First pivoted arm (1) or the second pivoted arm (2) are rotationally provided with winding axis (9), the multiple degrees of freedom latching mechanical arm
It further include tightening rope (10), described tighten is wrapped on the winding axis (9) in the middle part of rope (10), described to tighten the one of rope (10)
It is connected on the first connecting portion (71) after first reversing shaft (11) described in the pile warp of end, the second reversing shaft described in other end pile warp
(21) it is connected to after on the second connecting portion (81), the multiple degrees of freedom latching mechanical arm further includes for driving the winding
The driving device of axis (9) rotation.
2. a kind of multiple degrees of freedom latching mechanical arm according to claim 1, it is characterised in that: the first pivoted arm (1) tool
Have the first accommodating chamber (12), first sliding block (7) is cooperatively disposed in first accommodating chamber (12), second pivoted arm
(2) there are the second accommodating chamber (22), second sliding block (8) is cooperatively disposed in second accommodating chamber (22).
3. a kind of multiple degrees of freedom latching mechanical arm according to claim 2, it is characterised in that: first accommodating chamber (12)
Including extending direction the first sliding cavity (121) identical with the first pivoted arm (1) extending direction and extending direction with it is described
Vertical the first connecting cavity (122) of first pivoted arm (1) extending direction,
Second accommodating chamber (22) include extending direction the second sliding cavity (221) identical with the second pivoted arm (2) extending direction,
And the second connecting cavity (222) that extending direction is vertical with the second pivoted arm (2) extending direction, first connecting cavity
(121) it is connected with second connecting cavity (221).
4. a kind of multiple degrees of freedom latching mechanical arm according to claim 3, it is characterised in that: first sliding block (7) is sliding
Movingly it is arranged in first sliding cavity (121), it is sliding that second sliding block (8) is arranged in described second with being slidably matched
In dynamic chamber (221).
5. a kind of multiple degrees of freedom latching mechanical arm according to claim 3, it is characterised in that: winding axis (9) rotation
Ground is arranged in first connecting cavity (122) close to one end of first sliding cavity (121), second connecting cavity
(222) it is provided with steering shaft (23) close to one end of second sliding cavity (221), described one end for tightening rope (10) is described in
Winding axis (9) is successively connected to second connection after steering shaft (23), second reversing shaft (21) described in pile warp after stretching out
In portion (81).
6. a kind of multiple degrees of freedom latching mechanical arm according to claim 2, it is characterised in that: on first sliding block (7)
Offer the first holding tank (72) between the first connecting portion (71) and first spheric seat (3), described first
Reversing shaft (11) is arranged in first holding tank (72)；It is offered on second sliding block (8) positioned at second connection
The second holding tank (82) between portion (81) and second spheric seat (5), second reversing shaft (21) setting is described the
In two holding tanks (82).
7. a kind of multiple degrees of freedom latching mechanical arm according to claim 1, it is characterised in that: first reversing shaft (11)
For the pulley being rotatably arranged on first pivoted arm (1), second reversing shaft (21) is to be rotatably arranged at described the
Pulley on two pivoted arms (2), the rope (10) of tightening are wound on the pulley.
8. a kind of multiple degrees of freedom latching mechanical arm according to claim 1, it is characterised in that: first reversing shaft
(11), the second reversing shaft (21), winding axis (9) are parallel to each other.
9. a kind of multiple degrees of freedom latching mechanical arm according to claim 1, it is characterised in that: the multiple degrees of freedom is from lock machine
Tool arm further includes the increasing grinding (20) being folded between first pivoted arm (1) and the second pivoted arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553401.4A CN109602494B (en) | 2018-12-19 | 2018-12-19 | Multi-degree-of-freedom self-locking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553401.4A CN109602494B (en) | 2018-12-19 | 2018-12-19 | Multi-degree-of-freedom self-locking mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109602494A true CN109602494A (en) | 2019-04-12 |
| CN109602494B CN109602494B (en) | 2023-10-31 |
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ID=66008838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811553401.4A Active CN109602494B (en) | 2018-12-19 | 2018-12-19 | Multi-degree-of-freedom self-locking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109602494B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112975933A (en) * | 2021-02-08 | 2021-06-18 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| CN113040916A (en) * | 2021-03-13 | 2021-06-29 | 极限人工智能有限公司 | Universal operation device and medical instrument |
| CN113729951A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Double-parallelogram initial adjustment mechanism of surgical robot |
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|---|---|---|---|---|
| CN112975933A (en) * | 2021-02-08 | 2021-06-18 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| WO2022165963A1 (en) * | 2021-02-08 | 2022-08-11 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| CN113040916A (en) * | 2021-03-13 | 2021-06-29 | 极限人工智能有限公司 | Universal operation device and medical instrument |
| CN113729951A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Double-parallelogram initial adjustment mechanism of surgical robot |
| CN113729951B (en) * | 2021-10-12 | 2023-08-29 | 中南大学 | Double-parallelogram initial adjustment mechanism of surgical robot |
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|---|---|
| CN109602494B (en) | 2023-10-31 |
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Effective date of registration: 20221129 Address after: 314500 No. 3618, South Ring Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: ZHEJIANG FERT MEDICAL DEVICE CO.,LTD. Applicant after: Suzhou Guoke medical technology development (Group) Co.,Ltd. Address before: 314500 No. 3618, South Ring Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: ZHEJIANG FERT MEDICAL DEVICE CO.,LTD. Applicant before: YONGKANG GUOKE REHABILITATION ENGINEERING TECHNOLOGY Co.,Ltd. |
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