CN110802583A

CN110802583A - Spherical connecting rod type mechanical arm

Info

Publication number: CN110802583A
Application number: CN201810885336.9A
Authority: CN
Inventors: 刘廷皓
Original assignee: Hiwin Technologies Corp
Current assignee: Hiwin Technologies Corp
Priority date: 2018-08-06
Filing date: 2018-08-06
Publication date: 2020-02-18
Anticipated expiration: 2038-08-06
Also published as: CN110802583B

Abstract

The invention discloses a spherical connecting rod type mechanical arm, which mainly comprises a first bent rod, a first belt pulley, a speed reducer, a second bent rod, a second belt pulley, a third belt pulley, a proportional wheel, a third bent rod, a first belt and a second belt. In addition, the medical staff is provided with a proper working space, so that the staff does not feel fatigue even if used for a long time, and the smoothness, the convenience and the safety of the operation are achieved.

Description

Spherical connecting rod type mechanical arm

Technical Field

The present invention relates to a robot arm, and more particularly, to a spherical link robot arm.

Background

Referring to fig. 1A, a diagram of a ball-shaped link robot of taiwan application No. 103102343 is shown; comprises a first and a second bending rods 1 and 2, an instrument rod 3, a first to a third

proportional wheel

4, 5 and 6, a first and a second flexible rope 7 and 8, and defines first to fourth imaginary axes I1, I2, I3, I4 intersecting a spherical center of rotation C1, the first proportional wheel 4 is driven to rotate around a first imaginary axis I1 and a third imaginary axis I3, the first flexible rope 7 is wound on the first and second proportional wheels 4 and 5 and fixed on the first curved bar 1, and drives the second proportional wheel 5 and the second curved bar 2 to rotate around the second imaginary axis I2 when the first proportional wheel 4 rotates, the second flexible rope 8 is wound on the second and third

proportional wheels

5 and 6 and fixed on the second curved bar 2, and drives the third proportional wheel 6 and the instrument rod 3 to rotate around the fourth imaginary axis I4 when the second proportional wheel 5 rotates.

However, in the above case, the first flexible rope 7 and the second flexible rope 8 both use steel ropes to achieve the purpose of flexible transmission, and each time the first flexible rope 7 and the second flexible rope 8 are assembled or maintained, the winding length of the first flexible rope 7 and the second flexible rope 8 must be individually adjusted, so the structure is quite complicated, the assembly is not easy, people are easily injured, manpower and man-hours are consumed, and the manufacturing cost is substantially increased.

Further, please refer to fig. 1B, which shows a top view of the conventional structure. The spherical connecting rod type mechanical arm is connected with an endoscope 9 to shoot and observe the internal condition of a human body, the larger the working space used is, which is beneficial to the action of medical staff in the operation process, but the pin joint position of the second bent rod 2 of the case is positioned below the first bent rod 1, the problems of occupying volume, narrow working space A and the like are derived, so that the medical staff is difficult to master the endoscope in the operation process, the blocking and interference are easy to cause, the operation process is quite unsmooth, the misjudgment of the medical staff is caused, or the deep observation is difficult to continue due to the blocking, a lot of inconvenience is caused, and the efficiency is reduced.

Disclosure of Invention

The invention aims to provide a spherical connecting rod type mechanical arm which is simple to assemble and can improve the assembly efficiency.

Another objective of the present invention is to provide a spherical connecting rod type mechanical arm, which mainly increases the working space of medical staff.

According to the present invention, there is provided a spherical link type robot arm, comprising:

the first bending rod comprises a first pivot part positioned at one end, a second pivot part positioned at the other end and opposite to the first pivot part, a first imaginary axis passing through the first pivot part and a second imaginary axis passing through the second pivot part, wherein the first imaginary axis and the second imaginary axis are intersected at a spherical rotation center.

The first belt pulley is pivoted on the first pivoting part of the first bent rod and is provided with a third imaginary axis which can be superposed with the first imaginary axis and passes through the spherical rotating center.

The speed reducer is arranged on the second pivoting part of the first bent rod and is provided with a first shaft part and a second shaft part which rotates synchronously with the first shaft part.

The second bent rod is pivoted on the speed reducer and provided with a third pivoting part pivoted on the second shaft part, a fourth pivoting part opposite to the third pivoting part and a fourth imaginary axis passing through the fourth pivoting part and the spherical rotating center.

The second belt pulley is sleeved on the first shaft part of the speed reducer.

And the third belt pulley is arranged on the second pivoting part of the first bent rod, sleeved on the second shaft part of the speed reducer and positioned between the third pivoting part of the second bent rod and the speed reducer.

A proportional wheel pivoted to the fourth pivot part of the second curved rod.

A third curved rod pivoted to the proportional wheel.

And the first belt is wound on the first belt pulley and the second belt pulley and penetrates through the first bent rod, and drives the second belt pulley and the second bent rod to rotate by taking the second imaginary axis as a center when the first belt pulley rotates.

And the second belt is wound on the third belt pulley and the proportional wheel and penetrates through the second bent rod, and drives the second bent rod to rotate by taking the second imaginary axis as a center when the second belt pulley rotates, and the proportional wheel and the third bent rod synchronously rotate by taking the fourth imaginary axis as a center.

Preferably, the length of the second bending rod is greater than that of the first bending rod.

Preferably, the pivot position of the second curved bar is located above the pivot position of the first curved bar.

Preferably, the outer diameter of the first pulley is equal to the outer diameter of the second pulley.

Preferably, the outer diameter of the proportional wheel is twice the outer diameter of the third pulley.

Preferably, the device further comprises a tension adjuster, the tension adjuster is arranged on the proportional wheel, and the second belt is fixed between the tension adjuster and the proportional wheel.

Therefore, the invention provides a spherical connecting rod type mechanical arm which mainly comprises a first bent rod, a first belt pulley, a speed reducer, a second bent rod, a second belt pulley, a third belt pulley, a proportional wheel, a third bent rod, a first belt and a second belt.

In addition, the pivoting position of the second bent rod is positioned above the pivoting position of the first bent rod, and the length of the second bent rod is greater than that of the first bent rod, so that the defect of narrow working space of the conventional structure is overcome, the range of the working space is greatly enlarged, medical staff can quite accord with the human engineering in the operation process, a proper working space is provided for the medical staff, and therefore, the medical staff cannot feel fatigue even using the medical staff for a long time, the smoothness, the convenience and the safety of the operation are achieved, and the practicability and the competitiveness of products are further improved actively.

Drawings

Fig. 1A is a diagram of a ball-link robot of taiwan application No. 103102343.

FIG. 1B is a top view of a prior art structure, showing a working space that is too narrow.

Fig. 2 is a perspective assembly view (one) of the embodiment of the present invention.

Fig. 3 is a perspective assembly view (ii) of the embodiment of the present invention.

Fig. 4 is a perspective combination view (iii) of the embodiment of the present invention.

Fig. 5 is a perspective side view of an embodiment of the present invention showing the length of the second bend being greater than the length of the first bend.

FIG. 6 is a top view of an embodiment of the present invention showing the workspace of the present invention being larger than the workspace of FIG. 1B.

Description of the reference numerals

Working space A

Spherical center of rotation C1

First imaginary axis I1

Second imaginary axis I2

Third imaginary axis I3

Fourth imaginary axis I4

First curved bar 1

Second curved bar 2

Instrument shaft 3

First proportional wheel 4

Second proportional wheel 5

Third proportional wheel 6

First flexible cord 7

First flexible cord 8

Endoscope 9

Workspace a1

Spherical center of rotation C

First imaginary axis L1

Second imaginary axis L2

Third imaginary axis L3

Fourth imaginary axis L4

Drive device 10

Fixed seat 11

First drive unit 12

First drive pulley 121

Belts

122, 132

Driving wheel 123

Second drive unit 13

Second drive pulley 131

First curved bar 20

First pivot joint part 21

Second pivot portion 22

First pulley 30

Speed reducer 40

First shaft portion 41

Second shaft portion 42

Second curved bar 50

Third pivot part 51

The fourth pivot portion 52

Second pulley 60

Third pulley 70

Proportional wheel 80

Third curved bar 90

Fifth pivotal connection part 91

Mounting portion 92

First belt 100

Second belt 110

Transmission 120

Tension adjuster 130

An endoscope 140.

Detailed Description

Referring to fig. 2 to 6, a ball-link robot according to an embodiment of the present invention is configured to be disposed on an apparatus (not shown), and mainly includes a driving device 10, a first bending rod 20, a first belt pulley 30, a speed reducer 40, a second bending rod 50, a second belt pulley 60, a third belt pulley 70, a proportional wheel 80, a third bending rod 90, a first belt 100, and a second belt 110, wherein:

the driving device 10 includes a fixing base 11, a first driving unit 12 disposed on the fixing base 11, and a second driving unit 13 disposed on the fixing base 11 and parallel to the first driving unit 12. The first driving unit 12 comprises a first driving pulley 121 disposed below the first driving unit 12, and a belt 122 wound around the first driving pulley 121 and a driving wheel 123 for transmitting the rotational energy output by the first driving unit 12 to the driving wheel 123. The second driving unit 13 includes a second driving pulley 131 above, and a belt 132 is wound around the second driving pulley 131 and the first pulley 30, so that the rotational kinetic energy output by the second driving unit 13 is transmitted to the first pulley 30.

The first bending rod 20 comprises a first pivot part 21 at one end, a second pivot part 22 at the other end opposite to the first pivot part 21, a first imaginary axis L1 passing through the first pivot part 21, and a second imaginary axis L2 passing through the second pivot part 22, wherein the first imaginary axis L1 and the second imaginary axis L2 intersect at a spherical rotation center C; in this embodiment, the first pivot portion 21 is disposed coaxially with the transmission wheel 123 and can be driven by the first driving pulley 121 of the first driving unit 12 to rotate, so that the first bending rod 20 can be driven by the first driving unit 12 to rotate around the first imaginary axis L1. In the process of actuating the spherical connecting rod type mechanical arm, each rotatable part of the spherical connecting rod type mechanical arm can move on an imaginary spherical surface taking the spherical rotation center C as the sphere center, and the instrument device can swing around the spherical rotation center C by driving the instrument device by the spherical rotation center C.

The first pulley 30 is pivotally mounted on the first pivot portion 21 of the first curved bar 20, and has a third imaginary axis L3 that can coincide with the first imaginary axis L1 and passes through the spherical rotation center C; in this embodiment, the first pulley 30 is coaxially disposed with the first pivot portion 21 of the first bending rod 20, so that the third imaginary axis L3 can be overlapped with the first imaginary axis L1.

The speed reducer 40 is disposed on the second pivot portion 22 of the first curved bar 20, and has a first shaft portion 41 through which the second pulley 60 passes, and a second shaft portion 42 rotating synchronously with the first shaft portion 41; in this embodiment, the rotational kinetic energy output by the driving device 10 can be reduced to the rotational kinetic energy required by the operator by the aid of the speed reducer 40 to obtain a predetermined torque, and the ball-shaped link type robot is particularly suitable for an environment with limited space, so that the movement of the ball-shaped link type robot can be more reliably, flexibly and stably output with high efficiency, and the implementation and application of the ball-shaped link type robot are facilitated.

The second bending rod 50 is pivoted to the speed reducer 40, and has a third pivoting portion 51 pivoted to the second shaft portion 42, a fourth pivoting portion 52 opposite to the third pivoting portion 51, and a fourth imaginary axis L4 passing through the fourth pivoting portion 52 and the spherical rotation center C; in this embodiment, the third pivot portion 51 can rotate relative to the second pivot portion 22 of the first curved bar 20 about the second imaginary axis L2.

The second pulley 60 is sleeved on the first shaft 41 of the speed reducer 40; in this embodiment, the second pulley 60 is fixedly sleeved on the first shaft 41 of the speed reducer 40, so that when the second pulley 60 rotates, the second shaft 42 of the speed reducer 40 is driven to rotate synchronously.

The third belt pulley 70 is disposed on the second pivot portion 22 of the first curved bar 20, sleeved on the second shaft portion 42 of the speed reducer 40, and located between the third pivot portion 51 of the second curved bar 50 and the speed reducer 40; in this embodiment, the third pulley 70 is fixed on the second pivot portion 22 of the first bending rod 20 and is sleeved on the second shaft portion 42 of the speed reducer 40; thus, when the second shaft portion 42 of the speed reducer 40 rotates, the second bending rod 50 is driven to rotate around the second imaginary axis L2, and then the third bending rod 90 is driven to rotate around the fourth imaginary axis L4 by the third belt pulley 70 being fixed and the second belt 110 being driven.

The proportional wheel 80 is pivotally disposed on the fourth pivot portion 52 of the second curved bar 50 and located between the fourth pivot portion 52 of the second curved bar 50 and the third curved bar 90, and the proportional wheel 80 is fixed on the third curved bar 90 and thus can rotate synchronously with the third curved bar 90.

The third curved bar 90 is pivoted to the proportional wheel 80; in this embodiment, the third curved lever 90 includes a fifth pivot portion 91 pivotally connected to the proportional wheel 80 and a mounting portion 92 opposite to the fifth pivot portion 91, a transmission device 120 can be installed through the mounting portion 92, and the transmission device 120 is installed with an endoscope 140.

The first belt 100 is wound around the first pulley 30 and the second pulley 60 and penetrates through the first curved bar 20, and drives the second pulley 60 and the second curved bar 50 to rotate around the second imaginary axis L2 when the first pulley 30 rotates; the second belt 110 is wound around the third pulley 70 and the proportional wheel 80, penetrates through the second curved bar 50, and drives the proportional wheel 80 and the third curved bar 90 to rotate around the fourth imaginary axis L4 when the second curved bar 50 rotates around the second imaginary axis L2; in this embodiment, when the first pulley 30 is driven by the second driving pulley 131 of the second driving unit 13 to rotate, the first pulley 30 rotates to drive the first belt 100, and drive the second pulley 60 and the second curved bar 50 to rotate around the second imaginary axis L2, meanwhile, the second belt 110 rotates with the second curved bar 50 to drive the proportional wheel 80 and the third curved bar 90 to rotate around the fourth imaginary axis L4; therefore, the belt replaces the steel rope structure of the existing structure, so compared with the complexity of the existing structure, the belt has the characteristic of modularization, and has the advantages of accelerating the assembly of the structure, effectively shortening the assembly working hour, reducing the working hour cost and the like.

It should be noted that the present invention further includes a tension adjuster 130, the tension adjuster 130 is disposed on the proportional wheel 80, the second belt 110 is fixed between the tension adjuster 130 and the proportional wheel 80, the tension adjuster 130 provides an operator to adjust the tension of the second belt 110, and the proportional wheel 80 may not be disposed with the tension adjuster 130, so that the second belt 110 is disposed on the second curved bar 50.

Referring to fig. 5 and 6, the pivot position of the second curved bar 50 is located above the pivot position of the first curved bar 20, the length of the second curved bar 50 is greater than the length of the first curved bar 20, the outer diameter of the first belt pulley 30 is equal to the outer diameter of the second belt pulley 60, and the outer diameter of the proportional wheel 80 is twice the outer diameter of the third belt pulley 70, so that the working space a1 of the medical staff and the use space of the endoscope can be increased.

It is worth noting that the present invention can achieve at least the following effects.

Firstly, the equipment is simple, improves the packaging efficiency. Compared with the prior structure, the belt has the characteristics of modularization, and has the advantages of accelerating the assembly of the structure, effectively shortening the assembly working hour and reducing the working hour cost, and the belt has high tensile strength, can absorb the impact of operation, is not easy to wear and break when in use, has high applicability and simple replacement, and improves the service life and the like.

Secondly, the working space A1 of the medical staff is improved. Through the pivot position of the second curved bar 50 being above the pivot position of the first curved bar 20 and the length of the second curved bar 50 being greater than the length of the first curved bar 20, the defect of narrow working space of the existing structure is improved, the range of the working space A1 is greatly enlarged, so that medical staff can meet the human engineering in the operation process, and the proper working space A1 is provided for the medical staff, therefore, even if the medical staff is used for a long time, the medical staff cannot feel fatigue, the smoothness, the convenience and the safety of the operation are achieved, and the practicability and the competitiveness of the product are further improved actively.

The above are merely preferred embodiments of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a spherical connecting rod formula robotic arm which characterized in that: comprises the following steps:

a first bending rod, which comprises a first pivot part positioned at one end, a second pivot part positioned at the other end and opposite to the first pivot part, a first imaginary axis passing through the first pivot part and a second imaginary axis passing through the second pivot part, wherein the first imaginary axis and the second imaginary axis are intersected at a spherical rotation center;

a first belt pulley, which is pivoted on the first pivoting part of the first bent rod and is provided with a third imaginary axis which can be superposed with the first imaginary axis and passes through the spherical rotating center;

the speed reducer is arranged on the second pivoting part of the first bent rod and is provided with a first shaft part and a second shaft part which synchronously rotates with the first shaft part;

the second bent rod is pivoted on the speed reducer and provided with a third pivoting part pivoted on the second shaft part, a fourth pivoting part opposite to the third pivoting part and a fourth imaginary axis passing through the fourth pivoting part and the spherical rotating center;

the second belt pulley is sleeved on the first shaft part of the speed reducer;

the third belt pulley is arranged at the second pivoting part of the first bent rod, sleeved on the second shaft part of the speed reducer and positioned between the third pivoting part of the second bent rod and the speed reducer;

a proportional wheel pivoted to the fourth pivoting part of the second curved bar;

a third curved bar pivoted to the proportional wheel;

the first belt is wound on the first belt pulley and the second belt pulley and penetrates through the first bent rod, and drives the second belt pulley and the second bent rod to rotate by taking the second imaginary axis as a center when the first belt pulley rotates; and

2. The ball link robot arm according to claim 1, wherein: the length of the second bent rod is greater than that of the first bent rod.

3. The ball link robot arm according to claim 1, wherein: the second bent rod is pivoted above the first bent rod.

4. The ball link robot arm according to claim 1, wherein: the outer diameter of the first belt pulley is equal to the outer diameter of the second belt pulley.

5. The ball link robot arm according to claim 1, wherein: the outer diameter of the proportional wheel is twice the outer diameter of the third belt pulley.

6. The ball link robot arm according to claim 1, wherein: the tension regulator is arranged on the proportional wheel, and the second belt is fixed between the tension regulator and the proportional wheel.