CN111374768A - Mechanical arm with adjustable turned angle - Google Patents
Mechanical arm with adjustable turned angle Download PDFInfo
- Publication number
- CN111374768A CN111374768A CN201811639420.9A CN201811639420A CN111374768A CN 111374768 A CN111374768 A CN 111374768A CN 201811639420 A CN201811639420 A CN 201811639420A CN 111374768 A CN111374768 A CN 111374768A
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- rotating
- rotating shaft
- arm
- hole
- rotatably connected
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- 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)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm with an adjustable rotating angle, which comprises rotating arms which are mutually and rotatably connected through a rotating shaft, wherein one end of the rotating shaft extends into one of the rotating arms and is fixedly connected with the rotating arms, and the other end of the rotating shaft extends into the other rotating arm and is rotatably connected with the rotating arms; and a locking mechanism which is sleeved on the rotating shaft and is matched and locked with the end surface of the other rotating arm is arranged in the rotating arm fixedly connected with one end of the rotating shaft. The invention realizes the stable locking relationship between two adjacent rotating arms by using the locking mechanism, and the quick adjustment of the rotating angle is very convenient.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm with an adjustable rotation angle.
Background
At present, the minimally invasive surgery is a hot point for medical technology research and is a trend of future surgical development, which is mainly because the minimally invasive surgery has a plurality of advantages: such as small trauma, short hospital stays, quick recovery, few postoperative complications, etc. However, the conventional endoscopic surgery has many disadvantages, such as low operation precision, small visual field range, small operation freedom, and easy fatigue and trembling of doctors. With the development of scientific technology, the medical assistance technology of the robot can well solve the problems. The robot auxiliary technology can provide a 3D visual field, is convenient for the operation of doctors, greatly increases the flexibility of the operation of miniature medical instruments, enables the doctors to carry out more precise operation, simultaneously adds the design in the aspect of ergonomics, and can reduce the fatigue of the doctors.
The motion adjusting mechanism of the existing minimally invasive surgical robot usually performs horizontal adjustment before an operation arm of the robot is adjusted, and how to realize stable rotation and facilitate rotation locking of the horizontal position is a problem to be solved.
Disclosure of Invention
The invention aims to provide a mechanical arm with adjustable rotation angle, which is quick in adjustment and stable in relative relation after being locked.
The technical purpose of the invention is realized by the following technical scheme:
a mechanical arm with an adjustable rotating angle comprises rotating arms which are mutually and rotatably connected through a rotating shaft, wherein one end of the rotating shaft extends into one of the rotating arms and is fixedly connected with the rotating arms, and the other end of the rotating shaft extends into the other rotating arm and is rotatably connected with the rotating arms; and a locking mechanism which is sleeved on the rotating shaft and is matched and locked with the end surface of the other rotating arm is arranged in the rotating arm fixedly connected with one end of the rotating shaft.
Through adopting above-mentioned technical scheme, utilize locking mechanism to realize the stable locking relation between two adjacent rotor arms, it is very convenient to the quick adjustment of turned angle moreover, has ensured certain security performance in the operation process simultaneously.
The invention is further configured to: the locking mechanism has the structure that: a brake is fixedly arranged in the rotating arm fixedly connected with one end of the rotating shaft, a through hole for the rotating shaft to pass through is arranged on the brake, and a gap is formed between the through hole and the rotating shaft; the end face of the rotating arm which is rotatably connected with the other end of the rotating shaft is provided with a through hole for the rotating shaft to pass through, and the through hole is fixedly connected with the brake.
Through adopting above-mentioned technical scheme, utilize this locking mechanism of use that the stopper can be nimble, on-off through the circular telegram to the stopper is controlled, and then reach the state of locking or unblock, can when the arm needs to be adjusted, to the stopper circular telegram can, and after the outage, the stopper gets into the locking state promptly, this design can be when nimble realization is adjusted and the locking, can also do the using-saving of the electric power energy, in addition, potential safety hazard can not appear in this design when the outage suddenly during the use, further improvement the security of using.
The invention is further configured to: the hole opening of the through hole extends towards the outer side direction to form an installation body, and the brake is fixedly installed on the port of the installation body.
Through adopting above-mentioned technical scheme, set up installation body fixed brake, then be further promotion locking structure's stability, do not provide good safety guarantee for the stable work of this structure.
The invention is further configured to: the rotating shaft penetrates through the mounting body and is rotatably connected with the mounting body through a bearing; the end face of the rotating arm fixedly connected with one end of the rotating shaft, which is opposite to the mounting body, is provided with a rotating hole for the mounting body to insert, and the mounting body is rotatably connected with the rotating hole through a bearing.
Through adopting above-mentioned technical scheme, utilize bearing complex rotation relation, can make stable the rotation between pivot, the installation body, the rotation hole three, mutual noninterference can prolong the life of equipment moreover, has improved the motion flexibility between the rotor arm.
The invention is further configured to: the position of the rotating shaft corresponding to the installation body, the position of the installation body corresponding to the rotating hole and close to the port of the installation body are provided with necking parts, and the bearings are sleeved on the corresponding necking parts.
By adopting the technical scheme, the relative position stability of the bearing can be ensured by utilizing the arrangement of the necking part, and the fault of equipment can not be caused.
The invention is further configured to: with be equipped with the turned angle detection mechanism with pivot looks adaptation in the rotor arm that the other end of pivot rotated to be connected, turned angle detection mechanism's structure is: and a mounting hole is formed in the rotating arm rotatably connected with the other end of the rotating shaft, an encoder is mounted in the mounting hole, and an input shaft of the encoder is fixedly connected with the rotating shaft.
By adopting the technical scheme, the rotation angle between the two rotating arms can be detected more accurately by utilizing the matching between the encoder and the rotating shaft, and more assistance is provided for a user when the high-precision use is required.
The invention is further configured to: the rotating shaft is matched with the mounting hole through a bearing to be rotatably connected.
Through adopting above-mentioned technical scheme, utilize bearing complex rotation relation, can make stable the rotation between pivot and the mounting hole, mutual noninterference can prolong the life of equipment moreover, also has certain guard action to the encoder simultaneously.
The invention is further configured to: one side of the rotating shaft, which is close to the mounting hole, is provided with an annular limiting bulge, and the bearing is arranged on the rotating shaft between the limiting bulge and the mounting hole.
Through adopting above-mentioned technical scheme, utilize spacing bellied design, can ensure that the pivot rocks, operates at equipment, perhaps when bumping, relative position between pivot and the mounting hole can effectual guarantee, has further enhancement to the guard action of encoder simultaneously.
In conclusion, the beneficial technical effects of the invention are as follows:
1. the adjacent cross arms rotate stably and horizontally, the rotating range is not limited, the rotation and locking between the adjacent cross arms can be realized directly through a locking mechanism, the rotation is stable, the adjustment is convenient, and the locking relationship is relatively stable;
2. the design of the encoder can be used for effectively acquiring the rotation angle between the cross arms, so that the use process of a user is more convenient, and the operation precision is further improved.
Drawings
Fig. 1 is a schematic sectional structure of the present invention.
In the figure, the device comprises a rotating shaft 1, a rotating shaft 2, a first rotating arm 3, a second rotating arm 4, a mounting hole 5, an encoder 6, a bearing 7, a limiting bulge 8, a brake 9, a through hole 10, a mounting body 11, a transition disc 12, a rotating hole 13, a first necking part 14, a second necking part 15 and an input shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, a robot arm with an adjustable turning angle disclosed in the present invention includes turning arms rotatably connected to each other by a turning shaft 1, and in the present embodiment, for convenience of explanation, the turning arms rotatably connected to each other are defined as a first turning arm 2 and a second turning arm 3.
One end of the rotating shaft 1 extends into the first rotating arm 2 and is fixedly connected with the first rotating arm 2, and the other end of the rotating shaft 1 extends into the second rotating arm 3 and is rotatably connected with the second rotating arm 3; the fixing connection may be a simple spline structure, or may be a bolt fixed to the first rotating arm 2, or may be a screw-fit fixing, and the fixing connection may be other structures that can fix the relative relationship between the two structures, which are conventional in the art.
In this embodiment, for the precision of the turned angle regulation of improve equipment, be equipped with the turned angle detection mechanism with 1 looks adaptation of pivot in second rotor arm 3, its structure is: and a mounting hole 4 is formed in a rotating arm rotatably connected with the other end of the rotating shaft 1, an encoder 5 is mounted in the mounting hole 4, and an input shaft 15 of the encoder 5 is fixedly connected with the rotating shaft 1. Wherein, the rotating shaft 1 is connected with the mounting hole 4 in a matching and rotating way through a bearing 6. The encoder 5 performs the most basic function of detecting the rotation angle, and the encoder 5 is conventional in the art. The encoder 5 is added, so that more assistance is provided for a user when the product needs high precision, the service life of the equipment can be prolonged due to the arrangement of the bearing 6, and meanwhile, the encoder 5 is protected to a certain extent.
In the process of product transport, can appear rocking, operation unavoidably, perhaps when bumping into, in order to avoid leading to the possibility of pivot 1 to encoder 5's damage because of this kind of accident, further protection encoder 5's safety can be equipped with annular spacing arch 7 in pivot 1 near one side of mounting hole 4, and bearing 6 is installed on pivot 1 between spacing arch 7 and mounting hole 4.
A locking mechanism which is sleeved on the rotating shaft 1 and is matched and locked with the end surface of the second rotating arm 3 is arranged in the first rotating arm 2, and the locking mechanism has the structure that: a brake 8 is fixedly installed in the first rotating arm 2, the brake 8 is generally a common electromagnetic brake on the market, the electromagnetic brake does not brake under the condition of power-on, and automatically enters a braking state after power-off, a through hole for the rotating shaft 1 to pass through is formed in the brake 8, a gap is formed between the through hole and the rotating shaft 1, and the rotating shaft 1 does not interfere with each other when rotating relative to the brake 8; the end face of the second rotating arm 3 is provided with a through hole 9 for the rotating shaft 1 to pass through, and the through hole 9 is fixedly connected with the brake 8. Wherein, the hole of the perforation 9 extends towards the outside direction to form a mounting body 10, and the brake 8 is fixedly mounted on the port of the mounting body 10.
Adopt this locking mechanism, in the in-process of using, when needing to adjust the position relation between two rotor arms, to stopper 8 circular telegram can, during circular telegram, stopper 8 relieves the braking state, at this moment, the rotor arm just can be adjusted in a flexible way, when needing the locking, the outage can, after the outage, stopper 8 automatic entering braking state, consequently, this scheme is also the security high under the condition of outage suddenly, can also do the using-saving of electric power energy.
The rotating shaft 1 penetrates through the mounting body 10 and is rotatably connected with the mounting body 10 through a bearing 6; the end face of the first rotating arm 2 opposite to the through hole is provided with a rotating hole 12 for inserting the mounting body 10, and the mounting body 10 is rotatably connected with the rotating hole 12 through a bearing 6; wherein, the position of the rotating shaft 1 corresponding to the mounting body 10 is provided with a first necking part 13, the first necking part 13 penetrates through the mounting body 10 and extends into a rotating arm fixedly connected with one end of the rotating shaft 1, and a bearing 6 between the rotating shaft 1 and the mounting body 10 is sleeved on the first necking part 13; a second necking part 14 is arranged on the outer side wall of the mounting body 10 corresponding to the rotating hole 12 and close to the port of the mounting body 10, and the bearing 6 between the mounting body 10 and the rotating hole 12 is mounted on the second necking part 14. The arrangement mode can improve the stability of the equipment in normal working and also has certain guarantee for the service life of the internal mechanism.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a arm with adjustable turned angle which characterized in that: the device comprises rotating arms which are mutually and rotatably connected through a rotating shaft (1), wherein one end of the rotating shaft (1) extends into one of the rotating arms and is fixedly connected with the rotating arm, and the other end of the rotating shaft (1) extends into the other rotating arm and is rotatably connected with the rotating arm; a locking mechanism which is sleeved on the rotating shaft (1) and is matched and locked with the end surface of the other rotating arm is arranged in the rotating arm fixedly connected with one end of the rotating shaft (1).
2. The angularly adjustable mechanical arm of claim 1, wherein: the locking mechanism has the structure that: a brake (8) is fixedly arranged in a rotating arm fixedly connected with one end of the rotating shaft (1), a through hole for the rotating shaft (1) to pass through is formed in the brake (8), and a gap is formed between the through hole and the rotating shaft (1); the end face of the rotating arm which is rotatably connected with the other end of the rotating shaft (1) is provided with a through hole (9) for the rotating shaft (1) to pass through, and the through hole (9) is fixedly connected with the brake (8).
3. The angularly adjustable robotic arm of claim 2, wherein: the hole opening of the through hole (9) extends towards the outer side direction to form an installation body (10), and the brake (8) is fixedly installed on the port of the installation body (10).
4. The angularly adjustable mechanical arm of claim 3, wherein: the rotating shaft (1) penetrates through the mounting body (10) and is rotatably connected with the mounting body (10) through a bearing (6); the end face of the rotating arm fixedly connected with one end of the rotating shaft (1) opposite to the installation body (10) is provided with a rotating hole (12) for the installation body (10) to insert, and the installation body (10) is rotatably connected with the rotating hole (12) through a bearing (6).
5. The angularly adjustable mechanical arm of claim 4, wherein: the position of the rotating shaft (1) corresponding to the mounting body (10), the position of the mounting body (10) corresponding to the rotating hole (12) and close to the port of the mounting body (10) are provided with necking parts, and the bearings (6) are sleeved on the corresponding necking parts.
6. The angularly adjustable mechanical arm according to any one of claims 1 to 5, wherein: with be equipped with the turned angle detection mechanism with pivot (1) looks adaptation in the rotor arm of the other end rotation connection of pivot (1), turned angle detection mechanism's structure is: and a mounting hole (4) is formed in the rotating arm rotatably connected with the other end of the rotating shaft (1), an encoder (5) is mounted in the mounting hole (4), and an input shaft (15) of the encoder (5) is fixedly connected with the rotating shaft (1).
7. The angularly adjustable mechanical arm of claim 6, wherein: the rotating shaft (1) is in matched rotating connection with the mounting hole (4) through a bearing (6).
8. The angularly adjustable robotic arm of claim 7, wherein: one side of the rotating shaft (1) close to the mounting hole (4) is provided with an annular limiting bulge (7), and the bearing (6) is mounted on the rotating shaft (1) between the limiting bulge (7) and the mounting hole (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639420.9A CN111374768A (en) | 2018-12-29 | 2018-12-29 | Mechanical arm with adjustable turned angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639420.9A CN111374768A (en) | 2018-12-29 | 2018-12-29 | Mechanical arm with adjustable turned angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111374768A true CN111374768A (en) | 2020-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811639420.9A Pending CN111374768A (en) | 2018-12-29 | 2018-12-29 | Mechanical arm with adjustable turned angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111374768A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112971988A (en) * | 2021-01-25 | 2021-06-18 | 杭州柳叶刀机器人有限公司 | Knee joint replacement surgical robot |
-
2018
- 2018-12-29 CN CN201811639420.9A patent/CN111374768A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112971988A (en) * | 2021-01-25 | 2021-06-18 | 杭州柳叶刀机器人有限公司 | Knee joint replacement surgical robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210624 Address after: 518000 Building 601, Shenzhen Biomedical Innovation Industrial Park, No. 14 Jinhui Road, Kengzi Street, Pingshan New District, Shenzhen City, Guangdong Province Applicant after: DAKEWE (SHENZHEN) MEDICAL EQUIPMENTS Co.,Ltd. Address before: 518118 11th floor, building 10, Shenzhen Biomedical Innovation Industrial Park, 14 Jinhui Road, Kengzi street, Pingshan District, Shenzhen City, Guangdong Province Applicant before: Dakota intelligent Medicine Co.,Ltd. |
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| TA01 | Transfer of patent application right |