CN112869760A

CN112869760A - Six arms of removal DR robot

Info

Publication number: CN112869760A
Application number: CN202110298532.8A
Authority: CN
Inventors: 曾安; 潘丹; 蔡重芪; 魏敢; 李阳
Original assignee: Guangdong Zhongke Tianji Medical Equipment Co Ltd
Current assignee: Guangdong Zhongke Tianji Medical Equipment Co Ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-06-01

Abstract

The invention discloses a six-axis mechanical arm of a mobile DR robot, comprising: an operation tip for performing various processes on a subject; the wrist end, one end of the wrist end is connected with the base, and the wrist end can rotate relative to the base; the wrist end is provided with a wrist end and a wrist end, wherein one end of the wrist end is arranged on the wrist end in a lifting and moving way; the telescopic arm end is arranged at the other end of the arm end and can extend outwards from the arm end or retract from the arm end; a tool end disposed on one end of the telescopic arm end for movement into a predetermined range. The invention can achieve the mechanical arm with six freedom degree directions, can realize the detection of all body positions, controls the mechanical arm to move to any position in the whole process, reduces errors, improves the accuracy and does not need to occupy larger field space.

Description

Six arms of removal DR robot

Technical Field

The invention relates to the technical field of mobile DR robot equipment, in particular to a six-axis mechanical arm of a mobile DR robot.

Background

At present, mobile DR robot equipment products commonly used in hospitals are dispersed and diversified, the inspection body positions and the inspection key points of the mobile DR robot equipment are different, and the detection of all body positions cannot be realized due to the advantages and disadvantages in function use. And the mobile DR robot equipment is various in types, and because the operation and use of each machine are different, the operation and use of the mobile DR robot equipment and the adjustment of parameters and the like bring difficulties to operating personnel in hospitals. Moreover, the machines are various, and hospitals need to provide enough fields. A large amount of space is occupied. Causing a shortage of space. The comprehensive cost is greatly increased.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a six-axis mechanical arm of a mobile DR robot.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a mobile DR robot six axis robot arm comprising:

an operation tip for performing various processes on a subject;

the wrist end, one end of the wrist end is connected with the base, and the wrist end can rotate relative to the base;

the wrist end is provided with a wrist end and a wrist end, wherein one end of the wrist end is arranged on the wrist end in a lifting and moving way;

the telescopic arm end is arranged at the other end of the arm end and can extend outwards from the arm end or retract from the arm end;

and the tool end is arranged at one end of the telescopic arm end and is used for moving to a preset range to carry out various procedures on the measured body.

As a preferable technical solution of the present invention, the wrist support further comprises a first driving assembly and a first transmission assembly, the first transmission assembly is in transmission connection with one end of the wrist end, and the first driving assembly is in driving connection with the first transmission assembly and is used for driving the wrist end to rotate on the base to a preset position.

As a preferred technical solution of the present invention, the first transmission assembly includes a first driving gear and a first driven gear, and the first driving gear and the first driven gear are engaged with each other;

the first driving device is in driving connection with the first driving gear, and one end of the wrist end is connected with the driven gear.

As a preferable technical solution of the present invention, the wrist support further comprises a second driving assembly and a second transmission assembly, the second transmission assembly is in transmission connection with one end of the arm end, the second driving assembly is in transmission connection with the second transmission assembly, and the second transmission assembly is driven to drive the arm end to move to a preset position on the wrist end.

As a preferred technical scheme of the present invention, the second transmission assembly includes a lifting gear seat and a gear rack, and the lifting gear seat and the gear rack are engaged with each other;

the lifting gear seat is fixedly connected with the arm end, and the second driving assembly is in driving connection with the lifting gear seat to drive the lifting gear seat to rotate on the gear strip, so that the arm end is lifted and moved.

As a preferable technical scheme, the telescopic boom further comprises a third driving assembly and a third transmission assembly, wherein the third transmission assembly is in transmission connection with the telescopic boom end, and the third driving assembly is in driving connection with the third transmission assembly and drives the third transmission assembly to drive the telescopic boom end to move telescopically.

As a preferable technical scheme of the present invention, the third transmission assembly includes a second driving wheel and a lead screw assembly, the lead screw assembly is connected with the second driving wheel, and the lead screw assembly is embedded in the telescopic arm end.

As a preferred technical solution of the present invention, the telescopic arm end includes a first arm and a second arm built in the first arm, the second driving wheel includes a first gear set and a second gear set, and the screw rod assembly includes a first screw rod and a second screw rod;

when the third driving assembly drives the first gear set to rotate, the first screw rod pushes the first arm to stretch and move from the arm end, and meanwhile, the second screw rod is driven by the second gear set to push the second arm to stretch and move from the first arm.

As a preferable technical solution of the present invention, the second lead screw includes a first shaft rod and a second shaft rod, one end of the first shaft rod is connected to the first gear set, the other end of the first shaft rod is connected to the second gear set, one end of the second shaft rod is connected to the second gear set, and the other end of the second shaft rod is connected to the second arm in a pushing manner.

As a preferred technical solution of the present invention, the tool end includes a fourth driving component and a fourth transmission component, the fourth transmission component is in transmission connection with the operation end, the fourth driving component is in transmission connection with the fourth transmission component, and the fourth transmission component is driven to drive the operation end to move to a position within a preset range.

As a preferred technical solution of the present invention, the fourth transmission assembly includes a plurality of third driving gears and third driven gears, and each third driving gear is engaged with a corresponding third driven gear;

the third driving assembly is in driving connection with each third driving gear, the operating portion is connected with each third driven gear, and when the third driving assembly drives each third driving gear to rotate with the corresponding third driven gear, the third driving assembly drives the operating end to move towards different directions.

Compared with the prior art, the invention has the beneficial effects that:

the invention can achieve the mechanical arm with six freedom degree directions, can realize the detection of all body positions, controls the mechanical arm to move to any position in the whole process, reduces errors, improves the accuracy and does not need to occupy larger field space.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a wrist end, a first driving element and a first transmission element according to an embodiment of the invention.

Fig. 3 is a schematic structural diagram of the arm end, the second driving assembly and the second transmission assembly according to the embodiment of the invention.

Fig. 4 is a schematic structural diagram of the telescopic arm end, the third driving assembly and the third transmission assembly according to the embodiment of the invention.

Fig. 5 is a schematic view of the internal structure of the telescopic arm end according to the embodiment of the present invention.

FIG. 6 is a schematic view of a tool end, a fourth driving assembly and a fourth transmission assembly according to an embodiment of the present invention.

Reference numbers in the figures:

1-a base;

2-wrist end, 21-first driving assembly, 22-first transmission assembly, 221-first driving gear, 222-first driven gear;

3-arm end, 31-second driving component, 32-second transmission component, 321-lifting gear seat, 322-gear rack;

4-telescopic arm end, 41-first arm, 42-second arm, 43-third driving component, 44-third transmission component, 441-second driving wheel, 4411-first gear set, 4412-second gear set, 45-screw rod component, 451-first screw rod, 452-second screw rod, 4521-first shaft lever, 4522-second shaft lever;

5-tool end, 51-fourth drive assembly, 52-fourth transmission assembly, 521-third driving gear, 522-third driven gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a six-axis mechanical arm of a mobile DR robot, which mainly achieves the aim of the mechanical arm moving in six freedom degree directions, can realize the detection of all body positions, controls the mechanical arm to move to any position in the whole process, reduces errors, improves the accuracy, does not need to occupy larger field space, and has the specific structure as shown in the attached drawings 1-6:

an operation end for performing various processes on a subject;

the wrist end 2 is connected to the base 1 at one end of the wrist end 2, and the base 1 may be used for supporting the wrist end 2 and the like or moving the base 1 and the like, and is not limited in particular. The base 1 is flatly placed on the ground, the wrist end 2 can rotate relative to the base 1, namely the wrist end 2 can rotate along any angle such as 360 degrees on the base 1, and the tool end 5 is rotated to a position close to a measured body.

The rotation movement of the wrist end 2 is realized by the first driving component 21 and the first transmission component 22, and the first transmission component 22 is in transmission connection with one end of the wrist end 2, that is, the first transmission component 22 drives the wrist end 2 to rotate when in operation. The first driving element 21 is drivingly connected to the first transmission element 22, the first driving element 21 provides kinetic energy to the first transmission element 22, and the first transmission element 22 is connected to the wrist end 2, so as to drive the wrist end 2 to rotate on the base 1 to a predetermined position.

The preset position is that before the rotation of the wrist end 2, the user has preset the direction and angle of the next rotation of the wrist end 2, and then after the activation, the wrist end 2 will rotate to the position according to the preset requirement.

The first transmission assembly 22 includes a first driving gear 221 and a first driven gear 222, wherein gear edges of the first driving gear 221 and the first driven gear 222 are adapted to each other, so that the first driving gear 221 can be meshed with the first driven gear 222, and when the first driving gear 221 rotates, the first driven gear 222 is driven to rotate synchronously, so that the first driving gear 221 and the first driven gear 222 are in a corresponding relationship.

The first driving device is in driving connection with the first driving gear 221, and the first driving assembly provides kinetic energy for the first driving gear 221, so that the first driving gear 221 can be driven to rotate, the first driving gear 221 rotates and drives the first driven gear 222 to rotate, and then after the first driven gear 222 rotates, the wrist end 2 is driven to rotate due to the fact that one end of the wrist end 2 is connected with the driven gear, and until the wrist end 2 rotates to a preset position, the first driving device stops the rotation of the first driving gear 221, so that the swinging accuracy of the wrist end 2 is improved. In this way, the wrist end 2 is driven to rotate towards the preset direction and angle, so that the tool end 5 is rotated to a position close to the measured body.

The wrist end 2 is provided with an arm end 3, one end of the arm end 3 is arranged on the wrist end 2 in a lifting and moving way, the arm end 3 and the wrist end 2 are arranged in a vertical opposite direction, the arm end 3 is driven to move to a preset position along the lifting and lowering of the wrist end 2, the lifting and moving towards the Z-axis direction can be realized, the arm end 3 keeps still at the position after reaching the position, and the position of the tool end 5 which is gradually close to the tested body can be reached.

The lifting movement of the arm end 3 along the wrist end 2 is effected by means of a second drive assembly 31 and a second transmission assembly 32. The second transmission assembly 32 is in transmission connection with one end of the arm end 3, that is, the second transmission assembly 32 drives the arm end 3 to move up and down when working. The second driving assembly 31 is drivingly connected to the second transmission assembly 32, and the second driving assembly 31 provides kinetic energy to the first transmission assembly 22, so that driving the second transmission assembly 32 by the second driving assembly 31 moves the arm end 3 up and down on the wrist end 2 to a predetermined position.

The second transmission assembly 32 includes a lifting gear seat 321 and a gear rack 322, the gear rack 322 is installed on the wrist end 2, and two ends of the gear rack 322 extend towards two sides of the wrist end 2, which is not limited by the height of the measured object. Since the lifting gear seat 321 and the gear side of the gear rack 322 are adapted to each other, the lifting gear seat 321 can be engaged with the gear rack 322, and when the lifting gear seat 321 rotates, it moves up and down along the gear rack 322.

The lifting gear seat 321 is fixedly connected to the arm end 3, and when the lifting gear seat 321 rotates and moves along the gear rack 322, the arm end 3 is also synchronously driven to move up and down. And second drive assembly 31 is connected with the drive of lifting gear seat 321, provide kinetic energy for lifting gear seat 321 by second drive assembly 31, consequently can drive lifting gear seat 321 and rotate, and this lifting gear seat 321 is with arm end 3 fixed connection, so when driving lifting gear seat 321 along rotatory on gear rack 322, realize arm end 3 and carry out the lift removal, until arm end 3 remove to preset position after, second drive assembly 31 then stops lifting gear seat 321's rotary motion, improve arm end 3's pendulum to the accuracy. In this way, the arm end 3 is driven to move up and down towards the preset direction and distance, so that the tool end 5 is moved to a position close to the measured body again.

The lifting gear seat 321 further includes a slide rail, a slide seat and a gear rack, the slide rail is also installed on the wrist end 2 and located beside the gear rack 322, the slide seat is fixedly connected with the arm end 3, and when the gear rack rotates and moves up and down along the gear rack 322, the slide seat also moves up and down along the slide rail when the arm end 3 is moved up and down in synchronization.

The telescopic arm end 4 is arranged at the other end of the arm end 3, particularly the telescopic arm end 4 and the arm end 3 are arranged in a straight line opposite direction, and the telescopic arm end 4 is arranged in the arm end 3, so that the telescopic arm end 4 can extend outwards from the arm end 3 or retract from the arm end 3; if the measured object is still a certain distance away from the tool end 5, the telescopic arm end 4 is driven to extend out from the arm end 3 until the tool end 5 reaches a preset position, and then the tool end stops extending out, so that the tool end 5 can be gradually closer to the measured object.

The telescopic arm end 4 is driven to extend outwards from the arm end 3 or retract back from the arm end 3 by the third driving component 43 and the third transmission component 44, and the third transmission component 44 is in transmission connection with the telescopic arm end 4, that is, the third transmission component 44 drives the telescopic arm end 4 to move telescopically when working. The third driving assembly 43 is in driving connection with the third transmission assembly 44, the third driving assembly 43 provides kinetic energy for the third transmission assembly 44, and the third transmission assembly 44 is in transmission connection with the telescopic arm end 4, so that the third driving assembly 43 drives the third transmission assembly 44 to drive the telescopic arm end 4 to move telescopically until the telescopic arm end 4 is stretched out of a preset position.

The stretching of the telescopic arm end 4 out of the preset position means that the telescopic arm end 4 is in a position, which is preset by a user, to be stretched next before the telescopic arm end 4 moves in a telescopic manner, and after the telescopic arm end 4 is started, the telescopic arm end 4 can move in a telescopic manner according to the preset requirement.

The third transmission assembly 44 includes a second driving wheel 441 and a screw rod assembly 45, the screw rod assembly 45 is connected to the second driving wheel 441, specifically, the screw rod assembly 45 is connected to a side end surface of the second driving wheel 441, when the second driving wheel 441 is driven to rotate, the screw rod assembly 45 is also driven to rotate synchronously, and the screw rod assembly 45 is embedded in the telescopic arm end 4, so when the screw rod assembly 45 is driven by the second driving wheel 441 to rotate synchronously, the telescopic arm end 4 can be pushed to extend out of or retract back from the arm end 3 until the telescopic arm end 4 is moved to a preset position in a telescopic manner.

It should be noted that when the second driving wheel 441 rotates clockwise, the whole telescopic arm end 4 is pushed out through the screw rod assembly 45; on the contrary, when the second driving wheel 441 rotates counterclockwise, the whole telescopic arm end 4 is retracted through the screw rod assembly 45.

The telescopic arm end 4 includes a first arm 41 and a second arm 42 built in the first arm 41, and the arm end 3 has a space capable of being accommodated in the first arm 41, and the first arm 41 also has a space capable of being accommodated in the second arm 42. The second driving wheel 441 includes a first gear set 4411 and a second gear set 4412, and the first gear set 4411 and the second gear set 4412 each include a driving wheel and a driven wheel. The lead screw assembly 45 includes a first lead screw 451 and a second lead screw 452, wherein the first lead screw 451 and the second lead screw 452 are both connected to a first gear set 4411, and a second gear set 4412 is disposed on the second lead screw 452.

When the third driving assembly 43 drives the first gear set 4411 to rotate, that is, the third driving assembly 43 drives the driving wheel on the first gear set 4411 to rotate, and then the driving wheel drives the driven wheel to rotate, and the driven wheel drives the first screw rod 451 and the second screw rod 452 to rotate when rotating, the first screw rod 451 drives the first arm 41 to move in a telescopic manner from the arm end 3, and meanwhile, the second screw rod 452 drives the second arm 42 to move in a telescopic manner from the first arm 41 until the second arm moves in a telescopic manner to a preset position.

It should be noted that the second lead screw 452 is composed of a first shaft 4521 and a second shaft 4522, wherein the first shaft 4521 is a hexagonal shaft, one end of the first shaft 4521 is connected to the first gear set 4411, the other end is connected to the second gear set 4412, one end of the second shaft 4522 is connected to the second gear set 4412, and the other end is connected to the second arm 42 in a pushing manner. When the first shaft 4521 is driven to rotate by the first gear set 4411, the driving wheel of the second gear set 4412 is driven to rotate synchronously, so as to drive the second shaft 4522 to rotate, thereby achieving the purpose of moving the second arm 42 from the first arm 41 in a telescopic manner.

And the tool end 5 is arranged at one end of the telescopic arm end 4 and is used for moving to a preset range to carry out various processes on the measured body, and when the tool end 5 is moved to a range close to the measured body in combination with the above contents, the tool end 5 moves at any position in the range, and the specific position can be set by a user.

The tool end 5 comprises a fourth driving assembly 51 and a fourth transmission assembly 52, and the fourth driving assembly 51 and the fourth transmission assembly 52 are used for driving the operation head to move to a preset position. The fourth transmission assembly 52 is in transmission connection with the operation head, that is, the operation head is driven to move when the fourth transmission assembly 52 is operated. The fourth driving assembly 51 is in driving connection with the fourth transmission assembly 52, the fourth driving assembly 51 provides kinetic energy for the fourth transmission assembly 52, and the fourth transmission assembly 52 is in transmission connection with the operation end head, so that the operation end head can be driven to move to a position within a preset range by driving the fourth transmission assembly 52.

The direction of driving the operation end to move can be three directions, like three directions of X, Y, Z axes, and the operation part can freely move in the three directions, thereby achieving the purpose of moving to any position within the preset range.

The fourth transmission assembly 52 includes a plurality of third driving gears 521 and third driven gears 522, taking the above three directions as examples, the number of the third driving gears 521 and the number of the third driven gears 522 in this embodiment are respectively three, each third driving gear 521 is meshed with a corresponding third driven gear 522, specifically, one third driving gear 521 is meshed with one corresponding third driven gear 522, and when one of the third driving gears 521 rotates, the corresponding driven gear is driven to rotate.

The third driving assembly 43 is drivingly connected to each third driving gear 521, specifically, a total of three third driving assemblies 43 are drivingly connected to the corresponding third driving gears 521, the third driving assemblies 43 provide kinetic energy for the corresponding third driving gears 521, and after the corresponding third driving gears 521 are driven to rotate, the third driving gears 521 also drive the corresponding third driven wheels to rotate, and the third driven wheels are connected to the operating portion, so that the operating portion can be driven to move in different directions. For example, one of the third driving gears 521 drives the corresponding third driven gear 522 to rotate, so as to move the operation portion to the preset position along the first direction, then the other third driving gear 521 drives the corresponding third driven gear 522 to rotate, so as to move the operation portion to the preset position along the second direction, and then the other third driving gear 521 drives the corresponding third driven gear 522 to rotate, so as to move the operation tip to the final preset position along the third direction, that is, various operations can be performed on the object to be measured, thereby improving the moving accuracy of the operation portion.

It should be noted that the first driving assembly 21, the second driving assembly 31, and the third driving assembly 43 may be a servo motor or other types of driving devices, and the embodiment is a servo motor.

Compared with the prior art, the invention can achieve the mechanical arm with six-degree-of-freedom direction movement, can realize the detection of all body positions, controls the mechanical arm to move to any position in the whole process, reduces errors, improves the accuracy and does not need to occupy larger field space.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A six arms of removal DR robot which characterized in that includes:

an operation tip for performing various processes on a subject;

and the tool end is arranged at one end of the telescopic arm end and is used for moving the operation end head to a preset range.

2. The six-axis robot arm of mobile DR robot of claim 1, wherein: the wrist fixing device is characterized by further comprising a first driving assembly and a first transmission assembly, wherein the first transmission assembly is in transmission connection with one end of the wrist end, and the first driving assembly is in driving connection with the first transmission assembly and used for driving the wrist end to rotate to a preset position on the base.

3. The six-axis robot arm of mobile DR robot of claim 2, wherein: the first transmission assembly comprises a first driving gear and a first driven gear, and the first driving gear and the first driven gear are meshed and connected with each other;

4. The six-axis robot arm of mobile DR robot of claim 1, wherein: the wrist joint is characterized by further comprising a second driving assembly and a second transmission assembly, wherein the second transmission assembly is in transmission connection with one end of the arm end, the second driving assembly is in driving connection with the second transmission assembly, and the second transmission assembly is driven to drive the arm end to move to a preset position on the wrist end.

5. The six-axis robot arm of mobile DR robot of claim 4, wherein: the second transmission assembly comprises a lifting gear seat and a gear rack, and the lifting gear seat is meshed with the gear rack;

6. The six-axis robot arm of mobile DR robot of claim 1, wherein: the telescopic arm mechanism is characterized by further comprising a third driving assembly and a third transmission assembly, wherein the third transmission assembly is in transmission connection with the telescopic arm end, the third driving assembly is in driving connection with the third transmission assembly, and the third transmission assembly is driven to move in a telescopic mode so as to drive the telescopic arm end.

7. The six-axis robot arm of mobile DR robot of claim 6, wherein: the third transmission assembly comprises a second driving wheel and a screw rod assembly, the screw rod assembly is connected with the second driving wheel, and the screw rod assembly is arranged in the telescopic arm end.

8. The six-axis robot arm of mobile DR robot of claim 7, wherein: the telescopic arm end comprises a first arm and a second arm which is arranged in the first arm, the second driving wheel comprises a first gear set and a second gear set, and the screw rod assembly comprises a first screw rod and a second screw rod;

9. The six-axis robot arm of mobile DR robot of claim 8, wherein: the second screw rod comprises a first shaft rod and a second shaft rod, one end of the first shaft rod is connected to the first gear set, the other end of the first shaft rod is connected to the second gear set, one end of the second shaft rod is connected to the second gear set, and the other end of the second shaft rod is connected to the second arm in a pushing mode.

10. The six-axis robot arm of mobile DR robot of claim 1, wherein: the tool end comprises a fourth driving component and a fourth transmission component, the fourth transmission component is in transmission connection with the operation end, the fourth driving component is in driving connection with the fourth transmission component, and the fourth transmission component is driven to drive the operation end to move to a position within a preset range.

11. The six-axis robot arm of mobile DR robot of claim 10, wherein: the fourth transmission assembly comprises a plurality of third driving gears and third driven gears, and each third driving gear is meshed with the corresponding third driven gear;

the fourth driving assembly is in driving connection with each third driving gear, the operating portion is connected with each third driven gear, and when the third driving assemblies drive each third driving gear to rotate with the corresponding third driven gear, the operating end heads are driven to move towards different directions.