CN113370259A

CN113370259A - Fluid locking mechanical arm

Info

Publication number: CN113370259A
Application number: CN202110626514.8A
Authority: CN
Inventors: 刘冰; 田宝龙
Original assignee: Qingdao Novelbeam Technology Co ltd
Current assignee: Qingdao Novelbeam Technology Co ltd
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2021-09-10
Anticipated expiration: 2041-06-04
Also published as: CN113370259B

Abstract

The present disclosure provides a fluid locking mechanical arm, comprising: the at least two joints are connected in sequence and enable relative motion to be generated between two adjacent joints; a fluid supply line for providing fluid to each joint, the joints being driven by the fluid provided by the fluid supply line; and a control valve disposed in the fluid supply line to control a flow rate of fluid in the fluid supply line; when the flow rate of the fluid in the fluid supply pipeline is greater than or equal to a first preset threshold value, the pose between two adjacent joints is allowed to be adjusted; and when the fluid flow rate in the fluid supply pipeline is less than or equal to a second preset threshold value, maintaining the posture of the joint close to the control valve.

Description

Fluid locking mechanical arm

Technical Field

The present disclosure relates to a robot arm, and more particularly, to a fluid locking robot arm.

Background

Endoscopic applications have become more and more prevalent in medical examinations and procedures. For example, during the course of performing a surgery, the endoscope hard scope may be held in a preset pose for a certain time and then held in the next preset pose.

In the prior art, most of the endoscope hard lenses are kept in a certain preset pose by being held by medical care personnel, and under the condition, the medical care personnel need to keep the same pose for a long time, so that the labor intensity is high.

In the process of endoscope-assisted surgery in some hospitals, the pose of an endoscope is maintained in a mode that a mechanical arm clamps the endoscope, but the pose of an end effector of the mechanical arm is maintained by the mechanical arms through a band-type brake system, and the next preset pose is not fixed, so that the mechanical arms are difficult to control conveniently, and the popularization difficulty of the hospital is very high.

Disclosure of Invention

In order to solve one of the above technical problems, the present disclosure provides a fluid locking mechanical arm.

According to one aspect of the present disclosure, there is provided a fluid locking robot arm comprising:

the at least two joints are connected in sequence and enable relative motion to be generated between two adjacent joints;

a fluid supply line for providing fluid to each joint, the joints being driven by the fluid provided by the fluid supply line; and

a control valve disposed in the fluid supply line to control a flow rate of fluid in the fluid supply line; when the flow rate of the fluid in the fluid supply pipeline is greater than or equal to a first preset threshold value, the pose between two adjacent joints is allowed to be adjusted; and when the fluid flow rate in the fluid supply pipeline is less than a second preset threshold value, maintaining the posture of the joint close to the control valve.

The fluid locking mechanical arm according to at least one embodiment of the present disclosure further includes:

a jaw disposed proximate the articulation of the control valve and controlling jaw actuation by fluid provided by a fluid supply line.

According to the fluid locking mechanical arm disclosed by the invention, when the flow rate of the fluid in the fluid supply pipeline is greater than or equal to a first preset threshold value, the clamping jaws are loosened; when the fluid flow rate in the fluid supply pipeline is less than or equal to a second preset threshold value, the clamping jaw is clamped.

the clamping jaw is connected to the fluid supply pipeline through a connecting pipeline, the switching valve is arranged on the connecting pipeline, and when the flow rate of fluid in the fluid supply pipeline is smaller than or equal to a second preset threshold value and the switching valve is in an opening state, the clamping jaw is clamped.

According to the fluid locking mechanical arm disclosed by the invention, after fluid in the fluid supply pipeline passes through the clamping jaw, the fluid is controlled by the control valve.

According to at least one embodiment of this disclosure, a fluid locking mechanical arm, the joint includes:

a cylinder body;

a piston slidably inserted into the cylinder such that a chamber is formed between the piston and the cylinder; and

an inlet line, one end of the inlet line being in communication with the chamber and the other end of the inlet line being in communication with the fluid supply line;

wherein the volume of the chamber increases when the pressure within the chamber increases; when the pressure of the fluid within the chamber decreases, the volume of the chamber decreases.

According to the fluid locking mechanical arm of at least one embodiment of the present disclosure, a stepped hole is formed inside the cylinder body; the step of the stepped hole of the cylinder is formed as a portion of a side wall of the chamber.

According to the fluid locking mechanical arm of at least one embodiment of the present disclosure, the fluid supply pipeline is provided with a tee, and one port of the tee is communicated with the chamber.

the two ends of the connecting part are respectively connected to two adjacent joints, wherein at least one end of the connecting part is movably connected to the joints, so that the pose between the two joints can be changed.

According to at least one embodiment of this disclosure, the fluid locking mechanical arm, the connecting portion includes:

a rod part, one end of which is arranged on the piston of the joint; and

the bulb part is arranged at the other end of the rod part;

wherein the joint is formed with a socket, and the ball head is movably disposed within the socket.

According to the fluid locking mechanical arm disclosed by the invention, the piston is provided with the ball socket, and the ball head is located in the ball socket of the piston.

A fluid locking robotic arm according to at least one embodiment of the present disclosure, the joint further comprising:

a seat formed with a socket, the ball head being located within the socket of the piston and the socket of the seat.

the first spring is sleeved outside the connecting part, and two adjacent joints are reset through the resetting force of the first spring.

and the two ends of the fixing part are respectively fixed to the two joints at the most end part, and the fixing part penetrates through all the joints to fix all the joints together.

According to the fluid locking mechanical arm of at least one embodiment of the present disclosure, a through hole is formed in the middle of the joint, and the fixing part passes through the through hole of the joint to fix both ends of the fixing part to the two joints at the endmost part.

According to the fluid locking robot arm of at least one embodiment of the present disclosure, a through hole is formed at the center of the coupling part, and the fixing part passes through the through hole of the coupling part.

According to at least one embodiment of this disclosure, the fluid locking mechanical arm comprises a steel wire.

According to at least one embodiment of this disclosure, the fluid locking mechanical arm, the fluid supply pipeline includes a flexible telescopic pipeline and/or a spiral pipeline.

a fluid discharge line connected to the control valve and allowing the fluid discharged through the control valve to be discharged therethrough.

According to at least one embodiment of this disclosure, the fluid locking mechanical arm, the fluid discharge pipeline includes an elastic telescopic pipeline and/or a spiral pipeline.

the second spring is sleeved outside the joint, so that the joint is kept in a preset pose in a free state.

According to the fluid locking mechanical arm of at least one embodiment of the present disclosure, when two adjacent joints rotate to a preset angle, the piston of one joint is contacted with the cylinder of the other joint, and further rotation of the two adjacent joints is limited.

A fluid locking robotic arm according to at least one embodiment of the present disclosure, the fluid comprising: a gas or a liquid.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a fluid locking robot arm according to one embodiment of the present disclosure.

Figure 2 is a schematic view of another angled configuration of a fluid locking robot arm according to one embodiment of the present disclosure.

Fig. 3 is an enlarged view of a portion a of fig. 2.

Fig. 4 is a cross-sectional structural schematic view of a fluid locking robotic arm according to one embodiment of the present disclosure.

Fig. 5 is a schematic diagram of the plumbing connections of a fluid locking robot, according to one embodiment of the present disclosure.

The reference numbers in the figures are in particular:

100 fluid locking mechanical arm

110 joint

111 cylinder body

112 piston

113 seat part

120 fluid supply line

130 control valve

140 clamping jaw

150 on-off valve

160 connecting pipeline

170 tee joint

180 connecting part

181 rod part

182 bulb part

190 the first spring

210 fixed part

220 fluid discharge line

230 a second spring.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., as in "side wall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of a fluid locking robot arm according to one embodiment of the present disclosure. Figure 2 is a schematic view of another angled configuration of a fluid locking robot arm according to one embodiment of the present disclosure.

As shown in fig. 1 and 2, the present disclosure provides a fluid locking robot arm 100 comprising:

at least two joints 110, wherein the at least two joints 110 are connected in sequence and enable relative motion to be generated between two adjacent joints 110;

a fluid supply line 120, the fluid supply line 120 being configured to provide fluid to each joint 110, the joints 110 being driven by the fluid provided by the fluid supply line 120; and

a control valve 130, the control valve 130 being disposed in the fluid supply line 120 to control a flow rate of the fluid in the fluid supply line 120; when the flow rate of the fluid in the fluid supply pipeline 120 is greater than or equal to a first preset threshold value, and/or the pressure of the fluid in the fluid supply pipeline 120 is less than or equal to a certain preset value, allowing the pose between two adjacent joints 110 to be adjusted; when the flow rate of the fluid in the fluid supply line 120 is less than a second preset threshold value, and/or the pressure of the fluid in the fluid supply line 120 is greater than a preset value, the posture of the joint 110 close to the control valve 130 is maintained.

In the present disclosure, the first preset threshold may be equal to the second preset threshold, and of course, the first preset threshold may be greater than the second preset threshold, and when the first preset threshold is greater than the second preset threshold and the flow rate of the fluid in the fluid supply pipeline 120 is less than the first preset threshold and is greater than or equal to the second preset threshold, the fluid locking mechanical arm 100 is in an intermediate state, and in this state, it is difficult to adjust the pose between two adjacent joints 110, and the pose cannot be stably maintained at the current pose.

In the present disclosure, the control valve 130 may select a valve capable of controlling a flow rate and/or a flow rate of the fluid, such as a throttle valve, a pressure relief switch, and the like, so that the pressure of the fluid in the fluid supply line 120 may be adjusted.

As shown in fig. 1, the fluid locking robot arm 100 of the present disclosure may be secured to a platform, such as a table, during use.

In an alternative embodiment of the present disclosure, the fluid locking robot arm 100 further comprises:

a clamping jaw 140, wherein the clamping jaw 140 is arranged near the joint 110 of the control valve 130, and the action of the clamping jaw 140 is controlled by the fluid provided by the fluid supply pipeline 120.

In the present disclosure, the proximity to the control valve 130 refers to a position close to the control valve 130 in a flow direction of the fluid in the fluid supply line 120.

According to at least one embodiment of the present disclosure, when the fluid flow rate in the fluid supply line 120 is greater than or equal to a first preset threshold, the clamping jaw 140 is released; when the fluid flow rate in the fluid supply line 120 is less than or equal to a second predetermined threshold, the clamping jaw 140 is clamped.

Preferably, as shown in fig. 5, the fluid locking robot arm 100 further includes:

the switching valve 150, the clamping jaw 140 is connected to the fluid supply line 120 through a connecting line 160, the switching valve 150 is disposed on the connecting line 160, and when the flow rate of the fluid in the fluid supply line 120 is less than or equal to a second preset threshold value, and/or the pressure of the fluid in the fluid supply line 120 is greater than or equal to a preset value, and the switching valve 150 is in an open state, the clamping jaw 140 is clamped.

Otherwise, the clamping jaw 140 is released, for example, when the flow rate of the fluid in the fluid supply line 120 is less than or equal to a second preset threshold value, and/or the pressure of the fluid in the fluid supply line 120 is greater than or equal to a preset value, and the on-off valve 150 is in a closed state, the clamping jaw 140 is released; and, when the fluid flow rate in the fluid supply line 120 is greater than a first preset threshold, the clamping jaw 140 is in the unclamped state regardless of whether the on-off valve 150 is in the open state or the closed state; wherein the first preset threshold may be equal to the first preset threshold.

In the present disclosure, the clamping jaw 140 is used for clamping an endoscope hard lens and other devices.

On the other hand, after the fluid in the fluid supply line 120 passes through the clamping jaw 140, the fluid is controlled by the control valve 130; that is, the control valve 130 is used to control the joint 110 and the jaw 140.

In an alternative embodiment of the present disclosure, as shown in fig. 4, the joint 110 includes:

a cylinder 111;

a piston 112 slidably inserted into the cylinder 111 such that a chamber is formed between the piston 112 and the cylinder 111; and

an inlet line, one end of which communicates with the chamber and the other end of which communicates with the fluid supply line 120;

wherein when the pressure in the chamber increases, the volume of the chamber increases and pushes the piston 112 out of the cylinder 111; when the pressure of the fluid in the chamber decreases, the volume of the chamber decreases and the piston 112 is retracted inside the cylinder 111.

In the present disclosure, the clamping jaw 140 may be disposed on the piston 112 of the joint 110.

Preferably, a stepped hole is formed inside the cylinder body 111; the step of the stepped hole of the cylinder 111 is formed as a part of the side wall of the chamber.

Preferably, a sealing ring is disposed between the cylinder 111 and the piston 112 to prevent fluid leakage between the cylinder 111 and the piston 112; preferably, the number of the sealing rings is two, respectively located at the upper side and the lower side of the chamber, so that the chamber is formed as a closed space.

In an alternative embodiment of the present disclosure, the fluid supply line 120 is provided with a tee 170, and one port of the tee 170 communicates with the chamber, so that the portion of the tee 170 supplying gas to the chamber forms the inlet line.

The fluid locking robot arm 100 further comprises:

and a connecting part 180, both ends of which are respectively connected to two adjacent joints 110, wherein at least one end of the connecting part 180 is movably connected to the joints 110, so that the posture between the two joints 110 can be changed.

In the present disclosure, the connection part 180 includes:

a rod part 181, one end of the rod part 181 being provided to the piston 112 of the joint 110; and

a ball head part 182, wherein the ball head part 182 is arranged at the other end of the rod part 181;

wherein the joint 110 is formed with a socket in which the ball head 182 is movably disposed.

According to at least one embodiment of the present disclosure, a ball socket is disposed on the piston 112 such that the ball head 182 is located within the ball socket of the piston 112.

As another implementation form, the joint 110 further includes:

a seat 113, said seat 113 being formed with a socket, said ball head 182 being located within said socket of said piston 112 and said socket of seat 113.

According to at least one embodiment of the present disclosure, the fluid locking robot arm 100 further includes:

the first spring 190 is sleeved outside the connection portion 180, and the two adjacent joints 110 are reset by the resetting force of the first spring 190.

and fixing parts 210, both ends of the fixing parts 210 being fixed to the two joints 110 at the most end, respectively, and the fixing parts 210 passing through all the joints 110 to fix all the joints 110 together.

In an optional embodiment of the present disclosure, a through hole is formed in the middle of the joint 110, and the fixing part 210 passes through the through hole of the joint 110, so that both ends of the fixing part 210 are fixed to the two joints 110 at the end.

For example, the piston 112 of the joint 110 is formed with a through hole, and the fixing portion 210 is inserted through the through hole of the piston 112; more preferably, the rod portion 181 of the connection portion 180 may be inserted into a through hole of the piston 112.

Preferably, a through hole is formed at the center of the connection part 180, and the fixing part 210 passes through the through hole of the connection part 180.

As an implementation form, the fixing portion 210 is made of a flexible material, and more preferably, may be made of a steel wire.

In an alternative embodiment of the present disclosure, the fluid supply line 120 comprises a flexible telescopic line and/or a spiral line.

In the present disclosure, the fluid locking mechanical arm 100 further includes:

a fluid discharge line 220, the fluid discharge line 220 being connected to the control valve 130 and allowing the fluid discharged through the control valve 130 to be discharged through the fluid discharge line 220.

Preferably, the fluid discharge line 220 includes a flexible telescopic line and/or a spiral line.

the second spring 230 is sleeved outside the joint 110, so that the joint 110 is kept in a preset posture in a free state.

In the present disclosure, when two adjacent joints 110 rotate to a preset angle, further rotation of the two adjacent joints 110 is restricted by the contact of the piston 112 of one joint 110 and the cylinder 111 of the other joint 110.

In the present disclosure, the fluid comprises: a gas or a liquid; and, when the fluid is a gas, forming a gas-lock robot arm.

When the fluid locking mechanical arm is used, compressed fluid (such as air) is connected firstly, the whole mechanical arm and the clamping jaw are in a locking state, the pressure relief switch button is pressed, the air is relieved from the switch, after air pressure of each joint is lost, the joint can move flexibly, the clamping jaw is also in a loosening state, the clamping jaw is placed into an object to be clamped and placed to an ideal position, the pressure relief switch is loosened, the fluid locking mechanical arm is locked automatically, accurate positioning is achieved, and therefore the fluid locking mechanical arm can be used for occasions such as medical operations and the like, and the joint is braked by providing external force for power utilization.

And the flexibility is improved through the multi-joint design, the switch of the control valve is pressed to move flexibly, the switch of the control valve is released to be locked immediately, and the operation is convenient.

Therefore, the fluid locking mechanical arm disclosed by the invention can be used for positioning space objects, such as positioning surgical instruments, photographing and positioning and other occasions requiring fixed positions and frequent adjustment.

When the fluid locking mechanical arm comprises a plurality of joints, the freedom degree is good, and any pose can be realized theoretically.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. A fluid locking mechanical arm, comprising:

2. The fluid locking robot arm of claim 1, further comprising:

3. The fluid locking robot of claim 2, wherein said jaws are released when a flow rate of fluid in said fluid supply line is greater than or equal to a first predetermined threshold; when the fluid flow rate in the fluid supply pipeline is less than or equal to a second preset threshold value, the clamping jaw is clamped.

4. The fluid locking robot arm of claim 3, further comprising:

5. The fluid locking robot of claim 2, wherein fluid in said fluid supply line is controlled by said control valve after passing through said jaws.

6. The fluid locking robot arm of claim 1, wherein the joint comprises:

a cylinder body;

7. The fluid lock arm as claimed in claim 6, wherein said cylinder is formed with a stepped bore therein; the step of the stepped hole of the cylinder is formed as a portion of a side wall of the chamber.

8. The fluid locking robot arm of claim 6, wherein the fluid supply line is provided with a tee, one port of the tee communicating with the chamber.

9. The fluid locking robot arm of claim 6, further comprising:

10. The fluid locking robot of any of claims 1-9, wherein the coupling portion comprises:

a rod part, one end of which is arranged on the piston of the joint; and

the bulb part is arranged at the other end of the rod part;

wherein the joint is formed with a socket, and the ball head is movably disposed within the socket;

and/or a ball socket is arranged on the piston, and the ball head is positioned in the ball socket of the piston;

and/or, the joint further comprises:

a seat formed with a socket, the ball head being located within the socket of the piston and the socket of the seat;

and/or, further comprising:

the first spring is sleeved outside the connecting part, and two adjacent joints are reset by the resetting force of the first spring;

and/or, further comprising:

the two ends of the fixing part are respectively fixed to the two joints at the extreme end, and the fixing part penetrates through all the joints to fix all the joints together;

and/or a through hole is formed in the middle of each joint, the fixing part penetrates through the through holes of the joints, and two ends of the fixing part are fixed to the two joints at the extreme end parts;

and/or a through hole is formed in the center of the connecting part, and the fixing part passes through the through hole of the connecting part;

and/or, the fixation portion comprises a steel wire;

and/or the fluid supply line comprises an elastic telescopic line and/or a spiral line;

and/or, further comprising:

a fluid discharge line connected to the control valve and discharging the fluid discharged through the control valve through the fluid discharge line;

and/or the fluid discharge line comprises an elastic telescopic line and/or a spiral line;

and/or, further comprising:

the second spring is sleeved outside the joint so that the joint is kept in a preset pose in a free state;

and/or when the two adjacent joints rotate to a preset angle, the piston of one joint is contacted with the cylinder of the other joint, and further rotation of the two adjacent joints is limited;

and/or, the fluid comprises: a gas or a liquid.