CN113520602A - Mechanical arm structure, pre-positioning structure and surgical robot - Google Patents
Mechanical arm structure, pre-positioning structure and surgical robot Download PDFInfo
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- CN113520602A CN113520602A CN202110879042.7A CN202110879042A CN113520602A CN 113520602 A CN113520602 A CN 113520602A CN 202110879042 A CN202110879042 A CN 202110879042A CN 113520602 A CN113520602 A CN 113520602A
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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
- A61B34/71—Manipulators operated by drive cable mechanisms
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
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Abstract
The invention discloses a mechanical arm structure, a pre-positioning structure and a surgical robot, belonging to the field of medical instruments, wherein the mechanical arm structure comprises a base, a first rotary driving joint, a first arm, a second arm and a rotary table; the first rotary driving joint is fixedly arranged on the base, the first arm is fixed at the output end of the first rotary driving joint, and the first arm and the second arm and the rotary table are rotatably connected through the first rotary joint and the second rotary joint respectively; the rotary table further comprises a transmission structure, and the transmission structure is used for synchronously driving the second arm to rotate relative to the first arm and the rotary table relative to the second arm when the first rotary driving joint drives the first arm to rotate so as to enable the rotary table to stretch relative to the base. The invention reduces the use of the power component in the mechanical arm structure through reasonable design, and enables the power component to be only arranged at one end of the mechanical arm structure far away from the rotary table, the rest load can be arranged on the rotary table with a larger and heavier control arm, and the load dead weight ratio of the pre-positioning structure can be reduced.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a mechanical arm structure, a pre-positioning structure and a surgical robot.
Background
In the process of performing an operation through the robot, the operation needs to be spatially pre-positioned according to the type of the operation, and the movable space of the control arm can be obtained as large as possible through the pre-positioning mechanism, so that the movement and the positioning of the control arm are facilitated.
Most of the preset structures on the market at present are DaVinci products, and the preset structures are preset in space through rotation-extension-re-rotation movement, and have the advantages of simple structure and stable implementation mode, but have the defects that the rotating joint part needs to be equipped with a motor and speed reducer combination with large mass and large volume, so that the available load at the rear end is reduced due to the fact that the control arm is installed at the rear end and the motor and speed reducer combination is also installed at the rear end, and the volume of the preset structure has to be increased to meet the use requirement, so that the weight is larger; and the rotary joint at the rear end needs to keep a forward posture all the time in the telescopic process, and the action can be completed only by linkage of two rotations and the telescopic process, so that the control process is complex. In addition, the telescopic motion can be realized only by combining the ball screw, the linear slide rail and the motor, so that the whole structure is high in processing difficulty, high in cost and high in precision requirement.
In addition, a pre-swing structure adopting three rotary joints is also available in the market, and the pre-swing structure has the advantages of simple and reliable structure and the defects that the combination of three motors and a speed reducer is needed, the overall mass is too large, the load dead weight ratio is large, and the three joints are required to be linked simultaneously.
The pre-swing structure of the mechanical arm is directly selected, the scheme is simple, the scheme of the existing mature mechanical arm is selected, but the defect that four joints are required to be linked simultaneously when the linear forward action of one rotary table joint is completed is overcome, and the implementation mode is complex.
Disclosure of Invention
The invention aims to provide a mechanical arm structure, a pre-swing structure and a surgical robot, aiming at the problems that in the prior art, the structure for extending and retracting a rotary table arranged at the front end of the pre-swing structure is complex and the load of the rear end structure is large.
In order to achieve the purpose, the technical scheme of the invention is as follows:
in a first aspect, the present disclosure provides a mechanical arm structure, including a base, a first rotation driving joint, a first arm, a second arm, and a turntable; the first rotary driving joint is fixedly arranged on the base, the first arm is fixedly connected to the output end of the first rotary driving joint, and the first arm and the second arm, and the second arm and the turntable are rotatably connected through the first rotary joint and the second rotary joint respectively; the turntable is characterized by further comprising a transmission structure, wherein the transmission structure is used for synchronously driving the second arm to rotate relative to the first arm and the turntable relative to the second arm when the first rotary driving joint drives the first arm to rotate, so that the turntable stretches relative to the base.
Preferably, the transmission structure comprises a transmission wheel A, a transmission wheel a, a transmission wheel B and a transmission wheel B; the driving wheel a and the driving wheel b are coaxially arranged on the first rotary joint and the second rotary joint respectively, and are fixedly connected with the second arm and the rotary table respectively; the transmission wheel A is fixedly connected relative to the base and is coaxially arranged with the output end of the first rotary driving joint; the driving wheel B is fixedly connected relative to the first arm and is coaxially arranged with the first rotary joint; the transmission wheel A is in transmission connection with the transmission wheel a, and the transmission wheel B is in transmission connection with the transmission wheel B.
Preferably, the transmission ratio among the transmission wheel a, the transmission wheel B and the transmission wheel B is 2: 1: 1: 2.
furthermore, wiring channels are arranged on the first rotary joint and the second rotary joint.
Preferably, the first rotary joint and the second rotary joint each include an inner ring and an outer ring that are rotatable with each other, and an area surrounded by the inner rings is the wiring channel.
Preferably, an outer ring of the first rotary joint is fixedly mounted in a mounting hole of the first arm, and the second arm and the transmission wheel a are both fixedly connected to an inner ring of the first rotary joint; an outer ring in the second rotary joint is fixedly arranged in a mounting hole in the second arm, and the turntable and the driving wheel b are fixedly connected to an inner ring in the second rotary joint.
Preferably, the transmission wheel B is fixedly connected with an outer ring of the first rotary joint.
Preferably, the base comprises a base body and a connecting shaft arranged on the base body, and the transmission wheel a is fixedly arranged on the connecting shaft.
Preferably, the first rotary driving joint is a hollow rotary driving joint, and the connecting shaft is inserted into a hollow structure of the first rotary driving joint.
Preferably, the base is provided with a wiring through hole coaxially arranged with the connecting shaft.
Preferably, the transmission wheel a and the transmission wheel a, and the transmission wheel B are synchronous pulleys, sprockets or gears used in pair.
Preferably, the distance between the first rotary joint and the transmission wheel a is equal to the distance between the second rotary joint and the first rotary joint.
On the other hand, the invention also provides a pre-positioning structure, which comprises an upright post slide block, a second rotary driving joint and the mechanical arm structure; the second rotary driving joint is fixedly mounted on the upright post sliding block, and a base in the mechanical arm structure is fixedly mounted on the output end of the second rotary driving joint.
Furthermore, the lifting device further comprises a stand column and a lifting driving mechanism, wherein the stand column sliding block is connected to the stand column in a sliding mode, and the lifting driving mechanism is connected between the stand column and the stand column sliding block.
Preferably, the first rotary drive joint is arranged coaxially with the second rotary drive joint.
Preferably, when the robot arm structure is provided with a wiring channel and the connecting shaft provided with a wiring through hole on the base is inserted into the hollow structure of the first rotary driving joint, the second rotary driving joint is configured as a hollow rotary driving joint.
In a further aspect, the present invention also provides a surgical robot comprising a pre-positioning structure as described above and a manipulator arm mounted on the turntable.
The invention has the beneficial effects that:
1. because the mechanical arm structure is provided with the first rotary driving joint arranged on the base, the first arm arranged on the output end of the first rotary driving joint, the first arm and the second arm which are rotatably connected through the first rotary joint, the second arm and the rotary table which are rotatably connected through the second rotary joint and the transmission structure which is used for driving the rotary table to stretch relative to the base when the first rotary driving joint acts, the rotary table can be driven to stretch and contract through arranging a power part on the mechanical arm structure, so that the overall complexity and the weight of the mechanical arm structure are reduced, in addition, because the rear end (one side of the rotary table) is not required to be provided with an additional power part, the load on the rear end is reduced, and the load dead weight ratio of the pre-swing structure is reduced;
2. because the transmission wheel A fixed relative to the base in the transmission structure, the transmission wheel a matched with the transmission wheel A and used for driving the second arm to rotate relative to the first arm, the transmission wheel B fixed relative to the first arm and the transmission wheel B matched with the transmission wheel B and used for driving the turntable to rotate relative to the second arm are configured, the transmission ratio among the transmission wheel A, the transmission wheel a, the transmission wheel B and the transmission wheel B is 2: 1: 1: 2, when the first rotary driving joint drives the first arm to rotate, the turntable always keeps a forward posture to synchronously perform telescopic motion relative to the base under the limitation of the transmission structure;
3. due to the arrangement of the wiring channels on the first rotary joint and the second rotary joint in the mechanical arm structure, cables connected to the rotary table can be routed through the interior of the mechanical arm structure, so that the appearance of the mechanical arm is tidier, and the problem of cable winding can be effectively avoided;
4. the connecting shaft in the base, the wiring through hole coaxially arranged with the connecting shaft, the first rotary driving joint with a hollow structure and the arrangement that the connecting shaft is arranged in the hollow structure of the first rotary driving joint in a penetrating mode, so that the mechanical arm structure can further improve the structural compactness and reduce the size on the basis of hiding the wiring channel;
5. due to the arrangement of the second rotary driving joint in the pre-positioning structure, the second rotary driving joint can drive the mechanical arm structure mounted on the pre-positioning structure to integrally rotate, and the advantages of low structural complexity and small rear end weight of the mechanical arm structure are benefited, so that the load capacity of the rear end of the pre-positioning structure can be effectively improved, and the load dead weight ratio is reduced;
6. because the second rotary driving joint is the setting of cavity rotary driving joint for the cable of connecting can follow its inside wiring on the arm, further makes the structure outward appearance clean and tidy in advance to put, can effectively avoid the winding problem of cable to take place.
Drawings
FIG. 1 is a schematic diagram of a robot arm configuration according to the present invention;
FIG. 2 is a front cross-sectional view of a robot arm structure according to the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic view of a pre-positioning structure according to the present invention;
FIG. 5 is a front cross-sectional view of a pre-positioning structure of the present invention;
fig. 6 is a partially enlarged view of fig. 5 at B.
In the figure, 1-a first arm, 2-a second arm, 3-a turntable, 4-a first rotary joint, 5-a second rotary joint, 6-a driving wheel a, 7-a driving wheel B, 8-a driving wheel A, 9-a driving wheel B, 10-a first synchronous belt, 11-a second synchronous belt, 12-an upright column sliding block, 13-a base, 14-a first rotary driving joint, 141-a first motor, 142-a first speed reducer, 15-a second rotary driving joint, 151-a second motor and 152-a second speed reducer.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.
In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.
Example one
A robot arm structure, as shown in fig. 1-3, includes a base 13, a first rotation driving joint 14, a first arm 1, a second arm 2, and a turn table 3. The first rotation driving joint 14 is fixedly mounted on the base 13, and one end (right end) of the first arm 1 is fixedly connected to an output end of the first rotation driving joint 14. And a first rotary joint 4 is provided between the other end (left end) of the first arm 1 and one end (right end) of the second arm 2, and a second rotary joint 5 is provided between the other end (left end) of the second arm 2 and one end (right end) of the turn table 3, thereby enabling rotatable connection between the first arm 1 and the second arm 2, and between the second arm 2 and the turn table 3. In addition, a transmission structure is included for synchronously driving the second arm 2 to rotate relative to the first arm 1 and further driving the turntable 3 to rotate relative to the second arm 2 when the first rotary driving joint 14 drives the first arm 1 to rotate, and the combined action of the transmission structure and the transmission structure is that the turntable 3 only performs telescopic motion in a linear direction relative to the base 13 on the basis of keeping the orientation unchanged (such as towards the front, namely the direction away from the base 13).
The embodiment provides a specific design of a transmission structure, for example, the transmission structure is configured to include a transmission wheel A8, a transmission wheel a6, a transmission wheel B9 and a transmission wheel B7. Wherein the transmission wheel A8 is fixedly connected relative to the base 13, and the transmission wheel A8 is coaxially arranged with the output end of the first rotary drive joint 14; the transmission wheel a6 is fixedly connected with respect to the second arm 2, and the transmission wheel a6 is arranged coaxially with the first rotary joint 4; the transmission wheel B9 is fixedly connected relative to the first arm 1, and the transmission wheel B9 is coaxially arranged with the first rotary joint 4; the transmission wheel b7 is fixedly connected with respect to the turntable 3 and the transmission wheel b7 is arranged coaxially with the second rotary joint 5.
The driving wheel A8 and the driving wheel a6 are synchronous pulleys used in pair, the driving wheel A8 and the driving wheel a6 are in transmission connection through a first synchronous belt 10, so that after the first arm 1 is driven by the first rotary driving joint 14 to rotate around the common axis of the driving wheel A8 and the first rotary driving joint 14, the driving wheel a6 can rotate reversely, so as to drive the second arm 2 to rotate reversely relative to the first arm 1, and the left end of the second arm 2 (specifically, the turntable 3 mounted on the left end) returns to the telescopic path (a linear path passing through the axis of the first rotary driving joint 14 in a plane perpendicular to the axis of the first rotary driving joint 14), that is, the first arm 1 and the second arm 2 rotate in opposite directions and at the same angle relative to the ground reference system. In addition, the driving wheel B9 and the driving wheel B7 are configured as synchronous pulleys used in pair, and the driving wheel B9 and the driving wheel B7 are in driving connection through a second synchronous belt 11, so that after the second arm 2 rotates around the common axis of the driving wheel B9 and the driving wheel a6, the driving wheel B7 can reversely rotate again, the turntable 3 can be synchronously driven to reversely rotate relative to the second arm 2, and the angular orientation of the turntable 3 relative to the base 13 is not changed.
It is understood that, in another embodiment, the transmission wheel A8 and the transmission wheel a6, and the transmission wheel B9 and the transmission wheel B7 can also be sprockets used in pairs, and in this case, the above-mentioned synchronous belt only needs to be replaced by a chain.
In this embodiment, the first rotary driving joint 14 includes a first motor 141 and a first speed reducer 142 connected to each other, the first motor 141 is fixedly mounted on the base 13, an input end of the first speed reducer 142 is connected to a motor shaft of the first motor 141, and a right end of the first arm 1 is fixedly mounted on an output end of the first speed reducer 142.
In this embodiment, the first rotary joint 4 and the second rotary joint 5 are provided to each include an inner ring and an outer ring that are rotatable with respect to each other. The left end of the first arm 1 is provided with a mounting hole for fixedly mounting therein an outer ring of the first rotary joint 4, and an inner ring of the first rotary joint 4 protrudes from the outer ring thereof (for example, two axial ends of the inner ring protrude from two axial ends of the outer ring, respectively), so that the right end of the second arm 2 and the above-mentioned transmission wheel a6 are fixedly connected to the inner ring of the first rotary joint 4, for example, the second arm 2 is fixed to the lower end of the inner ring, and the transmission wheel a6 is fixed to the upper end of the inner ring. Correspondingly, the left end of the second arm 2 is also provided with a mounting hole for fixedly mounting therein the outer race of the second rotary joint 5, and correspondingly, the inner race of the second rotary joint 5 also protrudes from the outer race thereof, so that the turntable 3 and the above-mentioned transmission wheel b7 are fixedly connected to the inner race of the second rotary joint 5, for example, the turntable 3 is fixedly connected to the lower end of the inner race by a connecting flange, and the transmission wheel b7 is fixedly connected to the upper end of the inner race. And preferably, the driving wheel B9 is fixedly connected with the outer ring of the first rotary joint 4, and is particularly connected with the lower end of the outer ring, so that the driving wheel B9 and the driving wheel B7 are in the same plane.
When the device is used, the first rotary driving joint 14 drives the first arm 1 to rotate, after the first arm 1 rotates around the common axis of the driving wheel A8 and the first rotary driving joint 14 (for example, the first arm rotates clockwise when viewed from top to bottom) by an angle, at this time, because the driving wheel A8 is fixed relative to the base 13, under the constraint of the driving wheel A8 and the first synchronous belt 10, the driving wheel a6 rotates counterclockwise, so as to drive the second arm 2 to rotate counterclockwise relative to the first arm 1 around the common axis of the driving wheel a6, the driving wheel B9 and the first rotary joint 4; since the transmission wheel B9 is fixed on the first arm 1, under the constraint of the transmission wheel B9 and the second timing belt 11, the transmission wheel B7 rotates clockwise, so as to drive the turntable 3 to rotate clockwise, and further, the turntable 3 can perform telescopic motion on its telescopic path (move in a plane perpendicular to the rotation axis of the first arm 1 and along a straight line passing through the rotation axis of the first arm 1), and the angular orientation of the turntable 3 is kept unchanged.
It will be appreciated that, since the first arm 1 rotates clockwise, the second arm 2 and the turntable 3 mounted thereon also rotate clockwise relative to the ground reference frame, and if the turntable 3 on the left end of the second arm 2 is to be returned to its telescopic path, the second arm 2 needs to rotate counterclockwise by a greater angle relative to the first arm 1, and the greater counterclockwise rotation angle is just used for offsetting the sum of the angle of the turntable 3 rotating clockwise with the first arm 1 and the angle of the turntable 3 rotating clockwise with the driving wheel b7, so as to ensure that the angular orientation of the turntable 3 relative to the ground reference frame is unchanged. For example, in the present embodiment, the distance between the first rotary joint 4 and the transmission wheel A8 is further set to be equal to the distance between the second rotary joint 5 and the first rotary joint 4, and the transmission ratio between the transmission wheel a, the transmission wheel B, and the transmission wheel B is set to be 2: 1: 1: 2, the distance and the transmission ratio relation can be flexibly configured according to requirements.
Example two
The difference from the first embodiment is that: in this embodiment, the driving wheel A8 and the driving wheel a6, and the driving wheel B9 and the driving wheel B7 may be gears used in pairs, for example, all are bevel gears, and the first arm 1 and the second arm 2 are both provided with rotatable intermediate transmission shafts, and the intermediate transmission shafts are respectively provided with intermediate bevel gears at both ends thereof, so that the driving wheel A8 can transmit power to the driving wheel a6 while maintaining the invariance of the transmission direction, and similarly, the driving wheel B9 can transmit power to the driving wheel B7 while maintaining the invariance of the transmission direction.
EXAMPLE III
The difference from the first embodiment is that: the first rotary joint 4 and the second rotary joint 5 have different structures, and in this embodiment, the first rotary joint 4 and the second rotary joint 5 each include a shaft and a bearing or a shaft sleeve, wherein the shaft is fixedly installed in the bearing or the shaft sleeve, and the bearing or the shaft sleeve is fixedly installed on the first arm 1 or the second arm 2.
For example, the first rotary joint 4 may include a shaft and a bearing, the bearing may include a bearing inner race and a bearing outer race, the bearing outer race may be fixedly mounted in a mounting hole at the left end of the first arm 1, the shaft may be fixedly mounted in the bearing inner race, and the transmission wheel a6 and the right end of the second arm 2 may be fixedly mounted on the shaft. Correspondingly, the driving wheel B9 is sleeved outside the side wall of the shaft and fixed with the first arm 1.
For the same reason, the second rotary joint 5 includes a shaft and a bearing, the bearing includes a bearing inner ring and a bearing outer ring, the bearing outer ring is fixedly installed in the installation hole at the left end of the second arm 2, the shaft is fixedly installed in the bearing inner ring, and the turntable 3 and the transmission wheel b7 are fixedly installed on the shaft.
Example four
In addition to the above-described embodiment, in order to hide the cable connected to the turntable 3, wiring channels are provided in both the first rotary joint 4 and the second rotary joint 5. As for the scheme of the first embodiment, on the basis of the scheme, an area surrounded by inner rings of the first rotary joint 4 and the second rotary joint 5 is only required to be a required wiring channel; in the second embodiment, the first rotary joint 4 and the second rotary joint 5 are arranged such that the shaft has a hollow structure, and the hollow structure of the shaft is a wiring passage.
In addition, in the present embodiment, the first arm 1 and the second arm 2 are both configured to be hollow, for example, in a shell-like structure, so that on one hand, the cable can pass through the hollow, on the other hand, the driving wheel A8 and the driving wheel a6 can be accommodated in the hollow of the first arm 1, and the driving wheel B9 and the driving wheel B7 can be accommodated in the hollow of the second arm 2, so as to make the appearance of the robot arm more concise.
EXAMPLE five
In addition to the above-mentioned embodiment, the setting base 13 includes a base body and a connecting shaft provided on the base body, and the driving wheel A8 is fixedly mounted on the connecting shaft by a key.
EXAMPLE six
In the fifth embodiment, the first rotation driving joint 14 is configured as a hollow rotation driving joint, and the connecting shaft on the base 13 is inserted into the hollow structure of the first rotation driving joint 14. So set up for arm structure is compacter, and can make first arm 1 carry out 360 and rotate without dead angle to promote its application range.
EXAMPLE seven
On the basis of the sixth embodiment, when the wiring channel needs to be further expanded, a wiring through hole arranged coaxially with the connecting shaft may be provided on the base 13, and the wiring through hole may be used as the wiring channel, so that the cable in the first arm 1 may be led out therefrom, and does not hinder the robot arm structure from performing an action.
Example eight
A pre-swing position structure, as shown in fig. 4-6, comprises a column slide block 12, a second rotation driving joint 15 and the mechanical arm structure disclosed in any one of the above embodiments.
The second rotation driving joint 15 is fixedly installed on the column slide block 12, and the base 13 is installed on the output end of the second rotation driving joint 15. In this embodiment, the second rotation driving joint 15 includes a second motor 151 and a second reducer 152, the second motor 151 is fixedly mounted on the column slider 12, the second reducer 152 is fixedly connected to the second motor 151, an input end of the second reducer 152 is connected to a motor shaft of the second motor 151, and the base 13 in the robot arm structure is fixedly mounted on an output end of the second reducer 152.
So set up for on keeping the basis that the arm structure realizes the flexible function of the straight line of revolving stage 3, can drive arm structure whole through second rotary driving joint 15 and rotate, when the axis of preferred configuration second rotary driving joint 15 output is on a parallel with the axis of first rotary driving joint 14 output, thereby make revolving stage 3 can reach arbitrary position in the plane with rotatory and flexible mode.
Example nine
On the basis of the eighth embodiment, in this embodiment, the pre-swing structure further includes an upright (not shown in the figure) and a lifting driving mechanism (not shown in the figure), the upright slide block 12 is slidably connected to the upright, and the lifting driving mechanism is connected between the upright and the upright slide block. For example, the lifting driving mechanism is configured as a linear driving mechanism, the linear driving mechanism includes, but is not limited to, an electric push rod, an air cylinder or a hydraulic rod, the linear driving mechanism is installed on the column, and the output end of the linear driving mechanism is fixedly connected with the column slide block 12.
Preferably, the sliding direction of the column sliding block 12 on the column is parallel to the rotation axis of the second rotary driving joint 15, so that the movement plane of the turntable 3 is expanded to a three-dimensional space, and the working range of the pre-positioning structure is expanded.
Example ten
On the basis of the eighth or ninth embodiment, in the present embodiment, when the robot arm structure is provided with the wiring passage (disposed on the first rotary joint 4 and the second rotary joint 5) and the connecting shaft provided with the wiring through hole is inserted into the hollow structure of the first rotary drive joint 14, the second rotary drive joint 15 is further disposed as a hollow rotary drive joint, and the second rotary drive joint 15 is disposed coaxially with the first rotary drive joint 14.
So set up for in the wiring passageway among the arm structure can extend to the hollow structure of second rotary driving joint 15, not only make the interior cable of arm structure walk the line more convenient, in addition, when stand slider 12 goes up and down, the hollow structure who walks through in the second rotary driving joint 15 also can not influence the elevating movement of stand slider 12.
EXAMPLE eleven
A surgical robot comprising the pre-swing structure disclosed in any of the above embodiments and a manipulator arm mounted on a turn table 3 for gripping a surgical instrument or an endoscope or the like, and preferably the pre-swing structure is the structure disclosed in the ninth or tenth embodiment.
When the manipulator is used, the surgical robot drives the upright post slide block 12 to ascend and descend by combining the lifting driving mechanism, the second rotary driving joint 15 drives the base 13 to rotate, and the first rotary driving joint 14 drives the rotary table 3 to stretch, so that the manipulator can reach any position in a working range under the condition of keeping the posture unchanged. In addition, because the rear end (the side of the rotary table 3) of the mechanical arm structure is not provided with an additional power component, under the condition that the weight of the pre-positioning structure is not changed, the structural load (the load generated by the self-weight of the structure) at the rear end is smaller, so that the task load capacity of the rear end is improved, the load self-weight ratio of the pre-positioning structure is reduced, a larger and heavier control arm can be mounted on the rotary table 3, and the capacity and the application range of the surgical robot and the pre-positioning structure in the surgical robot are improved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (17)
1. A robotic arm structure, characterized by: comprises a base, a first rotary driving joint, a first arm, a second arm and a turntable; the first rotary driving joint is fixedly arranged on the base, the first arm is fixedly connected to the output end of the first rotary driving joint, and the first arm and the second arm, and the second arm and the turntable are rotatably connected through the first rotary joint and the second rotary joint respectively; the turntable is characterized by further comprising a transmission structure, wherein the transmission structure is used for synchronously driving the second arm to rotate relative to the first arm and the turntable relative to the second arm when the first rotary driving joint drives the first arm to rotate, so that the turntable stretches relative to the base.
2. The robot arm structure of claim 1, wherein: the transmission structure comprises a transmission wheel A, a transmission wheel a, a transmission wheel B and a transmission wheel B; the driving wheel a and the driving wheel b are coaxially arranged on the first rotary joint and the second rotary joint respectively, and are fixedly connected with the second arm and the rotary table respectively; the transmission wheel A is fixedly connected relative to the base and is coaxially arranged with the output end of the first rotary driving joint; the driving wheel B is fixedly connected relative to the first arm and is coaxially arranged with the first rotary joint; the transmission wheel A is in transmission connection with the transmission wheel a, and the transmission wheel B is in transmission connection with the transmission wheel B.
3. The robot arm structure of claim 2, wherein: the transmission ratio among the transmission wheel A, the transmission wheel a, the transmission wheel B and the transmission wheel B is 2: 1: 1: 2.
4. the robot arm structure of claim 1, wherein: and wiring channels are arranged on the first rotary joint and the second rotary joint.
5. The robot arm structure of claim 4, wherein: the first rotary joint and the second rotary joint respectively comprise an inner ring and an outer ring which can rotate mutually, and the area defined by the inner rings is the wiring channel.
6. The robot arm structure of claim 5, wherein: an outer ring in the first rotary joint is fixedly arranged in an installation hole in the first arm, and the second arm and the driving wheel a are fixedly connected to an inner ring in the first rotary joint; an outer ring in the second rotary joint is fixedly arranged in a mounting hole in the second arm, and the turntable and the driving wheel b are fixedly connected to an inner ring in the second rotary joint.
7. The robot arm structure of claim 6, wherein: and the driving wheel B is fixedly connected with an outer ring in the first rotary joint.
8. The robot arm structure of claim 2, wherein: the base comprises a base body and a connecting shaft arranged on the base body, and the driving wheel A is fixedly arranged on the connecting shaft.
9. The robot arm structure of claim 8, wherein: the first rotary driving joint is a hollow rotary driving joint, and the connecting shaft is arranged in a hollow structure of the first rotary driving joint in a penetrating mode.
10. The robot arm structure of claim 9, wherein: and the base is provided with a wiring through hole which is coaxially arranged with the connecting shaft.
11. The robot arm structure of claim 2, wherein: the transmission wheel A and the transmission wheel a, and the transmission wheel B and the transmission wheel B are synchronous belt wheels, chain wheels or gears which are matched in pairs.
12. The robot arm structure of claim 3, wherein: the distance between the first rotary joint and the transmission wheel A is equal to the distance between the second rotary joint and the first rotary joint.
13. A pre-positioning structure is characterized in that: comprising a column slide, a second rotary drive joint and a robot arm structure according to any of claims 1-12; the second rotary driving joint is fixedly mounted on the upright post sliding block, and a base in the mechanical arm structure is fixedly mounted on the output end of the second rotary driving joint.
14. The pre-positioning structure of claim 13, wherein: still include stand and lift actuating mechanism, stand slider sliding connection be in on the stand, lift actuating mechanism connects the stand with between the stand slider.
15. The pre-positioning structure of claim 13, wherein: the first rotary drive joint is disposed coaxially with the second rotary drive joint.
16. The pre-positioning structure of claim 15, wherein: when the mechanical arm structure is provided with a wiring channel and the connecting shaft provided with a wiring through hole on the base is arranged in the hollow structure of the first rotary driving joint in a penetrating manner, the second rotary driving joint is configured to be a hollow rotary driving joint.
17. A surgical robot, characterized by: comprising a pre-pendulous structure according to any of claims 13-16 and a manipulator arm mounted on the turntable.
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| CN202110879042.7A CN113520602B (en) | 2021-08-02 | 2021-08-02 | Mechanical arm structure, pre-positioning structure and surgical robot |
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| CN202110879042.7A CN113520602B (en) | 2021-08-02 | 2021-08-02 | Mechanical arm structure, pre-positioning structure and surgical robot |
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| CN116021551A (en) * | 2023-03-31 | 2023-04-28 | 成都思越智能装备股份有限公司 | Connecting rod type mechanical arm |
| CN116421322A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Surgical robot platform and surgical robot |
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| CN208977805U (en) * | 2018-10-29 | 2019-06-14 | 深圳众为兴技术股份有限公司 | A kind of five articulated robots |
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| CN113520602B (en) | 2024-03-12 |
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