CN118021456A - 5-Degree-of-freedom wire driven endoscope mechanical arm with coupling joint - Google Patents

Abstract

The invention discloses a 5-degree-of-freedom wire driven endoscope mechanical arm with a coupling joint, which belongs to the field of endoscope mechanical arms and comprises an execution end and a driving box, wherein the execution end comprises an upper arm, an upper arm end, a transverse shoulder joint, a longitudinal shoulder joint, a lower arm end, a transverse elbow joint, a longitudinal elbow joint, a transverse wrist joint, a longitudinal wrist joint, an adjustable fixing clamp and a lens which are sequentially connected, 5 motors are arranged on the driving box, the upper arm is connected with 1 motor, the transverse shoulder joint, the longitudinal shoulder joint, the transverse wrist joint and the longitudinal wrist joint are respectively and correspondingly connected with the rest 4 motors one by one through driving wire groups, the longitudinal elbow joint is connected with the transverse shoulder joint through a first coupling wire group, and the transverse elbow joint is connected with the end of the upper arm through a second coupling wire group. The 5-degree-of-freedom wire driving endoscope mechanical arm with the coupling joint has the advantages that the movement stability and the working space are improved, and the adjustment angle range of the lens is more accurate.

Description

5-DOF wire-driven endoscope robot with coupled joints

Technical Field

The present invention relates to the technical field of endoscope mechanical arms, and in particular to a 5-DOF wire-driven endoscope mechanical arm with coupling joints.

Background technique

As people's pursuit of postoperative beauty becomes stronger and stronger, minimally invasive surgery has emerged. Minimally invasive surgery has the characteristics of small trauma, short recovery time, low medical cost and postoperative beauty. Minimally invasive surgery uses the natural cavity of the human body or makes a small incision on the surface of the human body, and passes the surgical instrument through this point to deep into the human body for surgical operation, usually requiring a rigid endoscope to assist the doctor in the operation. The Chinese patent with application number CN202011402469.X provides a modular multi-wire driven continuous lens arm based on a fixed pulley, including a driving end, a long guide rod, a modular continuum, an internal elastic body and a lens fixing end; one end of the long guide rod is connected to the driving end, the other end of the long guide rod is connected to the modular continuum, one end of the internal elastic body is connected to the lens fixing end, and the other end of the internal elastic body passes through the modular continuum and the long guide rod in sequence, and the internal elastic body is a hollow elastic tube; multiple driving wires are installed on the modular continuum, and the multiple driving wires are driven by the driving end. The above structure has the following problems when used: 1. The combined structure of the modular continuum and the internal elastic body is not rigid enough, which makes the adjustment angle range of the lens unstable and the motion stability difficult to meet the requirements of high-definition lens imaging clarity; 2. The working space is not wide enough, resulting in poor imaging effect. In order to solve the above problems, it is necessary to provide a new type of endoscope mechanical arm.

Summary of the invention

The purpose of the present invention is to provide a 5-DOF wire-driven endoscope robot arm with a coupling joint, which improves movement stability and working space, and the adjustment angle range of the lens is more precise.

To achieve the above-mentioned purpose, the present invention provides a 5-DOF wire-driven endoscopic robotic arm with a coupling joint, comprising an execution end and a drive box, wherein the execution end comprises an upper arm, an upper arm end, a transverse shoulder joint, a longitudinal shoulder joint, a lower arm, a lower arm end, a transverse elbow joint, a longitudinal elbow joint, a transverse wrist joint, a longitudinal wrist joint, an adjustable fixing clamp and a lens connected in sequence, the drive box is provided with 5 motors, the upper arm is connected to one of the motors, the transverse shoulder joint, the longitudinal shoulder joint, the transverse wrist joint and the longitudinal wrist joint are all connected to the remaining 4 motors one by one through a drive wire group, the longitudinal elbow joint is connected to the transverse shoulder joint through a first coupling wire group, and the transverse elbow joint is connected to the upper arm end through a second coupling wire group.

Preferably, the upper arm and the upper arm end, the longitudinal shoulder joint and the lower arm, the lower arm and the lower arm end, and the longitudinal wrist joint and the adjustable fixing clamp are all detachably fixedly connected, and the upper arm end and the transverse shoulder joint, the transverse shoulder joint and the longitudinal shoulder joint, the lower arm end and the transverse elbow joint, the transverse elbow joint and the longitudinal elbow joint, the longitudinal elbow joint and the transverse wrist joint, and the transverse wrist joint and the longitudinal wrist joint are all detachably rotatably connected, and the rotation axes for the detachable rotatable connections are arranged orthogonally in sequence.

Preferably, two slope surfaces are provided on the detachable rotating connection surfaces of the upper arm end, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm end, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint, and the two slope surfaces are symmetrically arranged on both sides of the rotation axis.

Preferably, the upper arm and the lower arm are both hollow structures, and a plurality of rope threading holes are provided on the end of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the end of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint.

Preferably, the upper arm is connected to the upper arm seat on the driving box, the middle part of the upper arm seat is provided with a through hole connected to the interior of the upper arm, the outer edge of the upper arm seat is provided with a circle of gear teeth, and the gear teeth are meshed and connected with the self-rotating drive gear on the output shaft of the motor corresponding to the upper arm.

Preferably, the driving wire group includes a transverse shoulder joint driving part, a longitudinal shoulder joint driving part, a transverse wrist joint driving part and a longitudinal wrist joint driving part, and the transverse shoulder joint driving part, the longitudinal shoulder joint driving part, the transverse wrist joint driving part and the longitudinal wrist joint driving part all include a driving rod, two steel wire ropes, two primary steering pulleys and two secondary steering pulleys fixed on the driving box, the primary steering pulley is arranged close to the driving rod, and the secondary steering pulley is arranged close to the through hole; in the transverse shoulder joint driving part, the driving rod is connected to the output end of the motor corresponding to the transverse shoulder joint, one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively passed around a primary steering pulley in turn. and a secondary steering pulley, then pass through the through hole, the upper arm and the rope threading hole at the end of the upper arm, and finally be fixed in the rope threading hole of the transverse shoulder joint, and the two steel wire ropes always remain centrally symmetrical in the upper arm, the end of the upper arm and the transverse shoulder joint; in the longitudinal shoulder joint driving part, the driving rod is connected to the output end of the motor corresponding to the longitudinal shoulder joint, one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes respectively bypass a primary steering pulley and a secondary steering pulley in turn, then pass through the through hole, the upper arm, the rope threading hole at the end of the upper arm, and the rope threading hole of the transverse shoulder joint, and finally be fixed in the rope threading hole of the longitudinal shoulder joint, and the two steel wire ropes always remain centrally symmetrical in the upper arm, the end of the upper arm, the transverse shoulder joint and the longitudinal shoulder joint; In the transverse wrist joint driving part, a driving rod is connected to the output end of the motor corresponding to the transverse wrist joint, one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively passed around a primary steering pulley and a secondary steering pulley in turn, and then pass through the through hole, the upper arm, the rope threading hole at the end of the upper arm, the rope threading hole of the transverse shoulder joint, the rope threading hole of the longitudinal shoulder joint, the lower arm, the rope threading hole at the end of the lower arm, the rope threading hole of the transverse elbow joint, and the rope threading hole of the longitudinal elbow joint, and are finally fixed in the rope threading hole of the transverse wrist joint, and the two steel wire ropes are always kept in a centrally symmetrical arrangement in the upper arm, the end of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end of the lower arm, the transverse elbow joint, the longitudinal elbow joint and the transverse wrist joint; the longitudinal wrist joint driving part In the part, a driving rod is connected to the output end of the motor corresponding to the longitudinal wrist joint, one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively passed around a primary steering pulley and a secondary steering pulley in sequence, and then pass through the through hole, the upper arm, the rope threading hole at the end of the upper arm, the rope threading hole of the transverse shoulder joint, the rope threading hole of the longitudinal shoulder joint, the lower arm, the rope threading hole at the end of the lower arm, the rope threading hole of the transverse elbow joint, the rope threading hole of the longitudinal elbow joint, and the rope threading hole of the transverse wrist joint, and are finally fixed in the rope threading hole of the longitudinal wrist joint, and the two steel wire ropes always maintain a centrally symmetrical arrangement in the upper arm, the end of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint.

Preferably, the first coupling wire group and the second coupling wire group each include two coupling wire ropes, the two coupling wire ropes in the first coupling wire group are centrally symmetrically arranged and the two ends are respectively fixedly connected to the rope threading hole on the transverse shoulder joint and the rope threading hole on the longitudinal elbow joint, and the two coupling wire ropes in the second coupling wire group are centrally symmetrically arranged and the two ends are respectively fixedly connected to the rope threading hole on the upper arm end and the rope threading hole on the transverse elbow joint.

Preferably, the cutting angle of the slope surface is 45°.

Preferably, the adjustable fixing clamp includes a clamp body, one end of the clamp body is fixedly connected to the longitudinal wrist joint, the other end of the clamp body is provided with a deformation joint, the two sides of the deformation joint are respectively symmetrically arranged with a first clamp and a second clamp, the first clamp and the second clamp are provided with an arc-shaped groove on one side surface close to the deformation joint, the first clamp and the second clamp are provided with connecting ears at both ends, and the two oppositely arranged connecting ears are connected by bolts.

Therefore, the present invention adopts the 5-DOF wire-driven endoscope robot arm with coupling joints of the above structure to improve movement stability and working space, and the adjustment angle range of the lens is more precise.

The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of an embodiment of a 5-DOF wire-driven endoscope robot arm with a coupling joint according to the present invention;

FIG2 is a schematic diagram of an embodiment of an actuator end in a 5-DOF wire-driven endoscope robot arm with a coupling joint according to the present invention;

3 is a schematic diagram of an embodiment of an upper arm end portion of a 5-DOF wire-driven endoscope mechanical arm with a coupling joint according to the present invention;

4 is a schematic diagram of an embodiment of a drive box in a 5-DOF wire-driven endoscope robot arm with a coupling joint according to the present invention;

5 is a schematic diagram of an embodiment of a first coupling wire group in a 5-DOF wire-driven endoscope robot arm with a coupling joint according to the present invention;

FIG. 6 is a schematic diagram of an embodiment of an adjustable fixing clamp in a 5-DOF wire-driven endoscope robot arm with a coupling joint according to the present invention.

Reference numerals

1. Drive box; 2. Upper arm; 3. Upper arm end; 4. Transverse shoulder joint; 5. Longitudinal shoulder joint; 6. Lower arm; 7. Lower arm end; 8. Transverse elbow joint; 9. Longitudinal elbow joint; 10. Transverse wrist joint; 11. Longitudinal wrist joint; 12. Adjustable fixing clamp; 121. Clamp body; 122. Deformation joint; 123. First clamp; 124. Second clamp; 125. Connecting ear; 126. Bolt; 13. Lens; 14. Rope threading hole; 15. Concave and convex meshing teeth; 16. Rotating axis; 17. Arc groove; 18. Slope surface; 19. Motor; 20. Upper arm seat; 21. Through hole; 22. Gear teeth; 23. Self-rotating driving gear; 24. Driving rod; 25. Primary steering pulley; 26. Secondary steering pulley; 27. Coupling wire rope.

Detailed ways

The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

As shown in Fig. 1-6, a 5-DOF wire-driven endoscope mechanical arm with a coupling joint includes an execution end and a drive box 1, wherein the execution end includes an upper arm 2, an upper arm end 3, a transverse shoulder joint 4, a longitudinal shoulder joint 5, a lower arm 6, a lower arm end 7, a transverse elbow joint 8, a longitudinal elbow joint 9, a transverse wrist joint 10, a longitudinal wrist joint 11, an adjustable fixing clamp 12 and a lens 13 connected in sequence. The upper arm 2 and the lower arm 6 are both hollow structures, and a plurality of rope holes 14 are provided on the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9, the transverse wrist joint 10 and the longitudinal wrist joint 11. The upper arm 2 and the upper arm end 3, the longitudinal shoulder joint 5 and the lower arm 6, the lower arm 6 and the lower arm end 7, and the longitudinal wrist joint 11 and the adjustable fixing clamp 12 are all detachably fixedly connected, and the detachably fixedly connected connection method can be connected by using concave-convex meshing teeth 15.

The upper arm end 3 and the transverse shoulder joint 4, the transverse shoulder joint 4 and the longitudinal shoulder joint 5, the lower arm end 7 and the transverse elbow joint 8, the transverse elbow joint 8 and the longitudinal elbow joint 9, the longitudinal elbow joint 9 and the transverse wrist joint 10, and the transverse wrist joint 10 and the longitudinal wrist joint 11 are all detachably rotatably connected, and the rotating shafts 16 for the detachable rotatable connection are arranged orthogonally in sequence. The connection method of the detachable rotatable connection can be that the rotating shaft 16 is connected to the arc groove 17 adapted thereto. Two slope surfaces 18 are provided on the detachable rotatable connection surfaces of the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9, the transverse wrist joint 10, and the longitudinal wrist joint 11, and the two slope surfaces 18 are symmetrically arranged on both sides of the rotating shaft 16. The cutting angle of the slope surface 18 is 45°, and the slope surface 18 can maintain the rotation range of each joint within -45° to 45°, thereby making the adjustment angle range of the lens 13 more accurate.

The driving box 1 is provided with five motors 19, and the upper arm 2 is connected to one of the motors 19. The upper arm 2 is connected to the upper arm seat 20 on the driving box 1. The middle part of the upper arm seat 20 is provided with a through hole 21 connected to the inside of the upper arm 2. The outer edge of the upper arm seat 20 is provided with a circle of gear teeth 22. The gear teeth 22 are meshed and connected with the self-rotation driving gear 23 on the output shaft of the motor 19 correspondingly connected to the upper arm 2. The gear teeth 22 and the self-rotation driving gear 23 can enable the motor 19 to drive the upper arm 2 to self-rotate, thereby realizing the self-rotation freedom _J1 of the robot arm.

The transverse shoulder joint 4, the longitudinal shoulder joint 5, the transverse wrist joint 10 and the longitudinal wrist joint 11 are all connected to the remaining four motors 19 in a one-to-one correspondence through a drive wire group, and the drive wire group includes a transverse shoulder joint drive unit, a longitudinal shoulder joint drive unit, a transverse wrist joint drive unit and a longitudinal wrist joint drive unit. The transverse shoulder joint drive unit, the longitudinal shoulder joint drive unit, the transverse wrist joint drive unit and the longitudinal wrist joint drive unit all include a drive rod 24, two steel wire ropes, two primary steering pulleys 25 and two secondary steering pulleys 26 fixed on the drive box 1, the primary steering pulley 25 is arranged close to the drive rod 24, and the secondary steering pulley 26 is arranged close to the through hole 21.

In the transverse shoulder joint driving part, the driving rod 24 is connected to the output end of the motor 19 correspondingly connected to the transverse shoulder joint 4, one end of the two steel wire ropes are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wire ropes are respectively passed through a primary steering pulley 25 and a secondary steering pulley 26 in sequence, and then passed through the through hole 21, the upper arm 2 and the rope threading hole 14 of the upper arm end 3, and finally fixed in the rope threading hole 14 of the transverse shoulder joint 4. The two steel wire ropes are always arranged in a central symmetric manner in the upper arm 2, the upper arm end 3 and the transverse shoulder joint 4. When the motor 19 drives the driving rod 24 to rotate, the two steel wire ropes are tightened and loosened to realize the rotation of the transverse shoulder joint 4, thereby realizing the transverse swing freedom _J2 of the shoulder joint of the robot arm.

In the longitudinal shoulder joint driving part, the driving rod 24 is connected to the output end of the motor 19 correspondingly connected to the longitudinal shoulder joint 5, one end of the two steel wire ropes are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wire ropes are respectively passed through a primary steering pulley 25 and a secondary steering pulley 26 in sequence, and then pass through the through hole 21, the upper arm 2, the rope threading hole 14 of the upper arm end 3, and the rope threading hole 14 of the transverse shoulder joint 4, and finally fixed in the rope threading hole 14 of the longitudinal shoulder joint 5. The two steel wire ropes are always centrally symmetrically arranged in the upper arm 2, the upper arm end 3, the transverse shoulder joint 4 and the longitudinal shoulder joint 5. When the motor 19 drives the driving rod 24 to rotate, the two steel wire ropes are tightened and loosened to realize the rotation of the longitudinal shoulder joint 5, thereby realizing the longitudinal swing freedom _J3 of the shoulder joint of the robot arm.

In the transverse wrist joint driving part, the driving rod 24 is connected to the output end of the motor 19 corresponding to the transverse wrist joint 10, one end of the two steel wire ropes are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wire ropes are respectively passed around a primary steering pulley 25 and a secondary steering pulley 26 in turn, and then pass through the through hole 21, the upper arm 2, the rope threading hole 14 of the upper arm end 3, the rope threading hole 14 of the transverse shoulder joint 4, the rope threading hole 14 of the longitudinal shoulder joint 5, the lower arm 6, the rope threading hole 14 of the lower arm end 7, the rope threading hole 14 of the transverse elbow joint 8, and the rope threading hole 14 of the longitudinal elbow joint 9, and are finally fixed in the rope threading hole 14 of the transverse wrist joint 10. The two steel wires are always arranged centrally and symmetrically in the upper arm 2, the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm 6, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9 and the transverse wrist joint 10. When the motor 19 drives the driving rod 24 to rotate, the two steel wires are tightened and loosened to realize the rotation of the transverse wrist joint 10, thereby realizing the transverse swing freedom _J4 of the wrist joint of the robot arm.

In the longitudinal wrist joint driving part, the driving rod 24 is connected to the output end of the motor 19 corresponding to the longitudinal wrist joint 11, one end of the two steel wire ropes are respectively wound and fixed on the driving rod 24 in opposite directions, and the other ends of the two steel wire ropes are respectively passed around a primary steering pulley 25 and a secondary steering pulley 26 in turn, and then pass through the through hole 21, the upper arm 2, the rope threading hole 14 of the upper arm end 3, the rope threading hole 14 of the transverse shoulder joint 4, the rope threading hole 14 of the longitudinal shoulder joint 5, the lower arm 6, the rope threading hole 14 of the lower arm end 7, the rope threading hole 14 of the transverse elbow joint 8, the rope threading hole 14 of the longitudinal elbow joint 9, and the rope threading hole 14 of the transverse wrist joint 10, and are finally fixed in the rope threading hole 14 of the longitudinal wrist joint 11. The two steel wires are always arranged symmetrically in the upper arm 2, the upper arm end 3, the transverse shoulder joint 4, the longitudinal shoulder joint 5, the lower arm 6, the lower arm end 7, the transverse elbow joint 8, the longitudinal elbow joint 9, the transverse wrist joint 10 and the longitudinal wrist joint 11. When the motor 19 drives the driving rod 24 to rotate, the two steel wires are tightened and loosened to realize the rotation of the longitudinal wrist joint 11, thereby realizing the longitudinal swing freedom _J5 of the wrist joint of the robot arm.

The longitudinal elbow joint 9 is connected to the transverse shoulder joint 4 through the first coupling wire group, and the transverse elbow joint 8 is connected to the upper arm end 3 through the second coupling wire group. The coupling linkage of the elbow joint and the shoulder joint is realized through the first coupling wire group and the second coupling wire group, that is, the angle values are the same but the rotation is in opposite directions, which saves 19 motors and increases the working space. The first coupling wire group and the second coupling wire group each include two coupling wire ropes 27. The two coupling wire ropes 27 in the first coupling wire group are centrally symmetrically arranged and the two ends are respectively fixedly connected to the wire threading hole 14 on the transverse shoulder joint 4 and the wire threading hole 14 on the longitudinal elbow joint 9. When the steel wire rope in the longitudinal shoulder joint driving part drives the longitudinal shoulder joint 5 to rotate, the two coupling wire ropes 27 in the first coupling wire group are loosened and tightened at one end close to the longitudinal shoulder joint 5. Because the lengths of the two coupling wire ropes 27 remain unchanged, the two coupling wire ropes 27 in the first coupling wire group are tight and loosened at one end close to the longitudinal elbow joint 9, so that the longitudinal elbow joint 9 can achieve a coupling linkage with the longitudinal shoulder joint 5 with the same angle value but in the opposite direction, thereby realizing the longitudinal coupled swinging degree of freedom _J3 ^* of the elbow joint of the robot arm, which is equal to _J3 in size and opposite in direction.

The two coupling wire ropes 27 in the second coupling wire group are arranged symmetrically with their ends fixedly connected to the wire threading holes 14 on the upper arm end 3 and the wire threading holes 14 on the transverse elbow joint 8 respectively. When the steel wire rope in the transverse shoulder joint driving part drives the transverse shoulder joint 4 to rotate, the two coupling wire ropes 27 in the second coupling wire group are loosened and tightened at one end close to the upper arm end 3. Because the lengths of the two coupling wire ropes 27 remain unchanged, the two coupling wire ropes 27 in the second coupling wire group are tight and loosened at one end close to the transverse elbow joint 8, so that the transverse elbow joint 8 and the transverse shoulder joint 4 achieve coupling linkage with the same angle value but in opposite directions, thereby realizing the transverse coupled swinging degree of freedom _J2 ^* of the elbow joint of the robot arm, which is equal to _J2 in size and opposite in direction.

The adjustable fixing clamp 12 includes a clamp body 121, one end of which is fixedly connected to the longitudinal wrist joint 11, and the other end of the clamp body 121 is provided with a deformation gap 122, and the two sides of the deformation gap 122 are respectively symmetrically arranged with a first clamp head 123 and a second clamp head 124, and the first clamp head 123 and the second clamp head 124 are provided with arc grooves on one side surface close to the deformation gap 122, and the first clamp head 123 and the second clamp head 124 are provided with connecting ears 125 at both ends, and the two connecting ears 125 arranged opposite to each other are connected by bolts 126. When in use, the lens 13 is inserted between the two arc grooves, and then the bolts 126 are tightened so that the first clamp head 123 and the second clamp head 124 are close to each other under the action of the deformation gap 122 to achieve clamping and fixing of the lens 13.

Therefore, the present invention adopts the 5-DOF wire-driven endoscope robot arm with coupling joints of the above structure to improve movement stability and working space, and the adjustment angle range of the lens is more precise.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims (9)

1. A 5-DOF wire-driven endoscope robotic arm with a coupling joint, characterized in that it includes an execution end and a drive box, the execution end includes an upper arm, an upper arm end, a transverse shoulder joint, a longitudinal shoulder joint, a lower arm, a lower arm end, a transverse elbow joint, a longitudinal elbow joint, a transverse wrist joint, a longitudinal wrist joint, an adjustable fixing clamp and a lens connected in sequence, the drive box is provided with 5 motors, the upper arm is connected to one of the motors, the transverse shoulder joint, the longitudinal shoulder joint, the transverse wrist joint and the longitudinal wrist joint are all connected to the remaining 4 motors in a one-to-one correspondence through a drive wire group, the longitudinal elbow joint is connected to the transverse shoulder joint through a first coupling wire group, and the transverse elbow joint is connected to the upper arm end through a second coupling wire group. 2. The 5-DOF wire-driven endoscopic robotic arm with a coupling joint according to claim 1 is characterized in that: the upper arm and the upper arm end, the longitudinal shoulder joint and the lower arm, the lower arm and the lower arm end, and the longitudinal wrist joint and the adjustable fixing clamp are all detachably fixedly connected, and the upper arm end and the transverse shoulder joint, the transverse shoulder joint and the longitudinal shoulder joint, the lower arm end and the transverse elbow joint, the transverse elbow joint and the longitudinal elbow joint, the longitudinal elbow joint and the transverse wrist joint, and the transverse wrist joint and the longitudinal wrist joint are all detachably rotatably connected, and the rotation axes for the detachable rotatable connections are arranged orthogonally in sequence. 3. The 5-DOF wire-driven endoscopic robotic arm with coupling joints according to claim 2 is characterized in that two slope surfaces are provided on the detachable rotating connection surfaces of the upper arm end, the lateral shoulder joint, the longitudinal shoulder joint, the lower arm end, the lateral elbow joint, the longitudinal elbow joint, the lateral wrist joint and the longitudinal wrist joint, and the two slope surfaces are symmetrically arranged on both sides of the rotation axis. 4. The 5-DOF wire-driven endoscopic robotic arm with coupling joints according to claim 3 is characterized in that the upper arm and the lower arm are both hollow structures, and a plurality of rope threading holes are provided on the end of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the end of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint. 5. The 5-DOF wire-driven endoscopic robotic arm with a coupling joint according to claim 4 is characterized in that: the upper arm is connected to the upper arm seat on the drive box, the middle part of the upper arm seat is provided with a through hole connected to the interior of the upper arm, and the outer edge of the upper arm seat is provided with a circle of gear teeth, and the gear teeth are meshed with the self-rotating drive gear on the output shaft of the motor correspondingly connected to the upper arm. 6. The 5-DOF wire-driven endoscopic robotic arm with a coupling joint according to claim 5 is characterized in that: the driving wire group includes a transverse shoulder joint driving unit, a longitudinal shoulder joint driving unit, a transverse wrist joint driving unit and a longitudinal wrist joint driving unit, and the transverse shoulder joint driving unit, the longitudinal shoulder joint driving unit, the transverse wrist joint driving unit and the longitudinal wrist joint driving unit all include a driving rod, two steel wire ropes, two primary steering pulleys and two secondary steering pulleys fixed to the driving box, the primary steering pulley is arranged close to the driving rod, and the secondary steering pulley is arranged close to the through hole; in the transverse shoulder joint driving unit, the driving rod is connected to the output end of the motor corresponding to the transverse shoulder joint, and one end of the two steel wire ropes are respectively wound and fixed on the driving box in opposite directions. The two steel wire ropes are wound around the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively wound around a primary steering pulley and a secondary steering pulley, and then pass through the through hole, the upper arm, and the rope threading hole at the end of the upper arm, and are finally fixed in the rope threading hole of the transverse shoulder joint. The two steel wire ropes are always kept centrally symmetrically arranged in the upper arm, the end of the upper arm, and the transverse shoulder joint; in the longitudinal shoulder joint driving part, the driving rod is connected to the output end of the motor corresponding to the longitudinal shoulder joint, and one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively wound around a primary steering pulley and a secondary steering pulley, and then pass through the through hole, the upper arm, the rope threading hole at the end of the upper arm, and the rope threading hole of the transverse shoulder joint, and are finally fixed in the rope threading hole of the longitudinal shoulder joint. The two steel wire ropes are kept centrally symmetrically arranged in the upper arm, the end of the upper arm, the transverse shoulder joint, and the longitudinal shoulder joint. The shoulder joint is always kept in a central symmetric arrangement; in the transverse wrist joint driving part, the driving rod is connected to the output end of the motor connected to the corresponding transverse wrist joint, one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively passed through a primary steering pulley and a secondary steering pulley in sequence, and then pass through the through hole, the upper arm, the rope threading hole at the end of the upper arm, the rope threading hole of the transverse shoulder joint, the rope threading hole of the longitudinal shoulder joint, the lower arm, the rope threading hole at the end of the lower arm, the rope threading hole of the transverse elbow joint, and the rope threading hole of the longitudinal elbow joint, and finally fixed in the rope threading hole of the transverse wrist joint, and the two steel wire ropes are always kept in a central symmetric arrangement in the upper arm, the end of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end of the lower arm, the transverse elbow joint, the longitudinal elbow joint and the transverse wrist joint; In the longitudinal wrist joint driving part, a driving rod is connected to the output end of the motor corresponding to the longitudinal wrist joint, one end of the two steel wire ropes is respectively wound and fixed on the driving rod in opposite directions, and the other ends of the two steel wire ropes are respectively passed around a primary steering pulley and a secondary steering pulley in sequence, and then pass through the through hole, the upper arm, the rope threading hole at the end of the upper arm, the rope threading hole of the transverse shoulder joint, the rope threading hole of the longitudinal shoulder joint, the lower arm, the rope threading hole at the end of the lower arm, the rope threading hole of the transverse elbow joint, the rope threading hole of the longitudinal elbow joint, and the rope threading hole of the transverse wrist joint, and are finally fixed in the rope threading hole of the longitudinal wrist joint, and the two steel wire ropes always maintain a centrally symmetrical arrangement in the upper arm, the end of the upper arm, the transverse shoulder joint, the longitudinal shoulder joint, the lower arm, the end of the lower arm, the transverse elbow joint, the longitudinal elbow joint, the transverse wrist joint and the longitudinal wrist joint. 7. The 5-DOF wire-driven endoscopic robotic arm with coupling joints according to claim 6 is characterized in that: the first coupling wire group and the second coupling wire group each include two coupling wire ropes, the two coupling wire ropes in the first coupling wire group are centrally symmetrically arranged and the two ends are respectively fixedly connected to the rope threading hole on the transverse shoulder joint and the rope threading hole on the longitudinal elbow joint, and the two coupling wire ropes in the second coupling wire group are centrally symmetrically arranged and the two ends are respectively fixedly connected to the rope threading hole on the upper arm end and the rope threading hole on the transverse elbow joint. 8. The 5-DOF wire-driven endoscope robot arm with coupling joints according to claim 7, characterized in that the cutting angle of the slope surface is 45°. 9. The 5-DOF wire-driven endoscopic robotic arm with a coupling joint according to claim 8 is characterized in that: the adjustable fixing clamp includes a clamp body, one end of the clamp body is fixedly connected to the longitudinal wrist joint, and the other end of the clamp body is provided with a deformation seam, and the two sides of the deformation seam are respectively symmetrically arranged with a first clamp and a second clamp, and the first clamp and the second clamp are provided with an arc-shaped groove on one side surface close to the deformation seam, and the first clamp and the second clamp are provided with connecting ears at both ends, and the two oppositely arranged connecting ears are connected by bolts.