CN218420034U

CN218420034U - Integrated double-freedom-degree connecting structure and mechanical arm

Info

Publication number: CN218420034U
Application number: CN202221984291.9U
Authority: CN
Inventors: 王佳威; 钟鹏飞; 骆威
Original assignee: Innolcon Medical Technology Suzhou Co Ltd
Current assignee: Innolcon Medical Technology Suzhou Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2023-02-03
Anticipated expiration: 2032-07-29

Abstract

The utility model discloses an integrated double-freedom-degree connecting structure and mechanical arm, which comprises a base, wherein a coaxially connected lifting mechanism and a rotating mechanism are arranged in the base, the lifting mechanism comprises a lifting cylinder and a lifting driving assembly for driving the lifting cylinder to move along the base in the vertical direction, the lifting driving assembly comprises a servo motor and a transmission lead screw which are connected in a transmission manner, the lifting cylinder is arranged in the servo motor, and the transmission lead screw is arranged between the lifting cylinder and the base; the rotary mechanism comprises a rotary cylinder and a rotary driving assembly for driving the rotary cylinder to rotate horizontally, the bottom of the lifting cylinder is fixedly connected with a connecting cylinder with a hollow interior, and the rotary driving assembly is arranged in the connecting cylinder and is in transmission connection with the rotary cylinder. The lifting mechanism and the swing mechanism are connected into a whole, so that the space requirement of the surgical instrument arm is greatly saved, the mounting is convenient, the transmission is stable, the braking is reliable, the operation is simple and convenient, the structure is compact, the positioning is accurate, the interference between the instrument arms can be effectively avoided, and the use requirement is met.

Description

Integrated double-freedom-degree connecting structure and mechanical arm

Technical Field

The utility model relates to the technical field of medical equipment, specifically relate to an integral type two degree of freedom connection structure and arm.

Background

The minimally invasive surgery has the advantages of small wound, light pain, less bleeding, quick postoperative recovery and the like, is widely used, and can be used as an effective means for replacing manpower. In minimally invasive surgery, a doctor is often required to manually cut, peel and suture tissues, and for some complex surgeries, the doctor is required to stand for a long time and hold a miniature surgical instrument for performing the surgery, so that the doctor is easily fatigued, and the quality of the surgery is affected. Therefore, surgical robots are an effective alternative.

In order to ensure the operation stability of the surgical robot, the preoperative preparation work of the surgical robot is complicated, and as for preoperative positioning of a terminal execution instrument, specific preoperative positioning and placement are required according to a plurality of factors such as operation types and heights, fatness and thinness of patients, so that the operation requirements of the operation are met.

The preoperative positioning sequence of the existing surgical robot tail end instrument is generally to perform preoperative three-dimensional space pre-positioning through three groups of large joints including a chassis drive, a stand column and a cross beam, and then perform small-range adjustment through the stretching, lifting and rotating of a plurality of groups of small joints. The surgical robots in the market mostly adopt a single-axis single joint design, such as the surgical robot disclosed in patent No. 201811169956.9. On the fine adjustment function of the lifting and rotating small joint, the lifting and rotating small joint is frequently disassembled into a plurality of sections, and the mechanical arm can occupy more space due to more joints, so that a doctor is difficult to operate, the effective moving space of the mechanical arm is reduced, the effective moving space of an executing instrument is reduced, and even the phenomenon of interference between the mechanical arms or the executing instrument exists.

Therefore, a more compact and flexible robot arm is needed for flexible operation.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of prior art existence, provide an integral type two degree of freedom connection structure and arm.

The purpose of the utility model is realized through the following technical scheme:

the integrated double-degree-of-freedom connecting structure comprises a base, wherein a lifting mechanism and a swing mechanism which are coaxially connected are arranged in the base, the lifting mechanism comprises a lifting cylinder and a lifting driving assembly which drives the lifting cylinder to move along the base in the vertical direction, the lifting driving assembly comprises a servo motor and a transmission lead screw which are in transmission connection, the servo motor is arranged in the lifting cylinder, and the transmission lead screw is arranged between the lifting cylinder and the base; the rotary mechanism comprises a rotary cylinder and a rotary driving assembly for driving the rotary cylinder to rotate horizontally, the bottom of the lifting cylinder is fixedly connected with a connecting cylinder which is hollow inside, and the rotary driving assembly is arranged in the connecting cylinder and is in transmission connection with the rotary cylinder.

Preferably, the servo motor is fixedly connected with the top of the base through a flange; the upper and lower both ends of transmission lead screw set up respectively through the supporting seat in on the lateral wall of base, the top of servo motor and transmission lead screw is provided with a synchronizing wheel respectively, connect through synchronous belt drive between the synchronizing wheel, the back of a lift section of thick bamboo is provided with the boss, the boss built-in have with the swivel nut of transmission lead screw spiro union, the servo motor drive the transmission lead screw is rotatory, the transmission lead screw passes through swivel nut drive the vertical movement of a lift section of thick bamboo.

Preferably, the top of base is provided with and is used for the holding the storage tank of flange, the storage tank with be provided with the screw regulation platform on the synchronous belt vertically avris, the avris of flange be provided with screw regulation platform assorted screw thread mouth, the spiro union has adjusting screw between screw regulation platform and the screw thread mouth, adjusting screw adjusts through rotating the flange with interval between the drive screw pole.

Preferably, the upper portion and the lower portion of the side wall of the base are respectively provided with an upper induction limit and a lower induction limit, the boss is provided with an induction sheet, and the induction sheet triggers a stop signal for controlling the lifting cylinder to stop when being in induction with the upper induction limit or the lower induction limit.

Preferably, the upper and lower portions of the rear surface of the lift cylinder are respectively provided with an upper stopper protrusion and a lower stopper protrusion, and the upper stopper protrusion or the lower stopper protrusion limits movement of the lift cylinder by abutting against the support base.

Preferably, the back of the lifting cylinder is provided with a group of sliding blocks, a guide sliding rail extending in the same direction as the base is arranged in the base, and the lifting cylinder slides along the guide sliding rail through the sliding blocks.

Preferably, the rotary driving assembly comprises a bearing, a bearing seat and a compression flange, the rotary cylinder is fixedly connected with the bearing seat, the outer wall of the bearing seat is tightly attached to the inner wall of the bearing, the compression flange is fixedly connected with the bottom of the connecting cylinder, and the outer wall of the bearing is tightly attached to the inner wall of the connecting cylinder, so that the rotary cylinder can rotate horizontally relative to the connecting cylinder.

Preferably, the rotary driving assembly comprises a brake and a harmonic reducer, the brake is fixedly connected with the inner end face of the top of the connecting cylinder, the output end of the harmonic reducer is fixedly connected with the upper end face of the rotary cylinder, and the input end of the harmonic reducer is fixedly connected with the brake.

Preferably, the rotation driving assembly further comprises a position feedback mechanism, the position feedback mechanism comprises a through shaft and a coder, the coder is fixedly arranged at the bottom of the lifting cylinder, and two ends of the through shaft are fixedly connected with the coder and the rotation cylinder respectively.

Preferably, the inside cavity of logical axle, its top cover is equipped with the lock sleeve, the lock sleeve with locking screw on the encoder locks in order to with lead to the axle with the encoder rigid coupling.

The integrated double-degree-of-freedom connecting structure comprises a base, wherein a lifting mechanism and a swing mechanism which are coaxially connected are arranged in the base, the lifting mechanism comprises a lifting cylinder and a lifting driving assembly which drives the lifting cylinder to move in the vertical direction along the base, the lifting driving assembly comprises a servo motor and a transmission lead screw which are in transmission connection, the servo motor is arranged in the lifting cylinder, the transmission lead screw is arranged between the lifting cylinder and the base, a boss which moves along the transmission lead screw is arranged on the back of the lifting cylinder, an induction sheet is arranged on the boss, and an upper induction limit and a lower induction limit which are matched with the induction sheet are arranged on the side wall of the base so as to limit the moving range of the lifting cylinder; rotation mechanism includes a rotary drum and drive the rotary drive subassembly of horizontal rotation is done to the rotary drum, the bottom rigid coupling of a lift section of thick bamboo has inside hollow connecting cylinder, the rotary drum with connecting cylinder pivot connection, the connecting cylinder embeds and is used for the braking the stopper, the harmonic speed reducer of rotary drum, the bottom of a lift section of thick bamboo is provided with the encoder that is used for position feedback, the encoder is through leading to the hub connection the rotary drum, the bottom of rotary drum is connected with the elbow.

The mechanical arm comprises the integrated double-freedom-degree connecting structure and the end effector mechanical arm, the bottom of the rotary cylinder is connected with an elbow, and the elbow is connected with the end effector mechanical arm.

The beneficial effects of the utility model are mainly embodied in that:

1. the lifting mechanism and the rotating mechanism are coaxially arranged in the base to form a straight-tube type design and a simplified structure, the lifting mechanism and the rotating mechanism are connected into a whole through the connecting cylinder, a multi-joint design is not needed, a rotating driving assembly is arranged in the connecting cylinder to simplify the longitudinal space, the structural connection is more compact, the elbow is connected with the end effector mechanical arm, the area required by the covering operation is met through lifting and rotating in a small range, the operation space is greatly saved, and the interference between the elbow and the end effector mechanical arm is avoided;

2. the back of the lifting cylinder is provided with an induction sheet, an upper induction limit part and a lower induction limit part to limit the lifting range of the lifting cylinder, and an upper stop convex part and a lower stop convex part are arranged to perform hard limit, so that double insurance is formed with the induction limit parts, and the normal operation of the lifting cylinder is ensured;

3. the servo motor is connected to the base through the flange, the flange can adjust the specific position of the servo motor relative to the base through the screw adjusting table and the threaded port to adjust the distance between the two synchronous wheels, the synchronous belts are guaranteed to be kept in a tensioned state, the stability of transmission connection is realized, the manufacturing difficulty and the precision requirement are reduced, and the installation flexibility is improved;

4. the brake and the harmonic reducer are arranged to provide larger holding torque, and the harmonic reducer can reduce the required braking torque in an equal proportion according to the reduction ratio, so that the brake can quickly realize braking through smaller torque, and the stability and accuracy of the braking rotary drum are ensured;

5. the encoder realizes reading the turned angle of a rotary cylinder in real time through leading to the axle to feed back to the host computer, realize the accurate control to end effector arm, lead to the inside cavity of axle simultaneously, can satisfy inside wiring demand.

Drawings

The technical scheme of the utility model is further explained by combining the attached drawings as follows:

FIG. 1: schematic diagram of an embodiment of the present invention;

FIG. 2: the explosion schematic diagram of the embodiment of the utility model;

FIG. 3: the back view of the embodiment of the utility model;

FIG. 4: the embodiment of the utility model discloses a part of the schematic diagram;

FIG. 5: the embodiment of the utility model provides a schematic diagram of a lifting cylinder;

FIG. 6: the embodiment of the utility model provides an in the schematic diagram of encoder.

Detailed Description

The present invention will be described in detail below with reference to specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and structural, method, or functional changes made by those skilled in the art according to these embodiments are all included in the scope of the present invention.

In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

As shown in fig. 1 to 6, the present invention discloses an integrated two-degree-of-freedom connecting structure, which comprises a base 1, wherein a coaxially connected lifting mechanism and a rotating mechanism are arranged in the base 1, the lifting mechanism comprises a lifting cylinder 201 and a lifting driving component for driving the lifting cylinder 201 to move along the vertical direction of the base 1, the lifting driving component comprises a servo motor 202 and a transmission screw rod 203 which are connected in a transmission manner, the servo motor 202 is arranged in the lifting cylinder 201, and the transmission screw rod 203 is arranged between the lifting cylinder 201 and the base 1; rotation mechanism includes a rotary drum 301 and drive rotary drum 301 is the rotation drive subassembly of horizontal rotation, the bottom rigid coupling of a lift section of thick bamboo 201 has inside hollow connecting cylinder 4, rotation drive subassembly set up in the connecting cylinder 4 and with rotary drum 301 transmission is connected.

The utility model discloses coaxial elevating system and rotation mechanism that sets up in the base 1 form the design of straight cylinder, need not the design of many joints, retrencies the structure, and pass through connecting cylinder 4 links into an organic whole the two, and the lift gyration through the small range satisfies to cover the required region of operation, has greatly practiced thrift the operating space, avoids and produces the interference between the end effector arm. In the preferred embodiment, the outer diameters of the lifting drum 201, the connecting drum 4 and the rotary drum 301 are kept uniform to ensure uniformity in the axial distance.

Specifically, as shown in fig. 1-4, the servo motor 202 is fixedly connected to the top of the base 1 through a flange 204; the upper and lower both ends of transmission lead screw 203 respectively through supporting seat 205 set up in on the lateral wall of base 1, servo motor 202 and transmission lead screw 203's top is provided with a synchronizing wheel 206 respectively, connect through synchronous belt 207 transmission between the synchronizing wheel 206, the back of a lift section of thick bamboo 201 is provided with boss 209, boss 209 built-in have with the swivel nut (not shown in the figure) of transmission lead screw 203 spiro union, servo motor 202 drive transmission lead screw 203 is rotatory, transmission lead screw 203 passes through the swivel nut drive a lift section of thick bamboo 201 vertical migration.

As shown in fig. 4, the top of the base 1 is provided with a receiving groove 101 for receiving the flange 204, the receiving groove 101 and the vertical side of the synchronous belt 207 are provided with a screw adjusting table 601, the side of the flange 204 is provided with a screw opening 602 matched with the screw adjusting table 601, an adjusting screw (not shown in the figure) is screwed between the screw adjusting table 601 and the screw opening 602, and the adjusting screw adjusts the distance between the flange 204 and the transmission screw rod 203 by rotating. Due to the structural arrangement, the flange 204 can adjust the specific position of the flange relative to the base 1, so that the position of the servo motor 202 is adjusted, the center distance between the two synchronizing wheels 206 is adjusted, the synchronous belt 207 sleeved outside the synchronizing wheels 206 is ensured to be kept in a tensioned state, the reliability and stability of transmission connection between the servo motor 202 and the transmission screw rod 203 are realized, the manufacturing tolerance can be eliminated, the manufacturing difficulty and precision requirements are reduced, and the mounting flexibility of the flange 204 is improved.

As shown in fig. 2, 3 and 5, the upper and lower parts of the sidewall of the base 1 are respectively provided with an upper induction limit 210 and a lower induction limit 211, the boss 209 is provided with an induction sheet 212, and the induction sheet 212 triggers a stop signal for controlling the lifting cylinder 201 to stop when being induced by the upper induction limit 210 or the lower induction limit 211. The upper induction limit 210 limits the upper end limit position of the boss 209, the lower induction limit 211 limits the lower end limit position of the boss 209, and the upper induction limit 210 and the lower induction limit 211 jointly limit the lifting range of the lifting cylinder 201.

Further, an upper stopper protrusion 213 and a lower stopper protrusion 214 are respectively provided at upper and lower portions of the rear surface of the lift cylinder 201, and the upper stopper protrusion 213 or the lower stopper protrusion 214 abuts against the support base 205 to restrict the movement of the lift cylinder 201. The upper stopping convex part 213 and the lower stopping convex part 214 are abutted against the supporting seat 205 to form hard limit, so that double insurance is formed with the induction limit of the upper induction limit 210 and the lower induction limit 211, the normal operation of the lifting cylinder 201 is ensured, the lifting cylinder 201 is prevented from being out of control due to the induction failure of the upper induction limit 210 and the lower induction limit 211, and the operation stability of the lifting cylinder 201 is ensured.

In order to further improve the moving stability of the lifting cylinder 201, a set of sliding blocks 215 is disposed on the back surface of the lifting cylinder 201, a guide sliding rail 216 extending in the same direction as the lifting cylinder is disposed in the base 1, and the lifting cylinder 201 slides along the guide sliding rail 216 through the sliding blocks 215.

As shown in fig. 2, the rotary driving assembly includes a bearing 302, a bearing seat 303 and a pressing flange 304, the rotary drum 301 is fixedly connected to the bearing seat 303, an outer wall of the bearing seat 303 is tightly attached to an inner wall of the bearing 302, the pressing flange 304 is fixedly connected to the bottom of the connecting drum 4, and an outer wall of the bearing 302 is tightly attached to an inner wall of the connecting drum 4, so that the rotary drum 301 can rotate horizontally relative to the connecting drum 4. Specifically, the bearing seat 303 is fixedly arranged at the upper end of the rotary drum 301 through a screw, and the rotary drum 301 can rotate 360 degrees.

Further, the rotation driving assembly comprises a brake 305 and a harmonic reducer 306, the brake 305 is fixedly connected with the inner end face of the top of the connecting cylinder 4, the output end of the harmonic reducer 306 is fixedly connected with the upper end face of the rotation cylinder 301, and the input end of the harmonic reducer is fixedly connected with the brake 305. The brake 305 and the harmonic reducer 306 form a brake system, the brake torque of the brake 305 is in direct proportion to the size specification of the brake, the brake 305 and the harmonic reducer 306 are combined, the brake torque of the brake 305 can be amplified through the harmonic reducer 306, the required brake torque installation reduction ratio is reduced in an equal proportion, and therefore the smaller brake torque of the brake 305 can meet the brake requirement, the purpose of amplifying the brake torque is achieved, the brake requirement is met, and the brake stability and reliability are guaranteed. The control switch (not shown) of the brake 305 is disposed on the housing of the end effector arm (not shown), and when the brake is operated, the rotation force arm can be amplified by pressing the control switch and swinging left and right, so that the brake can be operated with only a small force.

As shown in fig. 2 and 6, the rotation driving assembly further includes a position feedback mechanism, the position feedback mechanism includes a through shaft 307 and an encoder 308, the encoder 308 is fixedly disposed at the bottom of the lifting cylinder 201, and two ends of the through shaft 307 are fixedly connected to the encoder 308 and the rotary cylinder 301 respectively. The arrangement of the position feedback mechanism enables the rotation angle of the rotary drum 301 to be fed back to an upper computer in real time, so that the control accuracy is improved.

Further, the through shaft 307 is hollow, a locking sleeve 309 is sleeved on the top of the through shaft 307, and the locking sleeve 309 is locked with a locking screw 3081 on the encoder 308 to fixedly connect the through shaft 307 and the encoder 308. The hollow structure inside the through shaft 307 can facilitate internal wiring, simplifying the structure of the device.

Furthermore, the utility model also discloses an arm, include as above integral type two degree of freedom connection structure and end effector arm, the bottom of rotary drum 301 is connected with elbow 5, elbow 5 is connected end effector arm.

It should be understood that although the specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it will be appreciated by those skilled in the art that the specification as a whole may be appropriately combined to form other embodiments as will be apparent to those skilled in the art.

The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. Integral type two degree of freedom connection structure, its characterized in that: the lifting mechanism comprises a base (1), wherein a lifting mechanism and a swing mechanism which are coaxially connected are arranged in the base (1), the lifting mechanism comprises a lifting cylinder (201) and a lifting driving assembly which drives the lifting cylinder (201) to move in the vertical direction along the base (1), the lifting driving assembly comprises a servo motor (202) and a transmission screw rod (203) which are in transmission connection, the servo motor (202) is arranged in the lifting cylinder (201), and the transmission screw rod (203) is arranged between the lifting cylinder (201) and the base (1); rotation mechanism includes a rotary drum (301) and drive rotary drum (301) is the rotation drive subassembly of horizontal rotation, the bottom rigid coupling of a lift section of thick bamboo (201) has inside hollow connecting cylinder (4), rotation drive subassembly set up in connecting cylinder (4) and with rotary drum (301) transmission is connected.

2. The integrated two-degree-of-freedom connecting structure according to claim 1, characterized in that: the servo motor (202) is fixedly connected with the top of the base (1) through a flange (204); the upper and lower both ends of transmission lead screw (203) respectively through supporting seat (205) set up in on the lateral wall of base (1), the top of servo motor (202) and transmission lead screw (203) is provided with a synchronizing wheel (206) respectively, connect through hold-in range (207) transmission between synchronizing wheel (206), the back of a lift section of thick bamboo (201) is provided with boss (209), boss (209) built-in have with the swivel nut of transmission lead screw (203) spiro union, servo motor (202) drive transmission lead screw (203) are rotatory, transmission lead screw (203) are through swivel nut drive the vertical removal of a lift section of thick bamboo (201).

3. The integrated two-degree-of-freedom connecting structure according to claim 2, characterized in that: the top of base (1) is provided with and is used for the holding storage tank (101) of flange (204), storage tank (101) with be provided with screw adjustment platform (601) on hold-in range (207) vertically avris, the avris of flange (204) be provided with screw adjustment platform (601) assorted screw thread mouth (602), the spiro union has adjusting screw between screw adjustment platform (601) and screw thread mouth (602), adjusting screw adjusts through rotating flange (204) with interval between drive screw (203).

4. The integrated two-degree-of-freedom connecting structure according to claim 2, characterized in that: the upper portion and the lower portion of the side wall of the base (1) are respectively provided with an upper induction limit (210) and a lower induction limit (211), an induction sheet (212) is arranged on the boss (209), and the induction sheet (212) triggers and controls a stop signal for stopping the lifting cylinder (201) when the upper induction limit (210) or the lower induction limit (211) are induced.

5. The integrated two-degree-of-freedom connecting structure according to claim 4, characterized in that: the upper and lower parts of the back surface of the lifting cylinder (201) are respectively provided with an upper stop convex part (213) and a lower stop convex part (214), and the upper stop convex part (213) or the lower stop convex part (214) is abutted with the supporting seat (205) to limit the movement of the lifting cylinder (201).

6. The integrated two-degree-of-freedom connection structure according to claim 2, characterized in that: the back of the lifting cylinder (201) is provided with a group of sliding blocks (215), a guide sliding rail (216) extending in the same direction as the base is arranged in the base (1), and the lifting cylinder (201) slides along the guide sliding rail (216) through the sliding blocks (215).

7. The integrated two-degree-of-freedom connecting structure according to claim 1, characterized in that: the rotary driving assembly comprises a bearing (302), a bearing seat (303) and a pressing flange (304), the rotary cylinder (301) is fixedly connected with the bearing seat (303), the outer wall of the bearing seat (303) is tightly attached to the inner wall of the bearing (302), the pressing flange (304) is fixedly connected with the bottom of the connecting cylinder (4), the outer wall of the bearing (302) is tightly attached to the inner wall of the connecting cylinder (4), and therefore the rotary cylinder (301) can rotate horizontally relative to the connecting cylinder (4).

8. The integrated two-degree-of-freedom connection structure according to claim 7, wherein: the rotary driving assembly comprises a brake (305) and a harmonic speed reducer (306), the brake (305) is fixedly connected with the inner end face of the top of the connecting cylinder (4), the output end of the harmonic speed reducer (306) is fixedly connected with the upper end face of the rotary cylinder (301), and the input end of the harmonic speed reducer is fixedly connected with the brake (305).

9. The integrated two-degree-of-freedom connecting structure according to claim 8, characterized in that: the rotary driving assembly further comprises a position feedback mechanism, the position feedback mechanism comprises a through shaft (307) and an encoder (308), the encoder (308) is fixedly arranged at the bottom of the lifting cylinder (201), and two ends of the through shaft (307) are fixedly connected with the encoder (308) and the rotary cylinder (301) respectively.

10. The integrated two-degree-of-freedom connecting structure according to claim 9, characterized in that: the inside cavity of logical axle (307), its top cover is equipped with lock sleeve (309), lock sleeve (309) with locking screw (3081) on encoder (308) are locked in order to with lead to axle (307) with encoder (308) rigid coupling.

11. Integral type two degree of freedom connection structure, its characterized in that: the lifting mechanism comprises a base (1), wherein a lifting mechanism and a swing mechanism which are coaxially connected are arranged in the base (1), the lifting mechanism comprises a lifting cylinder (201) and a lifting driving assembly which drives the lifting cylinder (201) to move in the vertical direction along the base (1), the lifting driving assembly comprises a servo motor (202) and a transmission lead screw (203) which are in transmission connection, the servo motor (202) is arranged in the lifting cylinder (201), the transmission lead screw (203) is arranged between the lifting cylinder (201) and the base (1), a boss (209) which moves along the transmission lead screw (203) is arranged on the back of the lifting cylinder (201), an induction sheet (212) is arranged on the boss (209), and an upper induction limit (210) and a lower induction limit (211) which are matched with the induction sheet (212) are arranged on the side wall of the base (1) so as to limit the moving range of the lifting cylinder (201); rotation mechanism includes rotary drum (301) and drive rotary drum (301) is the rotation drive subassembly of horizontal rotation, the bottom rigid coupling of lift section of thick bamboo (201) has inside hollow connecting cylinder (4), rotary drum (301) with connecting cylinder (4) pivot connection, connecting cylinder (4) embeds there is to be used for the braking stopper (305), harmonic speed reducer (306) of rotary drum (301), the bottom of lift section of thick bamboo (201) is provided with encoder (308) that are used for position feedback, encoder (308) are connected through logical axle (307) rotary drum (301), the bottom of rotary drum (301) is connected with elbow (5).

12. Arm, its characterized in that: comprising an integrated two-degree-of-freedom linkage and end-effector arm according to any of claims 1-10, wherein the bottom of the rotary cylinder (301) is connected to an elbow (5), and the elbow (5) is connected to the end-effector arm.