JP2020059098A - Robot arm - Google Patents

Abstract

To provide a robot arm.SOLUTION: A robot arm includes: a first driving source; a second driving source; a first transmission connecting rod; a second transmission connecting rod; a third transmission connecting rod; a first passive connecting rod; a second passive connecting rod; a third passive connecting rod; and a fourth passive connecting rod. The first driving source and the second driving source are placed on a pedestal. The first driving source is coupled to the first transmission connecting rod, and rotates the first transmission connecting rod about a first axial direction. The second driving source is coupled to the second transmission connecting rod, and rotates the second transmission connecting rod about a second axial direction which is parallel to the first axial direction. The first transmission connecting rod is rotatably coupled to the third transmission connecting rod. The second transmission connecting rod is rotatably coupled to the first passive connecting rod. The second passive connecting rod is rotatably coupled between the first passive connecting rod and the pedestal. The third passive connecting rod is rotatably coupled to the first passive connecting rod and the second passive connecting rod. The fourth passive connecting rod is rotatably coupled between the third passive connecting rod and the third transmission connecting rod. According to the aforesaid structural features, the robot arm realizes motion of multiple degrees of freedom, and weight saving and downsizing of the volume.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a robot arm, and more particularly, to a robot arm capable of achieving motions with multiple degrees of freedom, weight reduction in volume, and size reduction.

  Robot arms are already used in various surgical procedures. With the support of the robot arm, not only can medical procedures related to surgery (judgment of lesion position or control of the depth reached by the scalpel, etc.) be accurately grasped, but the risk of causing a medical accident due to human error is greatly increased. Can be reduced. However, since the volume of the robot arm is enormous, a relatively large space is required to operate the robot arm.

  It is a main object of the present invention to provide a robot arm capable of achieving multi-degree of freedom movement, volume reduction, and size reduction.

  To solve the above-mentioned problems, the robot arm includes a pedestal, a drive module, a transmission connecting rod mechanism, and a passive connecting rod mechanism. The drive module has a first drive source and a second drive source. The first drive source and the second drive source are arranged on the pedestal. The transmission connecting mechanism has a first transmission connecting rod, a second transmission connecting rod and a third transmission connecting rod. Since the distal end of the first transmission connecting rod is connected to the first driving source, it can be rotated about the first axial direction by the driving force of the first driving source. Since the front end portion of the second transmission connecting rod is connected to the second drive source, it can be rotated about the second axial direction parallel to the first axial direction by the driving force of the second drive source. The rear end of the third transmission connecting rod is connected to the tip of the first transmission connecting rod. The passive connecting rod mechanism has a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod. A first end of the first passive connecting rod is connected to a rear end of the second transmission connecting rod, and a front end of the first passive connecting rod is connected to a rear end of the second passive connecting rod. Since the front end portion of the second passive connecting rod is connected to the pedestal, the first passive connecting rod can rotate the second passive connecting rod about the first axial direction by the driving force of the second transmission connecting rod. The end of the third passive connecting rod is connected to the front end of the first passive connecting rod and the rear end of the second passive connecting rod, and the front end is connected to the rear end of the fourth passive connecting rod. Since the front end of the fourth passive connecting rod is connected to the rear end of the third transmission connecting rod, the third passive connecting rod can operate not only with the first passive connecting rod and the second passive connecting rod, but also Can work with four passive connecting rods.

  Due to the above-mentioned structural features, the robot arm according to the present invention can not only solve the problems of the prior art that the volume is large and the weight is heavy, but also can realize the movement of multiple degrees of freedom, the reduction in volume and the reduction in size. Therefore, it can be applied to the fields related to industry and medicine.

  In a relatively preferable case, since the first drive source and the second drive source are arranged on the same side of the pedestal, it is possible to reduce the volume and size of the components having a large volume by combining them.

  In a relatively preferred case, the second passive connecting rod is parallel to the fourth passive connecting rod. The length of the second transmission connecting rod is larger than the length of the second passive connecting rod. The second passive connecting rod and the fourth passive connecting rod have the same length. Due to the connecting relation of the second transmission connecting rod, the second passive connecting rod and the fourth passive connecting rod, the movement range of the third transmission connecting rod is expanded with respect to the second transmission connecting rod, and the operating range of demand can be reached. .

  The detailed structure, characteristics, assembling or use method of the robot arm according to the present invention will be clarified through the following detailed description of the embodiments. Further, the following detailed description and the embodiments presented by the present invention are merely examples for explaining the present invention, and it is common knowledge in the field related to the present invention that the scope of claims of the present invention cannot be limited. Then you should understand.

FIG. 3 is a perspective view showing a robot arm according to the first exemplary embodiment of the present invention. FIG. 3 is a perspective view showing a state in which the housing of the robot arm according to the first embodiment of the present invention is removed. FIG. 7 is another perspective view showing a state in which the housing of the robot arm according to the first embodiment of the present invention is removed. FIG. 3 is an exploded perspective view showing a part of the robot arm according to the first embodiment of the present invention. FIG. 3 is a plan view showing the robot arm according to the first embodiment of the present invention. FIG. 7 is a plan view showing a state after the front-rear position of the third transmission connecting rod of the robot arm according to the first embodiment of the present invention is adjusted. FIG. 9 is a plan view showing a state after the angle of the third transmission connecting rod of the robot arm according to the first embodiment of the present invention is adjusted. FIG. 8 is an exploded perspective view showing a part of a robot arm according to a second embodiment of the present invention. FIG. 8 is a plan view showing a robot arm according to a second exemplary embodiment of the present invention.

  Hereinafter, an embodiment of a robot arm according to the present invention will be described with reference to the drawings. The same reference numerals in the drawings indicate structural features of the same component or similar components. In the specification, directional terms such as tip, end, front, and rear are expressed based on the directions shown in the drawings.

(First embodiment)
FIG. 1 is a state before the housing 12 of the robot arm 10 according to the first embodiment of the present invention is removed. As shown in FIGS. 2 and 3, the robot arm 10 with the housing 12 removed includes a pedestal 20, a drive module 30, a transmission connecting rod mechanism 40, and a passive connecting rod mechanism 50.

  The drive module 30 has a first drive source 31 and a second drive source 32. In this embodiment, the first drive source 31 and the second drive source 32 are motors. As shown in FIG. 3, the first drive source 31 and the second drive source 32 are arranged vertically on the same side of the pedestal 20.

The transmission connecting mechanism 40 has a first transmission connecting rod 41, a second transmission connecting rod 42, and a third transmission connecting rod 43. Since the end portion of the first transmission connecting rod 41 is connected to the drive shaft (not shown in the figure) of the first drive source 31 by a connecting member (not shown in the figure), the first drive connecting rod 41 is driven by the drive force of the first drive source 31. It can rotate around the axial direction A1. Since the front end of the second transmission connecting rod 42 is connected to the drive shaft (not shown in the figure) of the second drive source 32 by the connecting member (not shown in the figure), the first driving force of the second drive source 32 causes It can rotate about a second axial direction A2 that is parallel to the axial direction A1. The rear end of the third transmission connecting rod 43 is connected to the tip of the first transmission connecting rod 41 by a shaft 60.
As shown in FIG. 1, the multi-axis movement module 14 is mounted on the third transmission connecting rod 43. Specifically, as shown in FIG. 4, the first transmission connecting rod 41 has a circular connecting hole 44 at the tip. The third transmission connecting rod 43 has a non-circular first fitting hole 45 at the rear end. The shaft 60 has a first non-circular portion 61, a second non-circular portion 62 and a circular portion 63. The second non-circular portion 62 of the shaft 60 is connected to the first non-circular portion 61 and fits into the first fitting hole 45 of the third transmission connecting rod 43. The circular portion 63 of the shaft 60 is connected to the second non-circular portion 62 and is rotatably mounted in the connection hole 44 of the first transmission connecting rod 41.
With the structure described above, the first transmission connecting rod 41 and the third transmission connecting rod 43 can relatively rotate. In this embodiment, the first non-circular portion 61 of the shaft 60 has two opposing first flat surfaces 612. The second non-circular portion 62 of the shaft 60 has two opposing second flat surfaces 622. The first plane 612 and the second plane 622 are parallel to each other.

As shown in FIGS. 2 and 5, the passive connecting rod mechanism 50 includes a first passive connecting rod 51, a second passive connecting rod 52, a third passive connecting rod 53, and a fourth passive connecting rod 54. The first passive connecting rod 51 has a distal end connected to the rear end of the second transmission connecting rod 42 and a front end connected to the rear end of the second passive connecting rod 52. Since the front end of the second passive connecting rod 52 is connected to one side surface of the pedestal 20 opposite to the drive module 30, the first passive connecting rod 51 is driven by the driving force of the second transmission connecting rod 42 in the first axial direction A1. The second passive connecting rod 52 can be rotated around.
The end portion of the third passive connecting rod 53 is connected to the front end portion of the first passive connecting rod 51 and the rear end portion of the second passive connecting rod 52. That is, the third passive connecting rod 53, the first passive connecting rod 51, and the second passive connecting rod 52 are coaxially connected. The tip of the third passive connecting rod 53 is connected to the rear end of the fourth passive connecting rod 54. The front end of the fourth passive connecting rod 54 is connected to the rear end of the third transmission connecting rod 43 by the shaft 60. Specifically, as shown in FIG. 4, the fourth passive connecting rod 54 has a non-circular second fitting hole 55 at the front end. The first non-circular portion 61 of the shaft 60 fits into the second fitting hole 55 of the fourth passive connecting rod 54, so that the fourth passive connecting rod 54 and the third transmission connecting rod 43 can operate in synchronization. The fourth passive connecting rod 54 and the first transmission connecting rod 41 can rotate relative to each other.

  As shown in FIGS. 5 and 6, when the first transmission connecting rod 41 is rotated about the first axial direction A1 by the driving force of the first drive source 31, the first transmission connecting rod 41 is moved by the shaft 60 to the third position. The transmission connecting rod 43 and the fourth passive connecting rod 54 are synchronously operated. Subsequently, the fourth passive connecting rod 54 acts on the tip portion of the third passive connecting rod 53 to rotate the third passive connecting rod 53 with the end portion of the third passive connecting rod 53 as the axis. By the above-described coupling method, the front and rear positions of the third transmission connecting rod 43 and the multi-axis motion module 14 mounted on the third transmission connecting rod 43 can be adjusted.

As shown in FIG. 7, when the second transmission connecting rod 42 rotates about the first axial direction A2 by the driving force of the first drive source 32, the second transmission connecting rod 42 drives the first passive connecting rod 51. To do. Subsequently, the first passive connecting rod 51 drives the second passive connecting rod 52 to rotate the second passive connecting rod 52 about the first axial direction A1. Subsequently, the first passive connecting rod 51 and the second passive connecting rod 52 raise or lower the third passive connecting rod 53 with respect to the first transmission connecting rod 41.
The third passive connecting rod 53 moves up and down, and at the same time, the fourth passive connecting rod 54 is rotated with the circular portion 63 of the shaft 60 as an axis. The rotating fourth passive connecting rod 54 operates the third transmission connecting rod 43 by the second non-circular portion 62 of the shaft 60, and changes the deviation angle of the third transmission connecting rod 43. With the above-described coupling method, the angles of the third transmission connecting rod 43 and the multi-axis motion module 14 mounted on the third transmission connecting rod 43 can be adjusted.

  As shown in FIG. 5, when starting the robot arm 10, the second passive connecting rod 52 is parallel to the fourth passive connecting rod 54. The length of the second transmission connecting rod 42 is larger than the length of the second passive connecting rod 52. The second passive connecting rod 52 and the fourth passive connecting rod 54 have the same length. Due to the connection relationship of the second transmission connecting rod 42, the second passive connecting rod 52 and the fourth passive connecting rod 54, the movement range of the third transmission connecting rod 43 is expanded with respect to the second transmission connecting rod 42, and the operating range of the demand. Can be reached.

(Second embodiment)
As shown in FIGS. 8 and 9, in the second embodiment of the present invention, the first flat surface 712 of the first non-circular portion 71 of the shaft 70 and the second flat surface 722 of the second non-circular portion 72 of the shaft 70 are mutually aligned. It is not parallel to and forms an included angle. If the first transmission connecting rod 41, the third transmission connecting rod 43, the third passive connecting rod 53 and the fourth passive connecting rod 54 are combined by the shaft 70, the working range of the third transmission connecting rod 43 is changed according to the included angle, Can meet different clinical requirements.

To summarize the above, the robot arm 10 according to the present invention accurately adjusts the front-back position and the deviation angle of the third transmission connecting rod 43 according to the actual situation by the motion of multiple degrees of freedom, and thus is related to industry and medicine. It can be applied to any area.
Further, in the robot arm 10 according to the present invention, since parts having a large volume (for example, the first drive source 31 and the second drive source 32) are put together on the same side, it is possible to realize reduction in volume and size.

10 robot arm 12 housing 14 multi-axis motion module 20 pedestal 30 drive module 31 first drive source 32 second drive source 40 transmission connecting rod mechanism 41 first transmission connecting rod 42 second transmission connecting rod 43 third transmission connecting rod 44 connection Hole 45 First fitting hole 50 Passive connecting rod mechanism 51 First passive connecting rod 52 Second passive connecting rod 53 Third passive connecting rod 54 Fourth passive connecting rod 55 Second fitting hole 60 Shaft 61 First non-circular part 612 1st plane 62 2nd non-circular part 622 2nd plane 63 circular part 70 Shaft 71 1st non-circular part 712 1st plane 72 2nd non-circular part 722 2nd plane A1 1st axial direction A2 2nd axial direction

Claims (5)

With pedestal, drive module, transmission connecting rod mechanism, and passive connecting rod mechanism,
The drive module has a first drive source and a second drive source, the first drive source and the second drive source are disposed on the pedestal,
The transmission connecting mechanism has a first transmission connecting rod, a second transmission connecting rod and a third transmission connecting rod,
A distal end of the first transmission connecting rod is connected to the first drive source, and the first transmission connecting rod can rotate about a first axial direction by a driving force of the first drive source.
A front end portion of the second transmission connecting rod is connected to the second drive source, and can be rotated about a second axial direction parallel to the first axial direction by a driving force of the second drive source.
The rear end of the third transmission connecting rod is connected to the tip of the first transmission connecting rod,
The passive connecting rod mechanism has a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod,
The first passive connecting rod has a distal end connected to a rear end of the second transmission connecting rod, and a front end connected to a rear end of the second passive connecting rod,
A front end portion of the second passive connecting rod is connected to the pedestal, and the first passive connecting rod rotates the second passive connecting rod about the first axial direction by a driving force of the second transmission connecting rod. It is possible,
A terminal portion of the third passive connecting rod is connected to a front end portion of the first passive connecting rod and a rear end portion of the second passive connecting rod, and a front end portion is connected to a rear end portion of the fourth passive connecting rod. ,
The fourth passive connecting rod has a front end connected to a rear end of the third transmission connecting rod.
Robot arm.   The second passive connecting rod is parallel to the fourth passive connecting rod, the second passive connecting rod and the fourth passive connecting rod have the same length, and the second transmission connecting rod has the second length. The robot arm according to claim 1, wherein the robot arm has a length larger than that of the passive connecting rod.   The tip of the first transmission connecting rod, the rear end of the third transmission connecting rod and the front end of the fourth passive connecting rod are connected by a shaft, and the shaft is a first non-circular portion and a second non-circular portion. And a circular portion, the first non-circular portion is fitted to the front end portion of the fourth passive connecting rod, the second non-circular portion is connected to the first non-circular portion, and the third transmission connecting rod. The robot arm according to claim 1, wherein the robot arm is fitted to a rear end portion of the robot arm, the circular portion is connected to the second non-circular portion, and is fitted to a tip portion of the first transmission connecting rod.   In the shaft, the first non-circular portion has a first plane, the second non-circular portion has a second plane, and the first plane and the second plane are parallel to each other. The robot arm according to claim 3.   In the shaft, the first non-circular portion has a first plane, the second non-circular portion has a second plane, and the first plane and the second plane are not parallel. The robot arm according to Item 3.

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