TWI694905B - Mechanical arm - Google Patents

Abstract

The invention relates to a mechanical arm, which includes a first driving source and a second driving source. The first and second driving sources are co-located on a base, and the first driving source is connected to a first transmission link to drive it. Rotating around a first axis, the second driving source is connected to a second transmission link to drive it to rotate around a second axis parallel to the first axis, and the first transmission link is then pivotally connected to A third transmission link. In addition, the second driving link is pivotally connected with a first driven link, and a second driven link is pivotally connected between the first driven link and the base, and the first and second driven links are connected together A third driven link is pivotally connected, and a fourth driven link is pivotally connected between the third driven link and the third transmission link. With this, the mechanical arm of the present invention can achieve the effects of multi-degree-of-freedom movement and compactness.

Description

Mechanical arm

The invention relates to a mechanical arm, in particular to a mechanical arm which can perform multi-degree-of-freedom movement and has the characteristics of light weight and compactness.

The robotic arm has been widely used in various surgical operations nowadays. With the assistance of the robotic arm, many diagnosis and treatment behaviors related to the surgery (such as the judgment of the location of the lesion or the control of the depth of advancement, etc.) can be accurately controlled by the surgeon. This will greatly reduce any potential medical risks caused by human error. However, the current robotic arm has a large volume, and therefore requires a large space for operation.

The main object of the present invention is to provide a mechanical arm that can perform multi-degree-of-freedom movements and has the characteristics of light weight and compactness.

In order to achieve the above-mentioned main objective, the mechanical arm of the present invention includes a base, a driving module, a transmission link group and a driven link group. The driving module has a first driving source and a second driving source, the first and second driving sources are co-located on the base; the driving link set has a first driving link and a second driving link Rod and a third transmission link, wherein the bottom end of the first transmission link is connected to the first driving source, so that the first transmission link can be driven by the first driving source to wrap around a first axis Rotation, the front end of the second transmission link is connected to the second driving source, so that the second transmission link can be driven by the second driving source to circumvent a second axis parallel to the first axis Rotating, the rear end of the third transmission link is pivotally arranged on the top of the first transmission link; the driven link group has a first driven link, a second driven link, and a third driven link A connecting rod and a fourth driven link, wherein the bottom end of the first driven link is pivotally arranged at the rear end of the second transmission link, and the top end of the first driven link is pivotally arranged at the second The rear end of the driven link, the front end of the second driven link is pivotally arranged on the base, so that the first driven link can be driven by the second transmission link to drive the second driven link Rotating around the first axis, the bottom end of the third driven link is pivotally arranged at the top of the first driven link and the rear end of the second driven link, the third driven link The top end is pivotally arranged at the rear end of the fourth driven link, the front end of the fourth driven link is connected to the rear end of the third transmission link, so that the third driven link can be used by the first and the first Driven by the second driven link, on the other hand, it can be driven by the fourth driven link.

As can be seen from the above, the mechanical arm of the present invention can improve the problems of the conventional technology that are relatively bulky and heavy, and can achieve the effect of light volume and multi-degree of freedom movement, which is quite suitable for applications in fields related to industry/medical aspects.

More preferably, the first and second driving sources are located on the same side of the base, so that large-volume components can be concentrated to achieve the effect of light weight.

More preferably, the second driven link is parallel to the fourth driven link, and the length of the second transmission link is greater than the length of the second driven link, and the length of the second driven link The length is equal to the length of the fourth driven link, and the relationship between the second driving link, the second driven link, and the fourth driven link can make the movement range of the third driving link relative to the second transmission The connecting rod produces an enlargement to meet the required working range.

The detailed structure, characteristics, assembling or using manner of the robotic arm provided by the present invention will be described in the detailed description of the subsequent embodiments. However, those of ordinary knowledge in the field of the present invention should be able to understand that these detailed descriptions and specific embodiments listed for implementing the present invention are only used to illustrate the present invention, and are not intended to limit the scope of the patent application of the present invention.

The applicant first explains here that in the embodiments and drawings to be described below, the same reference numbers indicate the same or similar elements or their structural features. The following is a detailed description of the technical content and features of this creation with reference to several preferred embodiments and drawings. The "top", "bottom", "front", "back" and other directions mentioned in the content of this specification Descriptive terms are only examples of description terms based on the normal direction of use, and are not intended to limit the scope of the claim.

Please refer to FIG. 1 first. The figure shows the robot arm 10 according to the first embodiment of the present invention has not yet removed the housing 12, please refer to FIGS. 2 and 3, the figure shows the present invention After the robot arm 10 is removed from the housing 12, it includes a base 20, a driving module 30, a transmission link group 40 and a driven link group 50.

The driving module 30 has a first driving source 31 (here a motor is taken as an example) and a second driving source 32 (here a motor is taken as an example). As shown in FIG. 3, the first and second driving sources 31 The 32 is arranged side by side on the base 20 and is located on the same side of the base 20.

The transmission link group 40 has a first transmission link 41, a second transmission link 42 and a third transmission link 43, wherein: the bottom end of the first transmission link 41 uses an element such as a coupling (Fig. (Not shown) connected to a drive shaft (not shown) of the first drive source 31, so that the first transmission link 41 can be driven by the first drive source 31 to rotate around a first axis A1; the second The front end of the transmission link 42 is connected to one of the drive shafts of the second drive source 32 (not shown in the figure) by an element (not shown) such as a coupling, so that the second drive link 42 can be received by the second drive source 32 Driven to rotate around a second axis A2 parallel to the first axis A1; the third transmission link 43 is used to assemble a multi-axis motion module 14 (as shown in FIG. 1), the third The rear end of the transmission link 43 is pivotally connected to the top end of the first transmission link 41 by a shaft 60. More specifically, as shown in FIG. 4, the top end of the first transmission link 41 has a circular shape The pivot hole 44, the rear end of the third transmission link 43 has a first non-circular first insertion hole 45, the shaft 60 has a first non-circular section 61, and a second connecting the first non-circular section 61 The non-circular section 62 and a circular section 63 connecting the second non-circular section 62, the second non-circular section 62 of the shaft 60 is engaged with the first insertion hole 45 of the third transmission link 43, the shaft The circular section 63 of 60 is pivotally arranged in the pivot hole 44 of the first transmission link 41. Thereby, the first and third transmission links 41 and 43 can be relatively pivoted; in addition, in this embodiment, the first non-circular section 61 of the shaft member 60 has two opposing first planes 612 and the shaft member 60 The second non-circular section 62 has two opposite second planes 622, and the first and second planes 612 and 622 are parallel to each other.

As shown in FIGS. 2 and 5, the driven link group 50 has a first driven link 51, a second driven link 52, a third driven link 53, and a fourth driven link 54, wherein: the bottom end of the first driven link 51 is pivotally arranged at the rear end of the second transmission link 42, the top end of the first driven link 51 is pivotally arranged at the rear end of the second driven link 52, the second The front end of the driven link 52 is pivotally disposed on a side of the base 20 facing away from the driving module 30, so that the first driven link 51 can be driven by the second transmission link 42 to drive the second driven link 52 Rotate around the first axis A1; the bottom end of the third driven link 53 is pivotally arranged at the top of the first driven link 51 and the rear end of the second driven link 52, that is, the three are coaxial Pivot connection, the top end of the third driven link 53 is pivotally arranged at the rear end of the fourth driven link 54, the front end of the fourth driven link 54 is connected to the rear end of the third transmission link 43 by the shaft member 60, more clearly In other words, as shown in FIG. 4, the fourth driven link 54 has a non-circular second insertion hole 55 at the front end, and the second driven hole 54 of the fourth driven link 54 is engaged with the shaft The first non-circular section 61 of 60 makes the fourth driven link 54 and the third transmission link 43 operate synchronously, while the fourth driven link 54 and the first transmission link 41 are Can be relatively pivoted.

As can be seen from the above, as shown in FIGS. 5 and 6, when the first transmission link 41 is driven by the first driving source 31 to rotate around the first axis A1, the first transmission link 41 is synchronized by the shaft 60 Drive the third driving link 43 and the fourth driven link 54, and then the fourth driven link 54 will drive the top of the third driven link 53 so that the third driven link 53 takes its bottom end as The axis is pivoted, so that the third transmission link 43 and the multi-axis motion module 14 assembled on the third transmission link 43 can achieve the effect of adjusting the front and rear positions.

As shown in FIG. 7 again, when the second transmission link 42 is driven by the second driving source 32 to rotate around the second axis A2, the second transmission link 42 will drive the first driven link 51, Then the first driven link 51 will drive the second driven link 52 again, so that the second driven link 52 rotates around the first axis A1, and then the first and second driven links 51, 52 will The third driven link 53 is further driven to raise or lower the third driven link 53 relative to the first transmission link 41, and the fourth driven link is synchronously driven during the lifting and lowering of the third driven link 53 54. The circular section 63 of the shaft 60 is used as an axis for pivoting, and the second non-circular section 62 of the shaft 60 is used to drive the third transmission link during the pivoting of the fourth driven link 54. 43. Angularly deflect the third transmission link 43, so that the third transmission link 43 and the multi-axis motion module 14 assembled in the third transmission link 43 can achieve an angle adjustment effect.

On the other hand, as shown in FIG. 5, in the initial state, the second driven link 52 is parallel to the fourth driven link 54, and the length of the second transmission link 42 is greater than that of the second driven link 52 And the length of the second driven link 52 is equal to the length of the fourth driven link 54. The relationship between the second driving link 42, the second driven link 52, and the fourth driven link 54, The motion range of the third transmission link 43 can be enlarged relative to the second transmission link 42 to meet the required working range.

Please refer to FIGS. 8 and 9 again. In the second embodiment of the present invention, the first plane 712 of the first non-circular section 71 of the shaft 70 and the second plane of the second non-circular section 72 of the shaft 70 The angle between 722 is not parallel to each other, so the first transmission link 41, the third transmission link 43, the third driven link 53 and the fourth driven link 54 are assembled by the shaft 70 After being together, the third transmission rod 43 can use the aforementioned angle to make more changes in the working range to meet different clinical needs.

In summary, the robot arm 10 of the present invention can perform multi-degree-of-freedom movements so as to accurately adjust the front-rear position and deflection angle of the third transmission link 43 according to actual needs, which is quite suitable for industrial/medical applications. Related field. In addition, the robot arm 10 of the present invention concentrates large-volume components (such as the first and second driving sources 31 and 32) on the same side, thereby effectively achieving the purpose of reducing the volume.

10 robot axis motion module 12 housing 14 base 30 20 31 The first drive source driving module 32 drives the second driving source 40 drives linkage 41 a first axial direction A1 of the first link 42 second link transmission A2 Second axis 43 Third drive link 44 Pivot hole 45 First embedding hole 50 Follower link 53 First drive link Second slave link 52 Second follower link the movable member 71 of the first shaft rod 70 non-circular section 63 circular plane 622 a second shaft member 61 of the first segment 60 a non-circular section 62 of the second non-circular section 612 of the first plane 55 of the second fitting hole 712 of the first Plane 72 Second non-circular segment 722 Second plane

Fig. 1 is a perspective view of the appearance of a robot arm according to a first embodiment of the invention. Figure 2 is a perspective view of the appearance of the mechanical arm of the first embodiment of the present invention after removing the housing. Figure 3 is a perspective view of the mechanical arm of the first embodiment of the present invention when the housing is removed from another perspective. Figure 4 is a partial exploded view of the mechanical arm of the first embodiment of the present invention. Figure 5 is a plan view of the mechanical arm of the first embodiment of the present invention. Figure 6 is a schematic diagram of the operation of the mechanical arm of the first embodiment of the present invention, mainly showing the adjusted state of the front and rear positions of the third transmission link. The seventh picture is the same as the sixth picture, mainly showing the adjusted state of the angle of the third transmission link. FIG. 8 is a partial exploded view of a mechanical arm of a second embodiment of the invention. Figure 9 is a plan view of a mechanical arm according to a second embodiment of the invention.

Driving module 20 base 30 31 32 a first driving source 40 drives the second driving source 41 of the first drive linkage axis A1 of the first link 42 second link gear 43 a third gear axis A2 of the second link 50 Follower Link Group 51 First Follower Link 52 Second Follower Link 53 Second Follower Link 54 Fourth Follower Link 60 Shaft Parts

Claims (5)

A mechanical arm includes: a base; a drive module, having a first drive source and a second drive source, the first and second drive sources are both set on the base; a transmission link group, It has a first transmission link, a second transmission link and a third transmission link. The bottom end of the first transmission link is connected to the first driving source so that the first transmission link can be received by the first The driving source is driven to rotate around a first axis, and the front end of the second transmission link is connected to the second driving source, so that the second transmission link can be driven by the second driving source to rotate around a parallel Rotating in the second axis of the first axis, the rear end of the third transmission link is pivotally arranged at the top of the first transmission link; and a driven link group, having a first driven link, A second driven link, a third driven link and a fourth driven link, the bottom end of the first driven link is pivotally arranged at the rear end of the second transmission link, the first driven link The top end of the moving link is pivotally arranged at the rear end of the second driven link, the front end of the second driven link is pivotally arranged at the base, so that the first driven link can be received by the second transmission link Driving to drive the second driven link to rotate around the first axis, the bottom end of the third driven link is pivotally disposed on the top of the first driven link and the second driven link At the rear end, the top end of the third driven link is pivotally arranged at the rear end of the fourth driven link, and the front end of the fourth driven link is connected to the rear end of the third transmission link; Wherein, the top end of the first transmission link, the rear end of the third transmission link and the front end of the fourth driven link are assembled together by a shaft member, the shaft member has a first non-circular section, A second non-circular segment connected to the first non-circular segment and a circular segment connected to the second non-circular segment, the first non-circular segment of the shaft member is engaged with the fourth driven connection At the front end of the rod, the second non-circular section of the shaft member is snapped to the rear end of the third transmission link, and the circular section of the shaft member is pivotally disposed at the top end of the first transmission link. The mechanical arm according to claim 1, wherein the first and second driving sources are located on the same side of the base. The mechanical arm according to claim 1, wherein the second driven link is parallel to the fourth driven link, and the length of the second transmission link is greater than the length of the second driven link, and the The length of the second driven link is equal to the length of the fourth driven link. The mechanical arm according to claim 1, wherein the first non-circular section of the shaft member has a first plane, and the second non-circular section of the shaft member has a second plane, the first and second planes They are parallel to each other. The mechanical arm according to claim 1, wherein the first non-circular section of the shaft member has a first plane, and the second non-circular section of the shaft member has a second plane, the first and second planes They are not parallel to each other.

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