Robotic arm and how it works

A technology of a mechanical arm and a linkage mechanism, applied in the field of medical equipment, can solve the problems of large occupied space, low transmission accuracy and efficiency, complex structure, etc., and achieve the effects of reducing weight, reducing structural difficulty, and improving transmission efficiency.

Active Publication Date: 2017-08-25
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The object of the present invention is to provide a mechanical arm for a robot and its working method, to solve the problem of large space occupation, complex structure, low transmission accuracy and low efficiency of the double parallelogram mechanism adopted by the robotic mechanical arm in the prior art or multiple questions

Method used

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  • Robotic arm and how it works
  • Robotic arm and how it works
  • Robotic arm and how it works

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] figure 2 It is an isometric view of the mechanical arm of Embodiment 1 of the present invention. image 3 for figure 2 Front view of the robotic arm shown.

[0046] Such as Figure 2~3 As shown, the mechanical arm is suitable for a robot, especially for a minimally invasive surgical robot, including a linkage mechanism, a flexible transmission mechanism, a connector and a first drive device; the linkage mechanism includes a fixed rod of the first body 11. The first driving rod 12, the connecting rod 13 comprising the second body and the first distal end extension and the second driving rod 14, the fixed rod 11, the first driving rod 12, the connecting rod 13 and the second driving rod 14 Turn and connect in turn to form four connection points P1, P2, P3, P4 (in the embodiment of this application, the first connection point P1, the second connection point P2, the third connection point P3 and the fourth connection point P4 are directly abbreviated For connecting po...

Embodiment 2

[0066] The difference between the second embodiment and the first embodiment is: the flexible transmission mechanism of this embodiment also includes at least one steering wheel 27, and under the drive of the first driving device, the first driving rod 12 and the main driving wheel 16 of this embodiment Synchronous rotation, correspondingly, the installation positions of the main drive wheel 16, the two transmission wheels and the way around the flexible structure 15 have also been adjusted, see for details Figure 4 and Figure 5 . Here, the same parts of the second embodiment and the first embodiment will not be described in detail in this embodiment, and refer to the first embodiment accordingly. Figure 4 It is an isometric view of the mechanical arm of the second embodiment of the present invention. Figure 5 for Figure 4 Front view of the robotic arm shown.

[0067] Such as Figure 4~5 As shown, the main drive wheel 16 is located at the connection point P1, and the...

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Abstract

In the mechanical arm and its working method of the present invention, the mechanical arm includes a link mechanism, a flexible transmission mechanism, a connector and a driving device, and the link mechanism includes a connected fixed rod, a connecting rod and two driving rods, and consists of four rod connecting lines. Parallelogram; the flexible transmission mechanism includes a main drive wheel and a slave drive wheel with equal diameters and two drive wheels with equal diameters connected by a flexible structure; the main drive wheel is located at the connection point between the fixed rod and the drive rod, and is driven by the drive device. The rod rotates synchronously, the driving wheel is connected with the connecting rod, and the connection point is located on the line connecting the connecting points of the two driving rods and the connecting rod, and the two driving wheels are respectively located at the connecting points of the driving rod and the fixed rod and the connecting rod. Two transmission wheels, and form a cladding angle with the two transmission wheels respectively, the two cladding angles are equal in variation value; the connector and the slave driving wheel are arranged at the same connection point and rotate synchronously, the fixed rod and the two driving rods A fixed point passing through the connection points is formed on the connection line of the connection points.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a mechanical arm for a robot and a working method thereof, and the mechanical arm is especially suitable for a minimally invasive surgical robot. Background technique [0002] Minimally invasive surgery refers to a new technology that performs surgery in the human body through endoscopes such as laparoscopy and thoracoscopic surgery. Because minimally invasive surgery has the advantages of less trauma, less pain, and less bleeding, it can effectively shorten the patient's recovery time, reduce the patient's discomfort, and avoid some harmful side effects of traditional surgery. However, in the early minimally invasive surgery, the degree of freedom of the surgical instrument was reduced due to the limitation of the incision on the body surface, and when the doctor held the instrument to operate inside the endoscope, the operating direction would be opposite to the expecte...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
Inventor 何超袁帅王常春
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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