Robotic arm with adjustable rotation angle

Abstract

The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm with adjustable rotation angle, which comprises rotating arms connected to each other by a rotating shaft, one end of the rotating shaft extends into one of the rotating arms and is fixedly connected to the rotating arm, and the other end of the rotating shaft extends into the other rotating arm and is rotationally connected to the rotating arm; a locking mechanism is provided in the rotating arm fixedly connected to one end of the rotating shaft, which is sleeved on the rotating shaft and locked with the end face of the other rotating arm. The present invention utilizes the locking mechanism to achieve a stable locking relationship between two adjacent rotating arms, and is very convenient for rapid adjustment of the rotation angle.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm with adjustable rotation angle. Background Art

[0002] At present, minimally invasive surgery is a hot topic in medical technology research and a trend in the future development of surgery. This is mainly due to the many advantages of minimally invasive medicine: such as less trauma, shorter hospital stay, faster recovery, fewer postoperative complications, etc. However, traditional endoscopic surgery has many disadvantages, such as low operating accuracy, small field of view, small degree of freedom of operation, and easy fatigue and tremor of doctors. With the development of science and technology, robotic medical assistance technology can solve these problems well. Robotic assistance technology can provide 3D vision, which is convenient for doctors to operate. Micro medical devices greatly increase the flexibility of surgical operations, allowing doctors to perform more delicate operations. At the same time, the addition of ergonomic design can reduce doctors' fatigue.

[0003] The motion adjustment mechanism of existing minimally invasive surgical robots often performs horizontal adjustment before adjusting the surgical arm of the robot. However, how to achieve stable rotation and convenient rotation locking in the horizontal position is a problem to be solved. Summary of the invention

[0004] The object of the present invention is to provide a mechanical arm with adjustable rotation angle, which can be adjusted quickly and has a stable relative relationship after being locked.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A mechanical arm with adjustable rotation angle comprises rotating arms rotatably connected to each other via a rotating shaft, one end of the rotating shaft extends into one of the rotating arms and is fixedly connected to the rotating arm, and the other end of the rotating shaft extends into the other rotating arm and is rotatably connected to the rotating arm; a locking mechanism is provided in the rotating arm fixedly connected to one end of the rotating shaft, which is sleeved on the rotating shaft and locked with the end face of the other rotating arm.

[0007] By adopting the above technical solution, a stable locking relationship between two adjacent rotating arms is achieved by utilizing the locking mechanism, and rapid adjustment of the rotating angle is very convenient, while ensuring certain safety performance during operation.

[0008] The present invention is further configured as follows: the structure of the locking mechanism is: a brake is fixedly installed in a rotating arm fixedly connected to one end of the rotating shaft, the brake is provided with a through hole for the rotating shaft to pass through, and there is a gap between the through hole and the rotating shaft; a through hole for the rotating shaft to pass through is provided on the end surface of the rotating arm rotatably connected to the other end of the rotating shaft, and the through hole is fixedly connected to the brake.

[0009] By adopting the above technical scheme, the locking mechanism can be flexibly used by the brake, and the locking or unlocking state can be achieved by controlling the on and off of the power to the brake. When the robot arm needs to be adjusted, the brake can be energized, and after the power is cut off, the brake enters the locked state. This design scheme can not only flexibly realize adjustment and locking, but also save electric energy. In addition, this design will not cause safety hazards when the power is suddenly cut off during use, thereby further improving the safety of use.

[0010] The present invention is further configured as follows: the opening of the perforation extends outward to form a mounting body, and the brake is fixedly mounted on the port of the mounting body.

[0011] By adopting the above technical solution and setting the mounting body to fix the brake, the stability of the locking structure is further improved, and a good safety guarantee is provided for the stable operation of the structure.

[0012] The present invention is further configured as follows: the rotating shaft passes through the mounting body and is rotatably connected to the mounting body via a bearing; a rotating arm fixedly connected to one end of the rotating shaft is provided on an end face opposite to the mounting body with a rotating hole for inserting the mounting body, and the mounting body and the rotating hole are rotatably connected via a bearing.

[0013] By adopting the above technical solution and utilizing the rotational relationship of the bearing fit, the rotating shaft, the mounting body and the rotating hole can rotate stably without interfering with each other, and the service life of the equipment can be extended, while the movement flexibility between the rotating arms is improved.

[0014] The present invention is further configured as follows: a necking portion is provided at a position corresponding to the rotating shaft and the mounting body, and at a position on the outer wall of the mounting body corresponding to the rotating hole and close to the port of the mounting body, and the bearings are sleeved on the corresponding necking portion.

[0015] By adopting the above technical solution and utilizing the setting of the neck portion, the relative position of the bearings can be ensured to be stable and no equipment failure will be caused.

[0016] The present invention is further configured as follows: a rotation angle detection mechanism adapted to the rotating shaft is provided in a rotating arm rotatably connected to the other end of the rotating shaft, and the structure of the rotation angle detection mechanism is as follows: a mounting hole is provided in the rotating arm rotatably connected to the other end of the rotating shaft, an encoder is installed in the mounting hole, and the input shaft of the encoder is fixedly connected to the rotating shaft.

[0017] By adopting the above technical solution and utilizing the cooperation between the encoder and the rotating shaft, the rotation angle between the two rotating arms can be detected more accurately, providing more assistance to the user in situations where high precision is required.

[0018] The present invention is further configured such that: the rotating shaft and the mounting hole are rotationally connected via a bearing.

[0019] By adopting the above technical solution and utilizing the rotational relationship of the bearing fit, the rotating shaft and the mounting hole can rotate stably without interfering with each other, and the service life of the equipment can be extended, while also having a certain protective effect on the encoder.

[0020] The present invention is further configured as follows: an annular limiting protrusion is provided on one side of the rotating shaft close to the mounting hole, and the bearing is installed on the rotating shaft between the limiting protrusion and the mounting hole.

[0021] By adopting the above technical solution and utilizing the design of the limiting protrusion, the relative position between the rotating shaft and the mounting hole can be effectively guaranteed when the equipment shakes, runs, or collides, and the protection of the encoder is further enhanced.

[0022] In summary, the beneficial technical effects of the present invention are:

[0023] 1. The adjacent cross arms can rotate horizontally stably, and the range of rotation is not limited. At the same time, the rotation and locking of the adjacent cross arms can be directly realized through the locking mechanism. The rotation is stable, the adjustment is convenient, and the locking relationship is relatively stable;

[0024] 2. The design of the encoder can effectively obtain the rotation angle between the cross arms, making the user's use process more convenient and further improving the operating accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a cross-sectional structural schematic diagram of the present invention.

[0026] In the figure, 1, rotating shaft, 2, first rotating arm, 3, second rotating arm, 4, mounting hole, 5, encoder, 6, bearing, 7, limiting protrusion, 8, brake, 9, through hole, 10, mounting body, 11, transition plate, 12, rotating hole, 13, first shrinkage neck, 14, second shrinkage neck, 15, input shaft. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0028] Reference Figure 1 , is a mechanical arm with adjustable rotation angle disclosed in the present invention, which includes rotating arms rotatably connected to each other through a rotating shaft 1. In this embodiment, for the convenience of explanation, the rotating arms rotatably connected to each other are defined as a first rotating arm 2 and a second rotating arm 3.

[0029] One end of the rotating shaft 1 extends into the first rotating arm 2 and is fixedly connected with the first rotating arm 2, and the other end of the rotating shaft 1 extends into the second rotating arm 3 and is rotatably connected with the second rotating arm 3; the fixed connection method can be a simple spline structure fixing method, or it can be fixed to the first rotating arm 2 with bolts, or it can be a threaded fixing method. This type of fixed connection method can be other conventional structures in the field that can fix the relative relationship between the two.

[0030] In this embodiment, in order to improve the accuracy of the rotation angle adjustment of the device, a rotation angle detection mechanism adapted to the rotating shaft 1 is provided in the second rotating arm 3, and its structure is as follows: a mounting hole 4 is provided in the rotating arm rotatably connected to the other end of the rotating shaft 1, an encoder 5 is installed in the mounting hole 4, and an input shaft 15 of the encoder 5 is fixedly connected to the rotating shaft 1. The rotating shaft 1 and the mounting hole 4 are rotatably connected through a bearing 6. The most basic function of the encoder 5 is the detection of the rotation angle, and at the same time, this type of encoder 5 is a conventional encoder 5 in the field. The addition of the encoder 5 provides more assistance to the user when the product is used in situations where high precision is required, and the provision of the bearing 6 can extend the service life of the equipment, and at the same time, it also has a certain protective effect on the encoder 5.

[0031] During the product transportation process, shaking, movement, or collision is inevitable. In order to avoid the possibility of damage to the encoder 5 by the rotating shaft 1 due to such accidents and to further protect the safety of the encoder 5, an annular limiting protrusion 7 can be provided on the side of the rotating shaft 1 close to the mounting hole 4, and the bearing 6 is installed on the rotating shaft 1 between the limiting protrusion 7 and the mounting hole 4.

[0032] The first rotating arm 2 is provided with a locking mechanism which is sleeved on the rotating shaft 1 and locked with the end face of the second rotating arm 3. The structure of the locking mechanism is as follows: a brake 8 is fixedly installed in the first rotating arm 2. The brake 8 is generally an electromagnetic brake commonly seen on the market. This electromagnetic brake does not brake when the power is on, and automatically enters the braking state after the power is off. The brake 8 is provided with a through hole for the rotating shaft 1 to pass through, and there is a gap between the through hole and the rotating shaft 1. When the rotating shaft 1 rotates relative to the brake 8, they do not interfere with each other; the end face of the second rotating arm 3 is provided with a through hole 9 for the rotating shaft 1 to pass through, and the through hole 9 is fixedly connected to the brake 8. Among them, the opening of the through hole 9 extends outward to form a mounting body 10, and the brake 8 is fixedly installed on the port of the mounting body 10.

[0033] When the locking mechanism is used, when the positional relationship between the two rotating arms needs to be adjusted, the brake 8 can be energized. When the power is turned on, the brake 8 is released from the braking state. At this time, the rotating arm can be flexibly adjusted. When locking is required, the power can be turned off. After the power is turned off, the brake 8 automatically enters the braking state. Therefore, this solution is extremely safe even in the event of a sudden power outage, and can also save electric energy.

[0034] The rotating shaft 1 passes through the mounting body 10 and is rotatably connected to the mounting body 10 via a bearing 6; the end surface of the first rotating arm 2 opposite to the through hole is provided with a rotating hole 12 for inserting the mounting body 10, and the mounting body 10 and the rotating hole 12 are rotatably connected via a bearing 6; wherein, a first constricted portion 13 is provided at a position corresponding to the rotating shaft 1 and the mounting body 10, and the first constricted portion 13 passes through the mounting body 10 and extends into the rotating arm fixedly connected to one end of the rotating shaft 1, and the bearing 6 between the rotating shaft 1 and the mounting body 10 is sleeved on the first constricted portion 13; a second constricted portion 14 is provided on the outer wall of the mounting body 10 corresponding to the rotating hole 12 and close to the port of the mounting body 10, and the bearing 6 between the mounting body 10 and the rotating hole 12 is installed on the second constricted portion 14. This arrangement can improve the stability of the device during normal operation, and at the same time, it also has a certain guarantee for the service life of the internal mechanism.

[0035] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A mechanical arm with adjustable rotation angle, It is characterized in that include: A first rotating arm (2) and a second rotating arm (3) rotatably connected to each other via a rotating shaft (1), one end of the rotating shaft (1) extending into the first rotating arm (2) and fixedly connected to the first rotating arm (2), and the other end of the rotating shaft (1) extending into the second rotating arm (3) and rotatably connected to the second rotating arm (3); A locking mechanism is arranged in a first rotating arm (2) fixedly connected to one end of the rotating shaft (1) and sleeved on the rotating shaft (1), and the locking mechanism cooperates with the end surface of the second rotating arm (3) to lock; The locking mechanism has the following structure: a brake (8) is installed in a first rotating arm (2) fixedly connected to one end of the rotating shaft (1); a through hole is provided on the brake (8) for the rotating shaft (1) to pass through, and a gap exists between the through hole and the rotating shaft (1); a through hole (9) is provided on the end surface of a second rotating arm (3) rotatably connected to the other end of the rotating shaft (1) for the rotating shaft (1) to pass through; The opening of the through hole (9) extends outward to form a mounting body (10), and the brake (8) is fixedly mounted above the port of the mounting body (10); when the positional relationship between the first rotating arm (2) and the second rotating arm (3) is adjusted, the brake (8) is powered on, and the brake (8) is released from the braking state; when locking is required, the power is turned off, and the brake (8) automatically enters the braking state after the power is turned off; The rotating shaft (1) passes through the mounting body (10) and is rotatably connected to the mounting body (10) via a bearing (6); a first rotating arm (2) fixedly connected to one end of the rotating shaft (1) is provided with a rotating hole (12) on the end surface opposite to the through hole (9) for inserting the mounting body (10); the mounting body (10) and the rotating hole (12) are rotatably connected via a bearing (6); A rotation angle detection mechanism adapted to the rotation shaft (1) is provided in a second rotation arm (3) rotationally connected to the other end of the rotation shaft (1), and the structure of the rotation angle detection mechanism is as follows: a mounting hole (4) is provided in the second rotation arm (3) rotationally connected to the other end of the rotation shaft (1), an encoder (5) is installed in the mounting hole (4), and an input shaft (15) of the encoder (5) is fixedly connected to the rotation shaft (1); A first constricted portion (13) is provided at a position corresponding to the rotating shaft (1) and the mounting body (10); the first constricted portion (13) passes through the mounting body (10) and extends into a first rotating arm (2) fixedly connected to one end of the rotating shaft (1); a bearing (6) between the rotating shaft (1) and the mounting body (10) is sleeved on the first constricted portion (13); a second constricted portion (14) is provided on an outer wall of the mounting body (10) corresponding to the rotating hole (12) and close to a port of the mounting body (10); the bearing (6) between the mounting body (10) and the rotating hole (12) is installed on the second constricted portion (14); and a transition plate (11) is provided on the second constricted portion (14).

2. The mechanical arm with adjustable rotation angle according to claim 1, It is characterized in that The rotating shaft (1) and the mounting hole (4) are rotatably connected via a bearing (6).

3. The mechanical arm with adjustable rotation angle according to claim 2, It is characterized in that A ring-shaped limiting protrusion (7) is provided on one side of the rotating shaft (1) close to the mounting hole (4), and the bearing (6) is mounted on the rotating shaft (1) between the limiting protrusion (7) and the mounting hole (4).

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