Robotic arm and robot having the same

Abstract

The application discloses a mechanical arm and a robot having the same. The mechanical arm comprises at least one connecting arm which is configured in a rod shape and has an inner cavity extending along the length direction thereof, wherein the cross section of the inner cavity in the direction perpendicular to the length direction is at least partially in a closed structure. According to the mechanical arm of the application, since the cross section of the inner cavity of the connecting arm is at least partially in a closed structure, the smooth transmission of force flow and the continuity of force can be ensured, and the connecting arm only needs a small wall thickness and a relatively simple structure to meet the requirements of rigidity and torque.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, and more specifically to a robotic arm and a robot having the same. Background Technology

[0002] Microsurgical instruments offer advantages such as accurate positioning, stable operation, high dexterity, large working range, and immunity to radiation and infection, making them widely used in various surgeries. Surgical robots, as a type of surgical instrument, are used in procedures where medical staff move the patient's bed to the robot. The robot's multiple robotic arms, controlled by the system, move onto the patient's body and perform the corresponding surgery through pre-designated incisions in the patient's skin. During surgery, the robotic arms can rotate and insert around these pre-designated incisions; the point of rotation of the robotic arms around a fixed axis is called the RCM (Remotecenter of Motion).

[0003] Previous surgical robots have developed the ability to achieve the rotation of the robotic arm around the RCM point using mechanical parallelogram mechanisms. For example, the rotational transmission and constraint of the connecting arm is achieved through steel wires or steel belts, causing the rods of the actuator unit connected to the end of the robotic arm to exhibit parallelogram coupling characteristics. In long robotic arm structures with multiple connecting arms connected in series, the compactness and high rigidity of the belt-driven robotic arm have a crucial impact on the surgical performance of the surgical robot.

[0004] Known robotic arm connection arm structures, such as Figure 1 As shown, a connecting arm consists of an upper cover 11 and a lower base plate 12 connected together by fasteners. A receiving cavity is formed between the upper cover 11 and the lower base plate 12, in which the flexible transmission component is housed. This type of connecting arm requires high rigidity from the lower base plate 12. If this connecting arm is located at the end of the robotic arm, it will be subjected to large bending moments and torques simultaneously during movement and operation by medical personnel. Due to the gap at the connection between the upper cover 11 and the lower base plate 12, significant lamination occurs at this gap, and the torque causes the lower base plate 12 to undergo considerable torsional deformation. For a slender robotic arm with multiple connecting arms connected in series, this torsional deformation will result in significant cumulative errors at the end effector, thereby reducing the end effector accuracy of the surgical robot.

[0005] Furthermore, the structure of this connecting arm also presents some difficulties for the maintenance of the flexible transmission assembly. Generally, the flexible component of the flexible transmission assembly is tightened to the arc surface of the rotating wheel using bolts or similar means, and a tensioning mechanism for the flexible component is correspondingly provided on the arc surface of the rotating wheel. When the flexible component is tensioned, the structure of the upper cover 11 and the lower base plate 12 to some extent hinders the tightening operation of the tensioning bolts with a screwdriver or wrench. Therefore, it is necessary to provide an operating port on the lower base plate 12 for tension measurement and maintenance operations on the steel rotating wheel and steel belt.

[0006] Therefore, the present invention provides a robotic arm and a robot having the same, to at least partially solve the problems in the prior art. Summary of the Invention

[0007] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0008] To at least partially solve the above problems, according to a first aspect of the present invention, a robotic arm is disclosed, the robotic arm comprising:

[0009] At least one connecting arm, the connecting arm being rod-shaped and having an inner cavity extending along its length.

[0010] The inner cavity is at least partially closed in cross-section perpendicular to the length direction.

[0011] According to the present invention, since the cross-section of the inner cavity of the connecting arm is at least partially closed, the smooth transmission of force and the continuity of force can be guaranteed, and the connecting arm only requires a small wall thickness and a relatively simple structure to meet the requirements of stiffness and torque.

[0012] Optionally, the connecting arm is an integral structure.

[0013] Optionally, the outer surface of the connecting arm is provided with at least one groove.

[0014] According to this solution, these grooves can be used to accommodate mechanical and electrical components of the robotic arm, such as wires, circuit boards, sensors, and connecting flanges.

[0015] Optionally, the inner cavity includes two end openings, which are located at both ends of the connecting arm along its length.

[0016] According to this solution, the flexible transmission component can be inserted into the inner cavity through the end opening, which allows the wrench to perform maintenance and tightening on the end face. Therefore, it is convenient to install the flexible transmission component and the tensioning wheel, and to maintain the transmission components such as the wheel.

[0017] Optionally, the inner cavity further includes two pairs of side openings, wherein one pair of the side openings is located at one end in the length direction and is located opposite to both sides of the connecting arm, and the other pair of the side openings is located at the other end in the length direction and is located opposite to both sides of the connecting arm.

[0018] According to this design, the side opening allows for maintenance and tightening with a wrench, facilitating the operation and maintenance of transmission components such as rotating wheels.

[0019] Optionally, the robotic arm includes at least two connecting arms that are connected end-to-end and pivotally connected to adjacent connecting arms.

[0020] Optionally, the robotic arm further includes at least two sets of flexible transmission components and at least two pivot shafts. Each connecting arm has at least one set of flexible transmission components in its inner cavity, and the flexible transmission components in the inner cavities of two adjacent connecting arms are connected via the pivot shafts.

[0021] Optionally, a set of flexible transmission components is provided in the inner cavity of the connecting arm. The set of flexible transmission components includes a pair of rotating wheels and a flexible member tensioned on the pair of rotating wheels. The pair of rotating wheels are respectively disposed at the side openings at both ends of the inner cavity and are used to enter the inner cavity through the end openings. The pivot shaft is used to connect with the rotating wheels in the inner cavities of two adjacent connecting arms through the side openings.

[0022] Optionally, the robotic arm further includes an end shield for closing the end opening and a side shield for closing the side opening, the side shield being disposed at the side opening and connected to the connecting arm.

[0023] According to a second aspect of the invention, a robot is disclosed, comprising at least one robotic arm according to any one of the first aspects described above.

[0024] According to the robot of the present invention, since the cross-section of the inner cavity of the connecting arm is at least partially closed, the smooth transmission of force and the continuity of force can be guaranteed, and the connecting arm only requires a small wall thickness and a relatively simple structure to meet the requirements of stiffness and torque. Attached Figure Description

[0025] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0026] In the attached image:

[0027] Figure 1 An exploded three-dimensional diagram of the connecting arm of a robot's robotic arm in the prior art;

[0028] Figure 2This is a perspective view of a partial structure of a robot according to a preferred embodiment of the present invention, showing a robotic arm and an end effector;

[0029] Figure 3 for Figure 2 A three-dimensional schematic diagram of the robot's partial structure, showing the robotic arm and end effector, with the partial structure of the robotic arm shown in an exploded view;

[0030] Figure 4 for Figure 3 A three-dimensional schematic diagram of the connecting arm of the robotic arm in the diagram;

[0031] Figure 5 for Figure 3 Another three-dimensional diagram of the connecting arm of the robotic arm in the diagram;

[0032] Figure 6 for Figure 5 A cross-sectional view of the robotic arm in the diagram.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100: Robotic Arm

[0035] 10 / 110: Connecting arm

[0036] 11: Top Cover

[0037] 12: Bottom plate

[0038] 111: Inner cavity

[0039] 112: End opening

[0040] 113: Side opening

[0041] 114: Groove

[0042] 115: Support section

[0043] 116: First supporting reinforcement bar

[0044] 117: Second supporting reinforcement bar

[0045] 121: Rotating wheel

[0046] 130: Pivot axis

[0047] 131: End cap portion

[0048] 132: Pivot Section

[0049] 140: End shielding component

[0050] 150: Side shielding component

[0051] 170: Actuators

[0052] L: Length direction of the connecting arm Detailed Implementation

[0053] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the invention.

[0054] To fully understand the embodiments of the present invention, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. It should be noted that ordinal numbers such as "first" and "second" used in the present invention are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." The terms "upper," "lower," "front," "rear," "left," "right," and similar expressions used in the present invention are for illustrative purposes only and are not intended to be limiting.

[0055] like Figure 2 and Figure 3 As shown, the present invention provides a robotic arm 100 and a robot having the same. This robot can be a surgical robot, an industrial robot, an educational robot, etc. In this embodiment, a surgical robot is used as an example for explanation.

[0056] The robot may include at least one robotic arm 100 and an actuator 170 disposed at the end of the robotic arm 100. The robotic arm 100 can drive the actuator 170, enabling the actuator 170 to be inserted into a pre-designated incision in the patient's skin and rotated to complete the corresponding surgery. Since the actuator 170 is a structure known in the art, it will not be described in detail.

[0057] The following will combine Figures 2 to 6 The robotic arm 100 according to the present invention will be described in detail.

[0058] The robotic arm 100 mainly includes at least one connecting arm 110. When the robotic arm 100 includes at least two connecting arms 110, the at least two connecting arms 110 are connected end to end, and adjacent connecting arms 110 are pivotally connected. Figure 2 and Figure 3 The diagram exemplarily shows three connecting arms 110 connected end-to-end. It is understood that the number of connecting arms 110 can be determined according to actual needs, for example, one, four, or more.

[0059] In this embodiment, the connecting arm 110 is constructed in a rod shape and has an inner cavity 111 extending along its length direction L. For example... Figure 6 As shown, the inner cavity 111 has a partially closed structure in the cross section perpendicular to the length direction L of the connecting arm 110, which ensures the smooth transmission of force and the continuity of force. Furthermore, the connecting arm 110 only requires a small wall thickness and a relatively simple structure to meet the requirements of stiffness and torque.

[0060] like Figure 4 and Figure 5 As shown, the inner cavity 111 of the connecting arm 110 includes two end openings 112 and two pairs of side openings 113. The two end openings 112 are located at both ends of the connecting arm 110 along its length L and are generally rectangular. Of the two pairs of side openings 113, one pair is located at one end of the connecting arm 110 along its length L and is positioned opposite each other on both sides of the connecting arm 110; the other pair is located at the other end of the connecting arm 110 along its length L and is positioned opposite each other on both sides of the connecting arm 110. That is, the side openings 113 are located close to the end openings 112, and the side openings 113 can be constructed as circular openings or any other suitable shape.

[0061] The robotic arm 100 also includes at least two sets of flexible transmission components and at least two pivot shafts 130. At least one set of flexible transmission components is disposed in the inner cavity 111 of each connecting arm 110. In this embodiment, a set of flexible transmission components is disposed in the inner cavity 111 of each connecting arm 110, and the flexible transmission components disposed in the inner cavities 111 of adjacent connecting arms 110 are connected via pivot shafts 130. Since the robotic arm 100 in this embodiment includes three connecting arms 110, and each connecting arm 110 has a set of flexible transmission components in its inner cavity 111, the robotic arm 100 can include three sets of flexible transmission components. It is understood that the number of flexible transmission components can be determined according to actual needs.

[0062] Specifically, a set of flexible transmission components includes a pair of rotating wheels 121 (see...) Figure 3 The connecting arm 110 includes a flexible element (not shown) tensioned on a pair of rotating pulleys 121. These pulleys 121 are respectively located at side openings 113 at both ends of the inner cavity 111 of the connecting arm 110, and can enter the inner cavity 111 via end openings 112. In this embodiment, the flexible transmission assembly is a belt drive assembly, the rotating pulleys 121 are pulleys, and the flexible element is a steel belt. In an embodiment not shown, the flexible transmission assembly can be a rope drive assembly, and the flexible element can be a flexible rope.

[0063] like Figure 3As shown, preferably, the length M of the end opening 112 (see...) Figure 5 The outer diameter of the rotating wheel 121 is greater than that of the end opening 112, and the width N is greater than that of the end opening 112 (see [reference]). Figure 5 The thickness of the pivot shaft is greater than that of the rotating wheel 121, thereby facilitating the insertion of the rotating wheel 121 into the inner cavity 111 via the end opening 112. The pivot shaft 130 is used to connect to the rotating wheels 121 in the inner cavities 111 of two adjacent connecting arms 110 via the side opening 113. Specifically, the rotating wheels 121 in the inner cavities 111 of two adjacent connecting arms 110 are fitted onto the same pivot shaft 130.

[0064] like Figure 3 As shown, the pivot shaft 130 includes an end cap portion 131 and a pivot portion 132 connected to the end cap portion 131. The end cap portion 131 is generally constructed in a disc shape. The pivot portion 132 is located at the center of the end cap portion 131 and is constructed in a cylindrical shape extending in a direction perpendicular to the end cap portion 131. The end cap portion 131 is located at a side opening 113 of one of two adjacent connecting arms 110 and is connected to the connecting arm 110. Specifically, the end cap portion 131 is located at a side opening 113 of one of the two adjacent connecting arms 110 that is away from the other connecting arm 110. The rotating wheels 121 in the cavities 111 of the two adjacent connecting arms 110 are sleeved on the pivot portion 132 of the same pivot shaft 130.

[0065] In addition, such as Figure 3 and Figure 5 As shown, the connecting arm 110 also includes a support portion 115 disposed in a side opening 113. At least one of each pair of side openings 113 may have a support portion 115. The support portion 115 includes a first support rib 116 extending circumferentially and a second support rib 117 connected to the first support rib 116. The second support rib 117 is configured to extend outward from the first support rib 116 in a radial direction. A pivot portion 132 of the pivot shaft 130 extends through the inner hole of the first support rib 116, and the first support rib 116 can support and limit the pivot portion 132.

[0066] like Figure 2 and Figure 3As shown, the robotic arm 100 may further include an end shield 140 for closing the end opening 112 and a side shield 150 for closing the side opening 113. The shape and size of the end shield 140 correspond to the shape and size of the end opening 112, respectively, to completely cover the end opening 112. The side shield 150 is disposed at the side opening 113 and connected to the connecting arm 110. Specifically, the side shield 150 may be disposed at the side opening 113 of another connecting arm 110, away from the end cap 131. By providing the end opening 112 and the side opening 113, operation and maintenance of transmission components such as the rotating wheel 121 are facilitated.

[0067] According to this embodiment, the connecting arm 110 is an integral structure. Specifically, the connecting arm 110 can be integrally formed (e.g., formed by machining such as wire cutting), or formed by drawing profiles and then machining, or formed by casting.

[0068] In addition, the outer surface of the connecting arm 110 may be provided with at least one groove 114. These grooves 114 can be used to accommodate other mechanical and electrical components such as wires, circuit boards, sensors, and connecting flanges. Figure 6 The diagram shows two recesses 114 disposed opposite each other on both sides of the connecting arm 110, at least one of which can be used to place a wire. The connecting arm 110 may also include a cover plate (not shown) for covering the recesses 114, the cover plate being able to be connected to the connecting arm 110 and able to shield the wire.

[0069] The connecting arm 110 of the present invention can be used not only in the flexible transmission system as described above, but also in other types of belt transmission systems or wire transmission systems, etc., where there is a great demand for miniaturization of the cavity and high rigidity.

[0070] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0071] The present invention has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the present invention to the described embodiments. Those skilled in the art will understand that many variations and modifications can be made based on the teachings of the present invention, and all such variations and modifications fall within the scope of protection claimed by the present invention.

Claims

1. A surgical robot comprising a robotic arm, characterized in that, The robotic arm includes: At least two connecting arms are pivotally connected to adjacent connecting arms. The connecting arms are integral structures, rod-shaped, and have an inner cavity extending along their length. The inner cavity is at least partially closed in cross-section perpendicular to the length direction. The inner cavity includes two end openings and two pairs of side openings. The two end openings are located at both ends of the connecting arm along its length direction. One pair of side openings is located at one end of the length direction and is located opposite to both sides of the connecting arm. The other pair of side openings is located at the other end of the length direction and is located opposite to both sides of the connecting arm. At least two sets of flexible transmission components are provided, with one set of flexible transmission components disposed in the inner cavity of each connecting arm. Each flexible transmission component includes a pair of rotating wheels and a flexible element tensioned on the pair of rotating wheels. The pair of rotating wheels are respectively disposed at the side openings located at both ends of the inner cavity, and the end openings are used to allow the rotating wheels to enter the inner cavity; and At least two pivot shafts are provided, and the flexible transmission assembly disposed in the inner cavity of two adjacent connecting arms is connected via the pivot shafts. The pivot shafts are connected to the rotating wheels in the inner cavity of the two adjacent connecting arms via the side openings. The length of the end opening is greater than the outer diameter of the rotating wheel, and the width of the end opening is greater than the thickness of the rotating wheel; The outer surface of the connecting arm is recessed toward the inner cavity to form at least one groove, the at least one groove is separated from the inner cavity and is arranged in the length direction between the two end openings, the at least one groove is configured to accommodate one of a wire, a circuit board, a sensor, or a connecting flange, and the connecting arm also includes a cover plate for covering the groove.

2. The surgical robot according to claim 1, characterized in that, The robotic arm includes at least two of the pivot axes.

3. The surgical robot according to claim 1, characterized in that, The robotic arm also includes an end shield for closing the end opening and a side shield for closing the side opening, the side shield being disposed at the side opening and connected to the connecting arm.

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