Robotic arm and method of movement control thereof

Abstract

The application relates to a mechanical arm and a moving control method thereof, characterized by comprising a beam arm and a vertical arm; the beam arm is provided with a horizontal direction sliding device, the horizontal direction sliding device comprises a first guide rail assembly and a sliding plate; the vertical arm is provided with a vertical arm shell, the vertical arm shell is internally provided with a vertical direction telescopic device, a gravity compensation device and a rotating device; the vertical arm shell is fixed on the sliding plate; the sliding plate comprises at least one sliding block; and the first guide rail assembly comprises at least one guide rail which is oppositely arranged with the sliding block.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to a mechanical arm and a moving control method thereof. BACKGROUND

[0002] With the development of science and technology, the technology development in medical field is also progressing. The robot surgery system is a comprehensive body which integrates many modern high-tech means, and has wide application in clinic surgery. However, the time-consuming and labor-intensive preoperative preparation work affects the use intention of doctors. For example, due to the need to select a suitable incision position on the patient's body surface, it is necessary to reasonably determine the initial position of the robot mechanical arm before using the mechanical arm. However, due to the problem of heavy weight of the mechanical arm, the corresponding gravity will affect the movement of the mechanical arm, resulting in the need to consume more effort to move the mechanical arm. In addition, when the mechanical arm reaches the position to be moved, the mechanical arm needs to be fixed to prevent displacement of the mechanical arm, which affects the operation. SUMMARY

[0003] To solve the above problems, the purpose of the present application is to provide a mechanical arm and a moving control method thereof, which can overcome gravity, increase moving precision and correctly control the movement of the surgical arm before operation.

[0004] Specifically, a mechanical arm comprises a cross beam arm and a vertical arm.

[0005] The cross beam arm is provided with a horizontal direction sliding device, and the horizontal direction sliding device comprises a first guide rail assembly and a sliding plate.

[0006] The vertical arm is provided with a vertical arm shell, and the vertical arm shell is provided with a vertical direction telescopic device, a gravity compensation device and a rotating device.

[0007] The vertical arm shell is fixed on the sliding plate.

[0008] The sliding plate comprises at least one sliding block.

[0009] The first guide rail assembly comprises at least one guide rail arranged opposite to the sliding block.

[0010] Further, the gravity compensation device specifically comprises an air spring fixing frame, an air spring and a vertical arm outer structural member.

[0011] The air spring fixing frame is fixed on the inner wall of the vertical arm shell.

[0012] The vertical arm outer structural member is a hollow part, and a fixed block is fixed inside the vertical arm outer structural member close to one end of the cross beam arm. The fixed block is provided with a lead screw nut through hole and at least two tension and pressure sensor fixing through holes.

[0013] The sliding block mounting and fixing device is arranged on the outer wall of the vertical arm outer structure near one end of the beam arm.

[0014] The vertical arm outer structure is provided with a clamping groove.

[0015] One end of the gas spring is connected with the gas spring fixing frame, and the other end is connected with a clamping piece perpendicularly; the clamping piece is clamped in the clamping groove.

[0016] Further, the clamping groove is arranged on the vertical arm outer structure away from one end of the beam arm, and the clamping groove is composed of two parallel arcs and two parallel straight lines; the width of the clamping piece is smaller than the length of the two parallel straight lines of the clamping groove, the length of the clamping piece is greater than the length of the vertical line between the two parallel straight lines of the clamping groove, the clamping piece is screw-fixed on the two parallel straight lines of the clamping groove, and the side of the clamping piece facing the inner cavity of the vertical arm outer structure is provided with a connector perpendicular to the gas spring, and the connector is screw-connected with the connector of the gas spring.

[0017] Further, the vertical direction telescopic device comprises a driving reducer fixing frame, a second brake fixing frame, a screw rod fixing seat, a screw rod, a screw rod nut, a driving motor, a driving reducer, a second brake, a second guide rail assembly, a sliding block and a tension and pressure sensor.

[0018] The driving reducer fixing frame, the second brake fixing frame and the screw rod fixing seat are fixed on the inner wall of the vertical arm shell.

[0019] The driving reducer fixing frame fixes the driving reducer, the driving motor is fixed on the driving reducer, and the second brake fixing frame fixes the second brake; the driving motor is rotationally connected with the driving reducer, the driving reducer is rotationally connected with the second brake, the screw rod passes through the screw rod fixing seat, one end is rotationally connected with the second brake, the other end passes through the screw rod nut through hole in the fixing block and is connected with the screw rod nut, and the screw rod nut through hole is provided with a thread corresponding to the screw rod nut; and the tension and pressure sensor is screw-connected on the fixing block.

[0020] The sliding block is screw-connected on the sliding block mounting and fixing device.

[0021] The second guide rail assembly is arranged on the vertical arm shell, and the second guide rail assembly comprises at least one guide rail arranged opposite to the sliding block.

[0022] Further, the rotating device comprises a vertical arm rotating brake assembly for rotating and braking the vertical arm outer structure.

[0023] Furthermore, the crossbeam arm also includes a braking device, which includes a gear, a rack, and a first brake.

[0024] Furthermore, the crossbeam arm also includes a first feedback device, which includes a first linear encoder reader, a first linear encoder ruler, and a display device.

[0025] Furthermore, the vertical arm also includes a second feedback device, which includes a second linear encoder reader, a second linear encoder ruler, and a display device.

[0026] Specifically, a movement control method for a robotic arm is applied, including horizontal movement, vertical movement, and vertical rotation around the center of the outer structure of the vertical arm.

[0027] Furthermore, the horizontal movement includes the braking device receiving the horizontal movement command transmitted by the vertical arm and disengaging the braking action; the sliding plate receiving the horizontal movement command transmitted by the vertical arm and transmitting it to the slider for horizontal movement; and the slider sliding on the first guide rail assembly.

[0028] The sliding plate receives the horizontal movement stop command transmitted by the vertical arm and stops the horizontal movement. The braking device receives the horizontal movement stop command transmitted by the vertical arm and maintains the position of the stopped vertical arm.

[0029] Furthermore, the vertical movement includes the second brake receiving the vertical movement command transmitted by the vertical arm and closing the braking action; the tension / compression sensor receiving the vertical movement command transmitted by the outer structural component of the vertical arm and judging whether the received command is tension or compression, sending a drive signal to the drive motor; the drive motor receiving the drive signal and driving the drive reducer to adjust the torque of the lead screw, thereby realizing the upward or downward movement of the slider on the second guide rail assembly, and realizing the upward or downward vertical movement of the outer structural component of the vertical arm;

[0030] The tension / compression sensor receives the vertical movement stop command transmitted by the vertical arm and sends the vertical movement stop command to the drive motor to stop the vertical movement. The second brake maintains the position of the stopped vertical arm according to the received vertical movement stop command transmitted by the external structural component of the vertical arm.

[0031] Furthermore, the rotational movement around the center vertical line of the outer vertical arm structure includes the vertical arm rotation brake assembly receiving the rotational movement command transmitted by the outer vertical arm structure, disengaging the braking action, and performing rotational movement around the center vertical line of the outer vertical arm structure.

[0032] The vertical arm rotation brake assembly receives a rotation stop command transmitted from the external structural component of the vertical arm, stops the rotation, and maintains the position of the stopped vertical arm.

[0033] Furthermore, the horizontal movement, vertical movement, and vertical rotation around the center of the outer structure of the vertical arm also include a feedback mechanism. The feedback mechanism records the start position and end position of the robotic arm and generates feedback data signals. The display device receives the data signals generated by the feedback mechanism and displays them.

[0034] The advantages of this invention are:

[0035] This invention provides a gravity-compensated robotic arm, solving the load problem caused by gravity during robotic arm movement. It also includes tension / compression sensors to determine the robotic arm's movement direction and correctly drive its motion. These sensors are highly sensitive, crucial for the precision required in robotic arm movement; their high accuracy facilitates even minute movements. Furthermore, their long lifespan increases the number of uses for push-pull actions, reducing replacement frequency. A brake is used to maintain the robotic arm's position after displacement; a feedback mechanism facilitates determining the current position of the robotic arm, ensuring correct movement. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a robotic arm according to the present invention;

[0037] Figure 2 This is a partial square-size view of the fixing block of a robotic arm according to the present invention;

[0038] Figure 3 This is a schematic diagram of a partial connection of the gas spring in a robotic arm according to the present invention;

[0039] Figure 4 This is a schematic diagram of the vertical arm external structure of a robotic arm according to the present invention.

[0040] Figure label:

[0041] Horizontal beam arm-1, vertical arm-2, first guide rail assembly-3, sliding plate-4, vertical arm housing-5, gas spring fixing bracket-6, gas spring-7, vertical arm external structural component-8, fixing block-9, lead screw nut through hole-10, tension / compression sensor fixing through hole-11, slider mounting and fixing device-12, slot-13, clip-14, connector-15, drive reducer fixing bracket-16, second brake fixing bracket-17, lead screw fixing seat-18, lead screw-19, lead screw nut-20, drive motor-21, drive reducer-22, second brake-23, second guide rail assembly-24, tension / compression sensor-25, gear-26, rack-27, first brake-28, first linear encoder reader-29, first linear encoder ruler-30, second linear encoder reader-31, second linear encoder ruler-32. Detailed Implementation

[0042] The technical solution of the present invention will be described in more detail below with reference to the accompanying drawings. The present invention includes, but is not limited to, the following embodiments.

[0043] The time-consuming and labor-intensive preoperative preparation work affects doctors' willingness to use surgical robots. For example, to select a suitable incision location on the patient's body surface, it is necessary to reasonably determine the initial positioning of the robotic arm before using it. However, due to the large weight of the robotic arm, its movement is affected by gravity, requiring more effort to move it. This invention provides a robotic arm and its movement control method, including a gravity compensation device, to solve the load problem caused by gravity on the movement of the robotic arm. In addition, when the robotic arm reaches the required position, it needs to be fixed to prevent displacement, which could affect the operation. This invention provides a tension / compression sensor 25 to determine the direction of movement of the robotic arm and correctly drive its movement, and a brake to maintain the position of the robotic arm after displacement. Existing robotic arms are large, and there will be visual positional differences depending on the position, which may lead to errors between the pre-use positioning of the robotic arm and the actual required position, thus affecting the normal operation of the surgery. The feedback mechanism of this invention facilitates the determination of the current position of the robotic arm and facilitates its movement to the correct position.

[0044] Position holding utilizes a brake, which is a device that decelerates, stops, or maintains a stopped state of a moving part (or moving machinery). It is a mechanical part that stops or decelerates moving parts in machinery. Commonly known as a brake or brake system, a brake mainly consists of a frame, braking components, and an operating device. Some brakes also have an automatic adjustment device for the braking component clearance. To reduce braking torque and structural dimensions, brakes are usually mounted on the high-speed shaft of the equipment; however, for large equipment with high safety requirements (such as mine hoists and elevators), they should be mounted on the low-speed shaft closer to the working part of the equipment.

[0045] As attached Figures 1-4 As shown, a schematic diagram of a robotic arm is provided, which includes a horizontal beam arm 1 and a vertical arm 2.

[0046] The crossbeam arm 1 includes a horizontal sliding device comprising a first guide rail assembly 3 and a sliding plate 4. In this embodiment, the first guide rail assembly 3 has two guide rails. The sliding plate 4 has two sliders corresponding to one guide rail on one side and two more sliders corresponding to the other guide rail on the other side, for sliding on the guide rails. The vertical arm housing 5 is fixed to the sliding plate 4. The crossbeam arm 1 also includes a braking device comprising a gear 26, a rack 27, and a first brake 28, for locking the horizontal movement of the vertical arm 2. The crossbeam arm 1 further includes a first feedback device, specifically comprising a first linear encoder reader 29, a first linear encoder ruler 30, and a display device.

[0047] The vertical arm 2 has a vertical arm housing 5, which contains a vertical telescopic device, a gravity compensation device, and a rotation device. The gravity compensation device compensates for the gravity of the external structural component 8 of the vertical arm. Specifically, it includes a gas spring fixing frame 6, a gas spring 7, the external structural component 8 of the vertical arm, and a locking device 14. The gas spring fixing frame 6 is fixed to the inner wall of the vertical arm housing 5. The external structural component 8 of the vertical arm is a hollow component with a cavity. A fixing block 9 is fixedly installed inside the external structural component 8 near the end of the crossbeam arm 1. The fixing block 9 has a lead screw nut through hole 10 and at least two tension / compression sensor fixing through holes 11. Two symmetrical slider mounting and fixing devices 12 are provided on the outer wall of the external structural component 8 near the end of the crossbeam arm 1. A slot 13 is provided on the external structural component 8 of the vertical arm, located at the end of the external structural component 8 away from the crossbeam arm 1. The slot 13 consists of two parallel… The structure consists of an arc and two parallel straight lines. One end of the gas spring 7 is connected to the gas spring fixing frame 6, and the other end is vertically connected to a clamp 14. The clamp 14 is engaged in the clamping groove 13. The width of the clamp 14 is less than the length of the two parallel straight lines of the clamping groove 13, and the length of the clamp 14 is greater than the length of the perpendicular line between the two parallel straight lines of the clamping groove 13. The clamp 14 is threadedly fixed to the two parallel straight lines of the clamping groove 13. The side of the clamp 14 facing the inner cavity of the vertical arm rotary brake assembly is provided with a connector 15 perpendicular to the gas spring 7. The connector 15 is threadedly connected to the connector 15 of the gas spring 7. The vertical telescopic device is used to realize the vertical upward or downward movement of the outer structural component 8 of the vertical arm. The vertical telescopic device includes a drive reducer fixing frame 16, a second brake fixing frame 17, a lead screw fixing seat 18, a lead screw 19, a lead screw nut 20, a drive motor 21, a drive reducer 22, a second brake 23, a second guide rail assembly 24, a slider, and a tension / compression sensor 25. The drive reducer fixing bracket 16, the second brake fixing bracket 17, and the lead screw fixing seat 18 are fixed to the inner wall of the vertical arm housing 5; the drive reducer fixing bracket 16 fixes the drive reducer 22, the drive motor 21 is fixed to the drive reducer 22, and the second brake fixing bracket 17 fixes the second brake 23; the drive motor 21 is rotatably connected to the drive reducer 22, the drive reducer 22 is rotatably connected to the second brake 23, the lead screw 19 passes through the lead screw fixing seat 18, one end is rotatably connected to the second brake 23, and the other end passes through the lead screw nut through hole 10 on the fixing block 9 and is connected to the lead screw nut 20, the lead screw nut through hole 10 is provided with a thread corresponding to the lead screw nut 20.

[0048] The lead screw nut 20 threadedly connects the tension / compression sensor 25 to the fixing block 9 through the tension / compression sensor fixing through hole 11; the slider is threadedly connected to the slider mounting and fixing device 12; the second guide rail assembly 24 is disposed on the vertical arm housing 5, and the second guide rail assembly 24 includes at least one guide rail disposed opposite to the slider. The rotating device is used to realize the vertical arm outer structural member 8 to rotate vertically around the center of the vertical arm outer structural member 8. The rotating device includes a vertical arm rotation brake assembly for rotating and braking the vertical arm outer structural member 8.

[0049] The vertical arm 2 further includes a second feedback device, which specifically includes a second linear encoder reader 31, a second linear encoder ruler 32, and a display device.

[0050] In another embodiment, a method for controlling the movement of a robotic arm includes a method for horizontal movement, a method for vertical movement, and a method for rotating and moving about a vertical line around the center of the outer structural member 8 of the vertical arm.

[0051] The horizontal movement includes the braking device of the crossbeam arm 1 receiving a horizontal movement command transmitted from the vertical arm 2, such as manual movement, to close the braking action, for example by turning on the power supply to close the braking action of the braking device. The sliding plate 4 receives the horizontal movement command transmitted from the vertical arm 2 and transmits it to the slider to move horizontally. The slider slides on the first guide rail assembly 3.

[0052] The sliding plate 4 receives the horizontal movement stop command transmitted by the vertical arm 2 and stops the horizontal movement. The braking device receives the horizontal movement stop command transmitted by the vertical arm 2 and maintains the position of the stopped vertical arm 2, for example, by stopping the power supply to achieve the position maintenance action of the braking device.

[0053] The braking device can maintain its position at any point within its travel range, which includes the maximum distance that the sliding plate 4 can slide on the guide rail.

[0054] For example, when a medical worker pushes the vertical arm housing 5 with their hand, the braking device receives the pushing force, closes the braking action, and the sliding plate 4 can move, moving in the direction of the pushing by the medical worker's hand; when the medical worker stops pushing the vertical arm housing 5, the braking device stops receiving the pushing force, opens the braking action, and the sliding plate 4 cannot move, remaining in a fixed position.

[0055] The vertical movement includes the second brake 23 receiving a vertical movement command transmitted by the vertical arm 2 (e.g., manual movement) and disengaging the brake; the tension / compression sensor 25 receiving a vertical movement command transmitted by the outer structural member 8 of the vertical arm and judging whether the received command is tension or compression, and sending a drive signal to the drive motor 21; the drive motor 21 receiving the drive signal and driving the drive reducer 22 to adjust the torque of the lead screw 119, thereby enabling the slider to move upward or downward on the second guide rail assembly 24, and thus enabling the outer structural member 8 of the vertical arm to move upward or downward in the vertical direction.

[0056] The tension / compression sensor 25 receives the vertical movement stop command transmitted by the vertical arm 2 and sends the vertical movement stop command to the drive motor 21 to stop the vertical movement. The second brake 23 maintains the position of the stopped vertical arm 2 according to the vertical movement stop command transmitted by the external structural component 8 of the vertical arm.

[0057] Among them, the tension and compression sensor 25 uses an elastic body as an intermediary. The pushing or pulling force transmitted by the fixed block 9 acts on the resistive elements on both sides of the sensor, causing the resistance value of the resistive elements to change. The change is then converted into an electrical signal by the corresponding circuit, and the electrical signal is sent as a command to the drive motor 21 to realize the control of the drive motor 21.

[0058] For example, when a medical worker pulls the outer structural component 8 of the vertical arm vertically downwards, the second brake 23 receives the pulling force and closes the braking action, allowing the lead screw 19 to move. At the same time, the tension sensor 25 receives the force, first determining that it is a vertically downward pulling force, and sends a drive signal to the drive motor 21. For example, if the received pulling force is set to reverse rotation, the drive motor 21 drives the drive reducer 22 to rotate in the reverse direction. The drive reducer 22 is used to adjust the torque of the lead screw 19, which is driven to rotate. The lead screw 19 has threads, and the lead screw nut through hole 10 of the fixing block 9 has threads corresponding to the lead screw 19. As the lead screw 19 rotates, it drives the outer structural component 8 of the vertical arm to descend, causing the slider to slide vertically downwards on the second guide rail assembly 24. When the medical worker stops pulling the outer structural component 8 of the vertical arm downwards, the tension sensor 25 receives the stop force and sends a movement stop command to the drive motor 21. The drive motor 21 stops driving the vertical movement, the second brake 23 opens the braking action, the lead screw 19 stops moving, and the position of the stopped vertical arm 2 is maintained.

[0059] The process of rotating and moving around the center vertical line of the outer vertical arm structure 8 includes the vertical arm rotation brake assembly receiving the rotation movement command transmitted by the outer vertical arm structure 8, closing the braking action, and performing rotation movement around the center vertical line of the outer vertical arm structure 8.

[0060] The vertical arm rotation brake assembly receives the rotation stop command transmitted by the vertical arm outer structure 8, stops the rotation movement, and maintains the position of the stopped vertical arm 2.

[0061] For example, when medical staff rotate the outer structural component 8 of the vertical arm, the vertical arm rotation brake assembly receives the rotational force, closes the braking action, and the outer structural component 8 of the vertical arm rotates according to the rotation of the medical staff; when the medical staff stops rotating the outer structural component 8 of the vertical arm, the vertical arm rotation brake assembly stops rotating, opens the braking action, and fixes the position.

[0062] The horizontal movement, vertical movement, and vertical rotation around the center of the outer structural member 8 of the vertical arm also include a feedback mechanism. This feedback mechanism records the starting and ending positions of the robotic arm and generates feedback data signals. A display device receives and displays these data signals. For example, when medical personnel move the robotic arm from its starting position to a suitable incision position for the patient, the feedback mechanism generates feedback data signals and displays them on the monitor, allowing the surgeon to promptly see whether the position is appropriate.

[0063] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm, characterized in that, It includes a horizontal beam arm and a vertical arm; The crossbeam arm has a horizontal sliding device, which includes a first guide rail assembly and a sliding plate. The vertical arm has a vertical arm housing, and the vertical arm housing is provided with a vertical telescopic device, a gravity compensation device and a rotating device. The vertical arm housing is fixed to the sliding plate; The sliding plate includes at least one slider; The first guide rail assembly includes at least one guide rail disposed opposite to the slider; The gravity compensation device specifically includes a gas spring fixing frame, a gas spring, and an external structural component of a vertical arm; The gas spring mounting bracket is fixed to the inner wall of the vertical arm housing; The vertical arm outer structural component is a hollow component. A fixing block is fixedly installed inside the vertical arm outer structural component near the end of the crossbeam arm. The fixing block has a through hole for a lead screw nut and at least two through holes for fixing tension and compression sensors. The outer wall of the vertical arm outer structural component near one end of the horizontal beam arm is provided with a slider mounting and fixing device. The external structural component of the vertical arm has a slot. One end of the gas spring is connected to the gas spring fixing frame, and the other end is vertically connected to a clip; the clip is locked in the clip slot.

2. The robotic arm according to claim 1, characterized in that, The slot is located on the outer structural member of the vertical arm at the end of the gas spring away from the crossbeam arm. The slot is composed of two parallel arcs and two parallel straight lines. The width of the clip is less than the length of the two parallel straight lines of the slot, and the length of the clip is greater than the length of the perpendicular line between the two parallel straight lines of the slot. The clip is threadedly fixed to the two parallel straight lines of the slot. The side of the clip facing the inner cavity of the outer structural member of the vertical arm is provided with a connector perpendicular to the gas spring. The connector is threadedly connected to the connector of the gas spring.

3. A robotic arm according to claim 2, characterized in that, The vertical telescopic device includes a drive reducer fixing frame, a second brake fixing frame, a lead screw fixing seat, a lead screw, a lead screw nut, a drive motor, a drive reducer, a second brake, a second guide rail assembly, a slider, and a tension / compression sensor; The drive reducer mounting bracket, the second brake mounting bracket, and the lead screw mounting base are fixed to the inner wall of the vertical arm housing; The drive reducer fixing bracket fixes the drive reducer, the drive motor is fixed on the drive reducer, and the second brake fixing bracket fixes the second brake; the drive motor is rotatably connected to the drive reducer, the drive reducer is rotatably connected to the second brake, the lead screw passes through the lead screw fixing seat, one end is rotatably connected to the second brake, and the other end passes through the lead screw nut through hole on the fixing block and is connected to the lead screw nut, the lead screw nut through hole is provided with a thread corresponding to the lead screw nut; The tension / compression sensor is threaded onto the fixing block; The slider is threadedly connected to the slider mounting and fixing device; The second guide rail assembly is disposed on the housing of the vertical arm, and the second guide rail assembly includes at least one guide rail disposed opposite to the slider.

4. A robotic arm according to claim 1, characterized in that, The rotating device includes a vertical arm rotation brake assembly for rotating and braking the outer structural component of the vertical arm.

5. A robotic arm according to claim 1, characterized in that, The beam arm also includes a braking device, which includes a gear, a rack, and a first brake.

6. A robotic arm according to claim 1, characterized in that, The beam arm also includes a first feedback device, which includes a first linear encoder reader, a first linear encoder ruler, and a display device.

7. A robotic arm according to claim 1, characterized in that, The vertical arm also includes a second feedback device, which includes a second linear encoder reader, a second linear encoder ruler, and a display device.

8. The method for controlling the movement of a robotic arm as described in any one of claims 1-7, characterized in that, This includes horizontal movement, vertical movement, and rotational movement around the center of the outer structural member of the vertical arm.

9. The method for controlling the movement of a robotic arm according to claim 8, characterized in that, The horizontal movement includes the braking device receiving a horizontal movement command transmitted by the vertical arm and disengaging the braking action; the sliding plate receiving the horizontal movement command transmitted by the vertical arm and transmitting it to the slider for horizontal movement; the slider sliding on the first guide rail assembly; the sliding plate receiving a horizontal movement stop command transmitted by the vertical arm and stopping the horizontal movement; and the braking device receiving the horizontal movement stop command transmitted by the vertical arm and maintaining the position of the stopped vertical arm.

10. The method for controlling the movement of a robotic arm according to claim 8, characterized in that, The vertical movement includes the second brake receiving the vertical movement command transmitted by the vertical arm and closing the braking action; the tension / compression sensor receiving the vertical movement command transmitted by the outer structural component of the vertical arm and judging whether the received command is tension or compression, and sending a drive signal to the drive motor; the drive motor receiving the drive signal drives the drive reducer and adjusts the torque of the lead screw to realize the upward or downward movement of the slider on the second guide rail assembly, thereby realizing the upward or downward vertical movement of the outer structural component of the vertical arm. The tension / compression sensor receives the vertical movement stop command transmitted by the vertical arm and sends the vertical movement stop command to the drive motor to stop the vertical movement. The second brake maintains the position of the stopped vertical arm according to the received vertical movement stop command transmitted by the external structural component of the vertical arm.

11. The method for controlling the movement of a robotic arm according to claim 8, characterized in that, The rotational movement around the center vertical line of the outer vertical arm structure includes the vertical arm rotation brake assembly receiving the rotational movement command transmitted by the outer vertical arm structure, disengaging the braking action, and performing rotational movement around the center vertical line of the outer vertical arm structure. The vertical arm rotation brake assembly receives a rotation stop command transmitted from the external structural component of the vertical arm, stops the rotation, and maintains the position of the stopped vertical arm.

12. The method for controlling the movement of a robotic arm according to claim 8, characterized in that, The horizontal movement, vertical movement, and vertical rotation around the center of the outer structure of the vertical arm also include a feedback mechanism. The feedback mechanism records the start position and end position of the movement of the robotic arm and generates feedback data signals. The display device receives the data signals generated by the feedback mechanism and displays them.

Images