Array Robotic Arm

Abstract

The present invention provides an array-type robotic arm comprising: a connecting piece; a fixed platform, which is arranged at the lower end of the connecting piece, and a first lattice unit is arranged in an array on the lower surface, and the first lattice unit comprises: a first column, the upper end of which is fixedly connected to the fixed platform; a first column cap, which is arranged at the lower end of the first column, and the diameter of the first column cap is larger than the diameter of the first column; a mobile platform, and a second lattice unit is arranged in an array on the upper surface, and the second lattice unit comprises: a mobile platform body; a second column, the lower end of which is fixedly connected to the upper surface of the mobile platform body; a second column cap, which is arranged at the upper end of the second column, and the diameter of the second column cap is larger than the diameter of the second column; a connecting column, one end of which is connected to the lower surface of the mobile platform; a folding and unfolding robotic arm, which is connected to the other end of the connecting column; the diameter of the second column is smaller than the minimum spacing between two adjacent first column caps, the diameter of the second column cap is larger than the maximum spacing between two adjacent first column caps, and the lower surface of the second column cap abuts against the upper surface of the first column cap.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to an array type mechanical arm. Background Art

[0002] The surgical robot generally adopts a column plus a robotic arm layout. The bottom of the column is equipped with rollers and can be moved to the bedside area. The multiple robotic arms extending from the side of the column allow the doctor to control the endoscope and surgical instruments at the front of the robotic arm to complete the corresponding surgical operation. Since the surgical process requires the collaboration of multiple doctors and nurses, the existence of the column and the robotic arm greatly occupies the limited area beside the bed, which has an adverse effect on the doctor's movement and operating space.

[0003] Therefore, the main purpose of the present invention is to optimize the layout of the robotic arm, and reduce its occupation of bedside space while ensuring the actual functions of the robotic arm and front-end instruments. Summary of the invention

[0004] In view of this, the present invention provides an array-type robotic arm, which can reduce the occupation of bedside space under the premise of ensuring the actual functions of the robotic arm and the front-end instrument, and avoid adverse effects on the movement and operation space of the doctor. The array-type robotic arm comprises: a connecting piece, which is configured to be connected to the top of the operating room at one end; a fixed platform, which is suspended at the lower end of the connecting piece, and the lower surface of the fixed platform is provided with a first lattice unit in an array; a mobile platform, the upper surface of which is provided with a second lattice unit in an array; a connecting column, one end of which is connected to the lower surface of the mobile platform; a folding robotic arm, one end of which is connected to the other end of the connecting column, and the other end is suitable for connecting surgical instruments;

[0005] The first lattice unit includes: a first column, the upper end of which is fixedly connected to the fixed platform; a first column cap, which is arranged at the lower end of the first column, and the diameter of the first column cap is larger than the diameter of the first column;

[0006] The second dot matrix unit includes: a mobile platform body; a second column, the lower end of which is fixedly connected to the upper surface of the mobile platform body; a second column cap, which is arranged at the upper end of the second column, and the diameter of the second column cap is larger than the diameter of the second column;

[0007] Among them, the diameter of the second column is smaller than the minimum spacing between two adjacent first column caps, and the diameter of the second column cap is larger than the maximum spacing between two adjacent first column caps. The second lattice unit and the first lattice unit are cross-arranged in the vertical direction so that the lower surface of the second column cap is pressed on the upper surface of the first column cap, thereby realizing that the mobile platform is suspended on the fixed platform and can slide relative to the fixed platform.

[0008] In a specific embodiment, the fixed platform includes: a base plate, which is provided with through holes in an array that are compatible with the first dot matrix units, and the diameter of the through holes is larger than the diameter of the first column; at least three mounting ears, which are equidistantly arranged on the outer edge of the base plate, and the mounting ears are suitable for connecting with the connecting member; and a movable plate, which rests against the upper surface of the base plate; wherein each of the first columns is connected to the movable plate after passing through one of the through holes.

[0009] In a specific embodiment, the array-type robotic arm also includes a braking assembly, which includes: sliding blocks, which are slidably and symmetrically arranged on two sides of a fixed platform; braking shafts, which are respectively arranged on the two sliding blocks; and a brake belt, whose two ends are respectively connected to the two sides of the mobile platform body, and the brake belt bypasses the fixed platform and is tightened on the two brake shafts; wherein the brake shaft can control the rotation or braking of the brake belt.

[0010] In a specific embodiment, there are two groups of brake assemblies, and the two groups of brake assemblies are respectively arranged on four sides of the fixed platform along two vertical directions to control the movement or braking of the mobile platform in two directions.

[0011] In a specific embodiment, the brake shaft includes: a bracket, which is a U-shaped structure, and the bottom of the bracket is connected to the sliding block; a brake, which is arranged at one end of the bracket; an axis, one end of which is used for the brake connection and the other end is rotatably connected to the other end of the bracket; and a roller, which is arranged on the axis and is configured to rotate synchronously with the axis; wherein the brake is configured to control the rotation or braking of the roller in response to releasing or locking the axis.

[0012] In a specific embodiment, a threaded hole is provided on the roller in a radial direction, and the brake assembly further comprises: a top screw threadedly connected to the threaded hole, and the top screw is configured to be screwed into the threaded hole to abut against the axis to lock the relative position of the axis and the roller.

[0013] In a specific embodiment, the brake band includes: a single brake band, one end of which is connected to the first end of the mobile platform body, and the other end of which is connected to the brake shaft on the opposite side after bypassing the brake shaft on the same side; and a double brake band, one end of which is connected to the second end of the mobile platform body opposite to the first end, and the other end of which is connected to the brake shaft on the opposite side after bypassing the brake shaft on the same side.

[0014] In a specific embodiment, the connecting member includes four suspension rods, and the four suspension rods are respectively connected to the four corners of the fixed platform.

[0015] In a specific embodiment, a sliding groove is provided on the side of the fixed platform, and the sliding block is slidably connected to the sliding groove through concave-convex fitting.

[0016] In a specific embodiment, the connecting column is a telescopic rod, and the connecting column includes any of the following: an electric telescopic rod, a starter telescopic rod, a hydraulic telescopic rod, and a linear motor.

[0017] Based on the above technical solution, it can be known that the embodiment of the present invention provides a new layout method of the surgical robot manipulator arm. The manipulator arm is suspended at the top of the operating room through a mobile platform, a fixed platform, and a first dot matrix unit and a second dot matrix unit distributed on the platform. The manipulator arm can be dragged by the operator to perform translational movement at any position, thereby reducing the occupation of the bedside space and having a larger range of motion, making it easier for the front end to align with the operating point during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of an array type mechanical arm according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 The fixed platform exploded diagram of the array type robotic arm shown;

[0020] Figure 3 for Figure 1 A three-dimensional diagram of the mobile platform of the array type robotic arm shown;

[0021] Figure 4 for Figure 1 A front view of a fixed platform and a mobile platform of the array type robotic arm shown;

[0022] Figure 5 A three-dimensional diagram of a brake assembly of an array type mechanical arm according to an embodiment of the present invention;

[0023] Figure 6 for Figure 5 Exploded view of brake assembly shown;

[0024] Figure 7 for Figure 6 A perspective view of the roller shown;

[0025] Figure 8 A three-dimensional diagram of two sets of brake components of an array type mechanical arm according to an embodiment of the present invention;

[0026] Fig. 9 for Figure 8 Schematic diagram of the connection between two sets of brake components and the mobile platform.

[0027] In the above drawings, the meanings of the reference numerals are as follows:

[0028] 01-Connectors;

[0029] 02-Fixed platform;

[0030] 021- bottom plate;

[0031] 0211-Through hole;

[0032] 022-Active board;

[0033] 023-first lattice unit;

[0034] 0231-First column;

[0035] 0232-First column cap;

[0036] 03-Mobile platform;

[0037] 031-mobile platform body;

[0038] 032-second lattice unit;

[0039] 0321-Second column cap;

[0040] 0322-Second column;

[0041] d1-the minimum distance between two adjacent first columns;

[0042] d2-diameter of the second column cap;

[0043] d3 - diameter of the second cylinder;

[0044] d4- minimum distance between two adjacent first column caps;

[0045] 04-Brake assembly;

[0046] 041-brake shaft;

[0047] 0411-Axis;

[0048] 0412-Stand;

[0049] 0413-Roller;

[0050] 0414-brake;

[0051] 0415-top screw;

[0052] 042-brake belt;

[0053] 0421-single brake band;

[0054] 0422-Dual brake band;

[0055] 043-slider;

[0056] 05-Connecting column; and

[0057] 06-Fold and unfold the robotic arm. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0059] But it should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, the description of known techniques is omitted to avoid unnecessary confusion of concepts of the present invention.

[0060] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The term "comprising" used herein indicates the existence of features, steps, operations, but does not exclude the existence or addition of one or more other features.

[0061] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0062] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0063] An embodiment of the present invention provides an array-type robotic arm, which includes: a connecting piece, one end of which is connected to the top of an operating room; a fixed platform, which is suspended at the other end of the connecting piece, and the lower surface of which is array-type with first lattice units, the first lattice units including a first column and a second column, wherein the upper end of the first column is fixedly connected to the fixed platform; a first column cap is arranged at the lower end of the first column, and the diameter of the first column cap is greater than the diameter of the first column; a mobile platform, the upper surface of which is array-type with second lattice units, the second lattice units including a mobile platform body, a second column and a second column A cap, wherein the lower end of the second column is fixedly connected to the upper surface of the mobile platform body; a second column cap is arranged at the upper end of the second column, and the diameter of the second column cap is larger than the diameter of the second column; a connecting column, one end of which is connected to the lower surface of the mobile platform; a foldable robotic arm is connected to the other end of the connecting column; wherein each lattice unit is composed of a column and a column cap, and the first and second lattice units are cross-arranged in the vertical direction, so that the mobile platform is suspended on the fixed platform and slides relative to the fixed platform, thereby reducing the occupation of the bedside space, ensuring that the robotic arm has a larger range of motion, and facilitating surgical operations.

[0064] Figure 1 It is a three-dimensional diagram of an array type robotic arm according to an embodiment of the present invention.

[0065] According to some embodiments of the present invention, an array type mechanical arm is disclosed, such as Figure 1 As shown, the array type robotic arm mainly includes: a connector 01, a fixed platform 02, a mobile platform 03, a brake assembly 04, a connecting column 05, and a folding and unfolding robotic arm 06. The upper and lower ends of the connector 01 are respectively connected to the operating room ceiling and the fixed platform 02. The fixed platform 02 and the mobile platform 03 are connected through a dot matrix structure, which ensures that the mobile platform 03 can maintain a suspended posture while moving along the X and Y directions of the fixed platform. Optionally, the diameter of the through hole 0211 is greater than the diameter of the first column 0231. The upper end of the first column 0231 is fixedly connected to the movable plate 022 through the through hole 0211. The first column cap 0232 is isolated from the bottom plate 021, so that the movable plate 022 has a certain movement space, ensuring that the mobile platform can move in a 360° direction at any position. In an actual application scenario, the operator pushes the array robotic arm to the specified position through external force, so that the Trocar (trocar) coincides with the opening point of the abdominal wall. During the operation, the corresponding surgical operation is completed by adjusting the extension and swing of the folding and unfolding robotic arm and the surgical instruments connected to it.

[0066] Figure 2 for Figure 1 The fixed platform exploded diagram of the array type robotic arm is shown in FIG. Figure 3 for Figure 1 A stereoscopic view of the mobile platform of the array-type robotic arm is shown.

[0067] According to some embodiments of the present invention, Figure 2 As shown, the fixed platform 02 includes: a bottom plate 021, a movable plate 022 and a first lattice unit 023 distributed in an array, the first lattice unit includes a first column 0231 and a first column cap 0232, the first column 0231 is fixedly connected to the fixed platform and has a smaller diameter, and the first column cap 0232 has a larger diameter. At least three mounting ears are arranged at equal intervals on the outer edge of the bottom plate, and the mounting ears are suitable for connecting with the connecting member 01.

[0068] like Figure 3 As shown, the second lattice units 032 are evenly distributed on the upper surface of the mobile platform body 031. The lattice unit includes a second column cap 0321 and a second column 0322. The second column 0322 is fixedly connected to the mobile platform body 031 and has a smaller diameter, while the second column cap 0321 has a larger diameter.

[0069] In this embodiment, the first column cap 0232 and the second column cap 0321 in the lattice structure are in contact with each other, playing the role of suspending the mobile platform.

[0070] Figure 4 for Figure 1 A front view of the fixed platform and the mobile platform of the array type robot arm shown.

[0071] According to some embodiments of the present invention, Figure 4 As shown, the second column cap 0321 of the mobile platform is located between the first columns 0231 of the fixed platform, and the diameter d2 of the second column cap 0321 is smaller than the minimum spacing d1 between two adjacent first columns 0231, larger than the minimum spacing d4 between two adjacent first column caps 0232, and larger than the maximum spacing between two adjacent first column caps 0232, that is, the spacing between the first column caps 0232 of two diagonally distributed first lattice units 023 (not shown in the figure); and the diameter d3 of the second column 0322 is smaller than the minimum spacing d4 between two adjacent first column caps 0232.

[0072] According to some embodiments of the present invention, the first dot matrix unit 023 and the second dot matrix unit 032 are cross-arranged in the vertical direction, and the lower surface of the second column cap 0321 is pressed on the upper surface of the first column cap 0232, thereby ensuring that the mobile platform 03 can be suspended under the fixed platform 02, thereby improving the utilization rate of the three-dimensional space; at the same time, the dot matrix structure ensures that the mobile platform 03 can maintain a suspended posture while moving along the X and Y vertical directions of the fixed platform 02; one end of the connecting column 05 is connected to the lower surface of the mobile platform 03, and the other end is connected to the folding and unfolding robot arm 06, thereby expanding the movement range of the folding and unfolding robot arm, which is convenient for surgical operations.

[0073] In this embodiment, the second dot matrix unit 032 can pass through the gap between two adjacent first dot matrix units 023, based on which the translation and rotation of the mobile platform 03 relative to the fixed platform 02 are achieved. Figure 2 As shown, the mounting ears of the fixed platform bottom plate 0221 of the array type manipulator are connected to the connector 01. The bottom plate 021 has through holes 0211 distributed in an array, corresponding to the first lattice units 023 one by one. In this embodiment, the diameter of the through hole 0211 is greater than the diameter of the first column 0231, the upper end of the first column 0231 is fixedly connected to the movable plate 022 through the through hole 0211, and the first column cap 0232 is isolated from the bottom plate 021, so that the movable plate 022 has a certain movement space, ensuring that the mobile platform can move in a 360° direction at any position. At the same time, the bottom plate 021 can also improve the strength of each first lattice unit 023, prevent the first lattice unit 023 from deforming, causing the distance between two adjacent first lattice units 023 to change, thereby causing the second lattice unit 032 to fall or get stuck.

[0074] Figure 5 This is a three-dimensional diagram of a brake assembly of an array type mechanical arm according to an embodiment of the present invention. Figure 6 for Figure 5 Exploded view of the brake assembly shown, Figure 7 for Figure 6 A perspective view of the roller is shown.

[0075] According to some embodiments of the present invention, Figures 5 to 7 As shown, the array type mechanical arm also includes a brake assembly 04, which includes: a brake shaft 041, which is arranged on two sliding blocks 043 and is used to control the rotation or braking of a brake belt 042; a brake belt 042, whose two ends are respectively connected to the two sides of the mobile platform body 031, bypassing the fixed platform 02 and being tightened on the two brake shafts 041; and a sliding block 043, which is slidably and symmetrically arranged on the two sides of the fixed platform 02. When the components on both sides are not braked, the rollers of the brake shafts 041 on both sides can rotate, and the brake belt 042 can be extended and retracted with the movement of the mobile platform; when the components on both sides are braked, the rollers of the brake shafts 041 on both sides stop rotating, and the brake belt 042 limits the movement of the mobile platform along the direction of the brake belt.

[0076] According to some embodiments of the present invention, the brake band 042 of the array type mechanical arm brake assembly includes a single brake band 0421 and a double brake band 0422. One end of the single brake band 0421 and the double brake band 0422 respectively pass around the roller on one side and are fixedly connected to the roller on the opposite side, and the other ends of the two brake bands are fixedly connected to the mobile platform 03.

[0077] According to some embodiments of the present invention, the brake shaft 041 of the array type mechanical arm brake assembly includes: an axis 0411, a bracket 0412, a roller 0413, and a brake 0414. Figure 6 The specific structure of the brake shaft is schematically shown.

[0078] According to some embodiments of the present invention, one end of the axis 0411 is used to connect to the brake 0414, and the other end is rotatably connected to the bracket 0412; the bracket 0412 is a U-shaped structure, the bottom of which is connected to the sliding block, one end is provided with the brake 0414, and the other end is rotatably connected to one end of the axis 0411; the roller 0413 is arranged between the brackets, the axis 0411 passes through the center holes of the bracket 0412 and the roller 0413, and the axis 0411 and the roller 0413 rotate synchronously; the brake 0414 is connected to a section of the axis 0411, and the rotation and stop of the roller can be controlled by loosening and locking the axis.

[0079] In this embodiment, when using, the user first releases the brake 0414, and pushes the array-type robotic arm to the specified position by external force, so that the trocar coincides with the opening point of the abdominal wall, and then locks the brake 0414 to relatively fix the position of the robotic arm. During the operation, the corresponding surgical operation is completed by adjusting the fixed point mechanism, and the extension and swinging of the front end of the surgical instrument.

[0080] According to some embodiments of the present invention, a threaded hole is provided on the roller 0413 of the array-type mechanical arm brake shaft along the radial direction for threading with the top screw 0415. Figure 7 The structure of the brake shaft roller is schematically shown.

[0081] According to some embodiments of the present invention, the top screw 0415 is rotated into the threaded hole and abuts against the shaft to lock the relative position of the shaft and the roller, so that the two are fixedly connected, thereby achieving synchronous rotation of the shaft and the roller.

[0082] Figure 8 This is a three-dimensional diagram of two sets of brake components of an array type mechanical arm according to an embodiment of the present invention. Fig. 9 for Figure 8 Schematic diagram of the connection between two sets of brake components and the mobile platform.

[0083] According to some embodiments of the present invention, Figure 8 , Fig. 9 As shown, two sets of brake assemblies 04 are respectively arranged on four sides of the fixed platform 02 along two vertical directions to control the movement or braking of the mobile platform 03 in two directions. When the position of the mobile platform 03 needs to be locked, the brake 0414 of the brake assembly 04 can be used to lock the axis 0411.

[0084] In this embodiment, the four brackets 0412 of the brake assembly 04 can slide in two vertical directions along the slide rails on the side of the fixed platform with the help of the sliding block 043. When the four brakes 0414 are released at the same time, the mobile platform 03 can slide in any direction, accompanied by the expansion and contraction of the brake belt 042 and the sliding of the brackets 0412 along the side wall of the fixed platform 02. When the four brakes 0414 lock the brake assembly axis 0411 at the same time, the freedom of the mobile platform 03 in two directions is limited, and its relative position with the fixed platform 02 is fixed.

[0085] According to some embodiments of the present invention, a slide groove is provided on the side of the array-type robotic arm, and the sliding block is slidably connected to the slide groove through a concave-convex fit.

[0086] According to some embodiments of the present invention, the connecting parts of the array-type robotic arm include four suspension rods, which are respectively connected to the four corners of the fixed platform.

[0087] According to some embodiments of the present invention, the connecting column of the array-type robotic arm is a telescopic rod, including any of the following: an electric telescopic rod, a starting telescopic rod, a hydraulic telescopic rod and a linear motor, and the operator can choose according to actual conditions.

[0088] The array type robotic arm provided according to the embodiment of the present invention has at least one of the following beneficial effects compared with the prior art:

[0089] 1. The robotic arm is suspended from the top of the operating room instead of extending from the column, thus reducing the space occupied by the bedside;

[0090] 2. The design of the fixed platform, mobile platform and array unit ensures that the robot arm has a larger range of motion, making it easier for its front end to align with the operating point during surgery;

[0091] 3. The vertically arranged braking module can completely limit the translational movement of the robot arm in any direction, thereby improving the spatial stability of the robot arm.

[0092] So far, the embodiments of the present disclosure have been described in detail in conjunction with the accompanying drawings. It should be noted that the implementation methods not shown or described in the drawings or the body of the specification are all forms known to ordinary technicians in the relevant technical field and are not described in detail. In addition, the above definitions of each component are not limited to the various specific structures, shapes or methods mentioned in the embodiments, and ordinary technicians in the field can simply change or replace them.

[0093] It should also be noted that, in the specific embodiments of the present disclosure, unless otherwise indicated, the numerical parameters in the present specification and the appended claims are approximate values ​​and can be changed according to the desired characteristics obtained through the content of the present disclosure. Specifically, all numbers used in the specification and claims to express the size, range conditions, etc. of the composition should be understood to be modified by the term "about" in all cases. In general, the meaning of the expression refers to the change of ±10% in some embodiments, ±5% in some embodiments, ±1% in some embodiments, and ±0.5% in some embodiments by a specific number.

[0094] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0095] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present disclosure. It should be understood that the above description is only a specific embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An array type robotic arm, characterized in that: include: A connecting piece, configured to be connected at one end to the top of the operating room; A fixed platform is suspended at the lower end of the connecting member, and a first lattice unit is arranged in an array on the lower surface of the fixed platform. The first lattice unit includes: A first column, the upper end of which is fixedly connected to the fixed platform; A first column cap is arranged at the lower end of the first column, and the diameter of the first column cap is larger than the diameter of the first column; The mobile platform has a second dot matrix unit arranged in an array on its upper surface, and the second dot matrix unit includes: Mobile platform body; A second column, the lower end of which is fixedly connected to the upper surface of the mobile platform body; A second column cap is arranged at the upper end of the second column, and the diameter of the second column cap is larger than the diameter of the second column; A connecting column, one end of which is connected to the lower surface of the mobile platform; and A foldable mechanical arm, one end of which is connected to the other end of the connecting column, and the other end is suitable for connecting a surgical instrument; The diameter of the second column is smaller than the minimum distance between two adjacent first column caps, the diameter of the second column cap is larger than the maximum distance between two adjacent first column caps, and the second lattice unit and the first lattice unit are arranged crosswise in the vertical direction so that the lower surface of the second column cap is pressed on the upper surface of the first column cap, so that the mobile platform is suspended on the fixed platform and can slide relative to the fixed platform; Wherein, the array type mechanical arm further includes a brake assembly, and the brake assembly includes: A sliding block is symmetrically arranged on two sides of the fixed platform in a sliding manner; A brake shaft is respectively arranged on the two sliding blocks; and A brake belt, both ends of which are connected to the two sides of the mobile platform body respectively, and the brake belt passes around the fixed platform and is tightened on the two brake shafts; Wherein, the brake shaft can control the rotation or braking of the brake belt; When the brake assembly is not braked, the roller of the brake shaft can rotate, and the brake belt can be extended and retracted with the movement of the mobile platform to allow the mobile platform to slide in any direction; when the brake assembly is braked, the roller of the brake shaft stops rotating, and the brake belt limits the movement of the mobile platform in the direction of the brake belt; There are two groups of brake assemblies, which are respectively arranged on four sides of the fixed platform along two vertical directions to control the movement or braking of the mobile platform in two directions.

2. The array type robotic arm according to claim 1, characterized in that: The fixed platform comprises: A bottom plate, which is provided with through holes adapted to the first dot matrix units in an array, wherein the diameter of the through holes is larger than the diameter of the first column; at least three mounting ears, equidistantly disposed on an outer edge of the base plate, the mounting ears being adapted to be connected to the connector; and A movable plate rests against the upper surface of the bottom plate; Wherein, each of the first columns passes through one of the through holes and is connected to the movable plate.

3. The array type robotic arm according to claim 1, characterized in that: The brake shaft comprises: The bracket is a U-shaped structure, and the bottom of the bracket is connected to the sliding block; A holding brake, arranged at one end of the bracket; An axis, one end of which is used for connection with the brake, and the other end of which is rotatably connected to the other end of the bracket; and A roller, disposed on the axis, and configured to rotate synchronously with the axis; The holding brake is configured to control the rotation or braking of the roller in response to releasing or locking the axis.

4. The array type robotic arm according to claim 3, characterized in that: The roller is provided with a threaded hole in a radial direction, and the brake assembly further comprises: A top screw is threadedly connected to the threaded hole, and the top screw is configured to be screwed into the threaded hole to abut against the shaft center to lock the relative position of the shaft center and the roller.

5. The array type robotic arm according to claim 1, characterized in that: The brake band comprises: A single brake belt, one end of which is connected to the first end of the mobile platform body, and the other end of which is connected to the brake shaft on the opposite side after passing around the brake shaft on the same side; and The double brake belt has one end connected to the second end of the mobile platform body opposite to the first end, and the other end connected to the brake shaft on the opposite side after passing around the brake shaft on the same side.

6. The array type robotic arm according to claim 1, characterized in that: The connecting member includes four suspension rods, and the four suspension rods are respectively connected to the four corners of the fixed platform.

7. The array type robotic arm according to claim 1, characterized in that: A sliding groove is arranged on the side of the fixed platform, and the sliding block is slidably connected to the sliding groove through concave-convex matching.

8. The array type robotic arm according to claim 1, characterized in that: The connecting column is a telescopic rod, and the connecting column includes any one of the following: an electric telescopic rod, a hydraulic telescopic rod or a linear motor.

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