Multi-axis robotic arm

Abstract

This application provides a multi-axis robotic arm comprising an operating arm and a multi-axis linkage arm. A handle is connected to the operating arm. The multi-axis linkage arm includes multiple sequentially rotatably connected linkage sections. Each linkage section includes a housing, a rotating structure, a locking structure, a swing arm, and a movable shaft. The rotating structure is rotatably mounted on the housing. The operating arm is fixedly connected to the rotating structure of an adjacent linkage section. The housing is also fixedly connected to the rotating structure of an adjacent linkage section. The locking structure is connected to the housing and is used to lock and unlock the rotating structure. The movable shaft is linked to the handle. The swing arm is linked between the movable shafts of two adjacent linkage sections. The swing arm has a first position where the locking structure locks the rotating structure, and a second position where the locking structure unlocks the rotating structure. The handle can drive the swing arm from the first position to the second position via the movable shaft. This multi-axis robotic arm can be operated with one hand and can achieve free traction and locking, with a simple structure.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a multi-axis robotic arm. Background Technology

[0002] As the fundamental structure of surgical robots, robotic arms have evolved into various forms and structures after a period of development. Generally, intelligence, integration, and multifunctionality are the future development directions for medical robotic arms. With the application of technologies such as motor control and visual imaging, the emergence of medical robotic arms has greatly promoted the development of modern medical technology. In modern surgical procedures, robotic arms are often used to fix surgical instruments and perform surgery on patients.

[0003] There is currently no universal mechanical traction arm. Two types are commonly used: 1. Dedicated frames for guiding and supporting; 2. General-purpose industrial collaborative arms.

[0004] Dedicated guide support frames cannot be operated with one hand, cannot be fixed in any position or posture, and do not have universal positioning functions, so they usually need to be paired with an additional navigation system.

[0005] Ordinary industrial collaborative arms are bulky, integrate motors, reducers and other equipment, require additional control systems, are costly, difficult to carry and inconvenient to use. Summary of the Invention

[0006] To address the aforementioned technical problems, this application provides a multi-axis robotic arm that can achieve free traction and locking with single-handed operation. It has a simple structure, small size and weight, and low manufacturing cost.

[0007] To address the aforementioned technical problems, this application provides a multi-axis robotic arm, comprising an operating arm and a multi-axis linkage arm. A handle is connected to the operating arm. The multi-axis linkage arm includes multiple linkage shafts that are rotatably connected sequentially. Each linkage shaft includes a housing, a rotating structure, a locking structure, a swing arm, and a movable shaft. The rotating structure is rotatably mounted on the housing. The operating arm is fixedly connected to the rotating structure of an adjacent linkage shaft. The housing is fixedly connected to the rotating structure of an adjacent linkage shaft. The locking structure is connected to the housing and is used to lock and unlock the rotating structure. The movable shaft is linked to the handle. The swing arm is linked between the movable shafts of two adjacent linkage shafts. The swing arm has a first position where the locking structure locks the rotating structure, and a second position where the locking structure unlocks the rotating structure. The handle can drive the swing arm from the first position to the second position via the movable shaft.

[0008] Optionally, each of the linkage shafts further includes an encoder for detecting the rotation angle of the rotating structure. The encoder includes a movable detection part and a fixed detection part, which are disposed opposite to the fixed detection part. The movable detection part is fixedly connected to the rotating structure, and the movable detection part is fixedly connected to the locking structure.

[0009] Optionally, the rotating structure includes an upper friction ring, the operating arm is fixedly connected to the upper friction ring, and between two adjacent linkage shafts, the housing of one linkage shaft is fixedly connected to the upper friction ring of the other linkage shaft. The locking structure includes a lower friction ring, the lower friction ring is movably connected to the housing, the lower friction ring is located between the housing and the upper friction ring, and the rotating structure is locked by friction between the lower friction ring and the upper friction ring.

[0010] Optionally, the locking structure further includes a movable ring and a first elastic element. The movable ring is arranged around the movable shaft and is linked to the movable shaft and the lower friction ring respectively. The first elastic element is connected between the housing and the movable ring. The first elastic element pushes the movable ring and the lower friction ring with elastic force, so that the lower friction ring abuts against the upper friction ring to lock the rotating structure. The handle can drive the movable ring to compress the first elastic element through the movable shaft to unlock the rotating structure.

[0011] Optionally, a top post is fixedly connected to the moving ring, and a guide post is fixedly connected to the lower friction ring. The end of the top post and the end of the guide post abut against each other under the elastic force of the first elastic element.

[0012] Optionally, the locking structure further includes a second elastic element, which is sleeved on the guide post. One end of the second elastic element abuts against the lower friction ring, and the other end of the second elastic element abuts against the top post. The elastic force of the second elastic element is less than that of the first elastic element.

[0013] Optionally, the rotating structure further includes an inner rotating ring and a slewing bearing. The slewing bearing is connected inside the housing, the inner rotating ring is connected to the slewing bearing, and the upper friction ring is fixedly connected to the inner rotating ring. The upper friction ring rotates through the slewing bearing.

[0014] Optionally, a fixed ring is fixedly connected to the housing, the fixed ring is arranged around the rotating structure and the movable shaft, the rotary bearing is fixed to the fixed ring, a fixed post is fixedly connected to the fixed ring, and the lower friction ring is movably connected to the fixed post.

[0015] Optionally, the rotating structure further includes a first linear bearing, which is fixed on the inner rotating ring. The movable shaft is movably inserted through the inner rotating ring and the upper friction ring and connected to the first linear bearing.

[0016] Optionally, the end of the operating arm away from the multi-axis linkage arm is provided with a terminal interface for a connecting device, and the other end of the operating arm near the multi-axis linkage arm is provided with a movable seat, a return spring, and a force transmission shaft. A rack is fixedly connected to the movable seat, and the handle is provided with a gear that meshes with the rack. The return spring is connected between the movable seat and the force transmission shaft, and the force transmission shaft abuts against the movable shaft. The handle can drive the movable seat, the return spring, the force transmission shaft, and the movable shaft through the gear and the rack.

[0017] Optionally, the multi-axis robotic arm further includes a fastening arm that can be locked onto an object. The fastening arm is connected to the linkage shaft of the multi-axis linkage arm, and the linkage shaft is not equipped with the swing arm.

[0018] Optionally, the multi-axis linkage arm further includes a first transmission arm, which is connected between two adjacent linkage shaft sections. The first transmission arm is provided with a movable first transmission shaft and a swingable swinging member. One end of the first transmission shaft is linked to the swing arm of one of the linkage shaft sections, and the other end of the first transmission shaft is linked to the swinging member. The swinging member is linked to the swing arm of the other linkage shaft section.

[0019] Optionally, the housing includes a first housing portion and a second housing portion. The rotating structure, the locking structure, and the movable shaft are mounted on the first housing portion. The swing arm is oscillatingly connected to the second housing portion. The multi-axis linkage arm further includes a second transmission arm. The second transmission arm is connected between the first housing portion and the second housing portion of a linkage shaft section. The second transmission arm is provided with a movable second transmission shaft. One end of the second transmission shaft is linked to the movable shaft, and the other end of the second transmission shaft is linked to the swing arm.

[0020] The multi-axis robotic arm of this application can drive a handle to move a movable axis, thereby driving a swing arm to move from a first position to a second position, so that the rotating structure switches from a locked state to an unlocked state. At this time, the multi-axis linkage arm can be pulled by the operating arm to change its posture. The operating arm can be adjusted to multiple angles and positions in space. It can be freely pulled and locked with one hand. Each linkage section can be adjusted individually, which is convenient to use. It does not require a motor and reducer, has a simple structure, small size and weight, and low manufacturing cost. Attached Figure Description

[0021] Figure 1 This is a front view structural schematic diagram of the multi-axis robotic arm of the present invention;

[0022] Figure 2 This is a cross-sectional structural schematic diagram of the multi-axis robotic arm of the present invention;

[0023] Figure 3 This is a cross-sectional structural schematic diagram of the linkage joint of the present invention;

[0024] Figure 4 This is a cross-sectional structural diagram of two adjacent linkage shafts of the present invention;

[0025] Figure 5 This is a cross-sectional view of the linkage joint of the present invention in a locked state;

[0026] Figure 6 This is a cross-sectional view of the linkage joint of the present invention in the unlocked state;

[0027] Figure 7 This is a top view of the end of the operating arm of the present invention;

[0028] Figure 8 This is a cross-sectional view of the operating arm of the present invention when the handle is in the first position;

[0029] Figure 9 This is a cross-sectional view of the operating arm of the present invention when the handle is in the second position;

[0030] Figure 10 This is a partial cross-sectional view of the operating arm and linkage shaft of the present invention;

[0031] Figure 11 This is a cross-sectional structural schematic diagram of the fastening arm of the present invention;

[0032] Figure 12 This is a cross-sectional view of the connection between the linkage shaft and the first transmission arm of the present invention.

[0033] Figure 13 This is a cross-sectional view of the connection between the linkage shaft and the second transmission arm of the present invention.

[0034] Figure 14 This is a schematic diagram of the coordinate system established in each linkage section of the multi-axis linkage arm of the invention. Detailed Implementation

[0035] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0036] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical and operational aspects may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the terminology used herein is for describing particular embodiments only and is not intended to limit the present application.

[0037] Although the terms first, second, etc., are used in some instances to describe various elements herein, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0038] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of a feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition arise only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0039] Figure 1 This is a front view schematic diagram of the multi-axis robotic arm of the present invention. Figure 2 This is a cross-sectional view of the multi-axis robotic arm of the present invention. Figure 3 This is a cross-sectional structural schematic diagram of the linkage joint of the present invention. Figure 4 This is a cross-sectional view of two adjacent linkage shaft sections of the present invention. Figure 5 This is a cross-sectional view of the linkage joint of the present invention in the locked state. Figure 6 This is a cross-sectional view of the linkage joint of the present invention in the unlocked state. Please refer to the diagram. Figures 1 to 6The multi-axis robotic arm includes an operating arm 10 and a multi-axis linkage arm 20. The operating arm 10 is connected to a handle 11. The multi-axis linkage arm 20 includes multiple linkage shaft sections 21 that are rotatably connected in sequence. Each linkage shaft section 21 includes a housing 211, a rotating structure 212, a locking structure 213, a swing arm 214, and a movable shaft 215. The rotating structure 212 is rotatably mounted on the housing 211. The operating arm 10 is fixedly connected to the rotating structure 212 of the adjacent linkage shaft section 21, and the housing 211 is fixedly connected to the rotating structure 212 of the adjacent linkage shaft section 21. The locking structure 213 is connected to the housing 211 and is used to lock and unlock the rotating structure 212. The movable shaft 215 is linked to the handle 11. The rocker arm 214 is linked between the movable shafts 215 of two adjacent linkage shaft sections 21. The rocker arm 214 has a first position for locking the rotating structure 212 by the locking structure 213 and a second position for unlocking the rotating structure 212 by the locking structure 213. The handle 11 can drive the rocker arm 214 from the first position to the second position through the movable shaft 215.

[0040] The multi-axis robotic arm of the present invention can drive the handle 11 to move the movable shaft 215, thereby driving the swing arm 214 from the first position to the second position, so that the rotating structure 212 switches from the locked state to the unlocked state. At this time, the multi-axis linkage arm 20 can be pulled by the operating arm 10 to change its posture. The operating arm 10 can be adjusted to multiple angles and positions in space. It can be freely pulled and locked with one hand. Each linkage shaft 21 can be adjusted individually. It is convenient to use and does not require a motor and reducer. It has a simple structure, small size and weight, and low manufacturing cost.

[0041] Optionally, such as Figure 3 and Figure 4 As shown, each linkage joint 21 also includes an encoder 216 for detecting the rotation angle of the rotating structure 212. The encoder 216 includes a movable detection part 2161 and a fixed detection part 2162. The movable detection part 2161 and the fixed detection part 2162 are arranged opposite to each other. The movable detection part 2161 is fixedly connected to the rotating structure 212 and the locking structure 213. When the rotating structure 212 of each linkage joint 21 rotates, the movable detection part 2161 rotates synchronously with the rotating structure 212, and an angle change occurs between the movable detection part 2161 and the fixed detection part 2162.

[0042] Optionally, such as Figure 3 and Figure 4As shown, the rotating structure 212 includes an upper friction ring 2121, the operating arm 10 is fixedly connected to the upper friction ring 2121, and the housing 211 of two adjacent linkage shafts 21 is fixedly connected to the upper friction ring 2121 of another linkage shaft 21. The locking structure 213 includes a lower friction ring 2131, which is movably connected to the housing 211 and located between the housing 211 and the upper friction ring 2121. The lower friction ring 2131 and the upper friction ring 2121 lock the rotating structure 212 through friction. In this embodiment, both the upper friction ring 2121 and the lower friction ring 2131 are in a continuous circular shape, and the axes of the upper friction ring 2121 and the lower friction ring 2131 coincide with the axis of the housing 211. In other embodiments, the upper friction ring 2121 and / or the lower friction ring 2131 are formed by multiple independent friction parts surrounding a circular shape.

[0043] Optionally, the upper friction ring 2121 covers the lower friction ring 2131, and a convex ring and a groove matching the convex ring are formed between the upper friction ring 2121 and the lower friction ring 2131 to increase the contact area between the upper friction ring 2121 and the lower friction ring 2131.

[0044] Optionally, the locking structure 213 further includes a movable ring 2133 and a first elastic element 2135. The movable ring 2133 is arranged around the movable shaft 215 and is linked to the movable shaft 215 and the lower friction ring 2131. The first elastic element 2135 is connected between the housing 211 and the movable ring 2133. The first elastic element 2135 pushes the movable ring 2133 and the lower friction ring 2131 with its elastic force, so that the lower friction ring 2131 abuts against the upper friction ring 2121 to lock the rotating structure 212. The handle 11 can drive the movable ring 2133 to compress the first elastic element 2135 through the movable shaft 215 to unlock the rotating structure 212. When the handle 11 is not driven, the first elastic element 2135 uses its elastic force to make the lower friction ring 2131 abut against the upper friction ring 2121 to lock the rotating structure 212. At this time, the multi-axis robotic arm is in a locked state, such as... Figure 5 As shown; when the handle 11 is driven (e.g., the handle 11 is pressed), the handle 11 drives the movable shaft 215 to move, the movable shaft 215 squeezes the moving ring 2133, and thus the moving ring 2133 compresses the first elastic element 2135. At this time, the lower friction ring 2131 disengages from the upper friction ring 2121, and the multi-axis robotic arm is in the unlocked state, as shown. Figure 6As shown, the multi-axis linkage arm 20 can then be adjusted in position by the operating arm 10 until a suitable position is achieved. After this adjustment, the drive handle 11 is stopped, and the first elastic element 2135 returns to its original shape. This elastic force causes the lower friction ring 2131 to abut against the upper friction ring 2121, thus locking the rotating structure 212. In this embodiment, the first elastic element 2135 is a spiral-shaped stacked ring, and its axis is parallel to the axis of the movable shaft 215. In other embodiments, the first elastic element 2135 may also be a spring sheet structure, but this is not a limitation.

[0045] Optionally, the outer wall of the movable shaft 215 is provided with a pressing platform 2151, which is arranged circumferentially around the movable shaft 215. The pressing platform 2151 abuts against the moving ring 2133. When the handle 11 drives the movable shaft 215 to move, the pressing platform 2151 pushes the moving ring 2133 to compress the first elastic member 2135. In this embodiment, the moving ring 2133 includes a parallel and oppositely arranged upper surface and a lower surface. The upper surface is recessed to form a groove. The pressing platform 2151 is provided with a pressing block on its periphery, and the pressing block is disposed in the groove. The end of the first elastic member 2135 away from the housing 211 abuts against the lower surface of the moving ring 2133.

[0046] Optionally, a top post 2134 is fixedly connected to the moving ring 2133, and a guide post 2132 is fixedly connected to the lower friction ring 2131. The ends of the top post 2134 and the guide post 2132 abut against each other under the elastic force of the first elastic element 2135. Preferably, the axis of the top post 2134 coincides with the axis of the guide post 2132, and the axis of the top post 2134 is parallel to the axis of the movable shaft 215. In this embodiment, the lower friction ring 2131 is disposed above the moving ring 2133, the end of the top post 2134 away from the guide post 2132 is fixedly connected to the upper surface of the moving ring 2133, and the end of the guide post 2132 away from the top post 2134 is fixedly connected to the bottom of the lower friction ring 2131.

[0047] Optionally, the end face of the top post 2134 away from the moving ring 2133 is recessed to form a limiting groove, and the end of the guide post 2132 is positioned in the limiting groove under the elastic force of the first elastic member 2135.

[0048] Optionally, the locking structure 213 further includes a second elastic element 2136, which is sleeved on the guide post 2132. One end of the second elastic element 2136 abuts against the lower friction ring 2131, and the other end abuts against the top post 2134. The elastic force of the second elastic element 2136 is less than that of the first elastic element 2135. The upper friction ring 2121 and the lower friction ring 2131 are pre-tightened by the elastic force of the second elastic element 2136, so that the upper friction ring 2121 and the lower friction ring 2131 always remain in contact. The pre-tightening force provides a certain damping between each linkage shaft joint 21, controlling the resistance when the multi-axis linkage arm 20 is manually dragged. In this embodiment, the second elastic element 2136 is a spiral stacked ring, the outer diameter of the second elastic element 2136 is smaller than the outer diameter of the first elastic element 2135, and the axis of the second elastic element 2136 coincides with the axis of the guide post 2132; in other embodiments, the second elastic element 2136 may also be a spring sheet structure, but is not limited thereto.

[0049] Optionally, such as Figure 3 and Figure 4 As shown, the rotating structure 212 also includes an inner rotating ring 2122 and a rotary bearing 2123. The rotary bearing 2123 is connected inside the housing 211. The inner rotating ring 2122 is connected to the rotary bearing 2123. The upper friction ring 2121 is fixedly connected to the inner rotating ring 2122. The upper friction ring 2121 rotates through the rotary bearing 2123. In this embodiment, the rotary bearing 2123 and the inner rotating ring 2122 are arranged circumferentially around the movable shaft 215. The axes of the rotary bearing 2123, the inner rotating ring 2122, and the movable shaft 215 coincide. The rotary bearing 2123 is connected between the housing 211 and the inner rotating ring 2122.

[0050] Optionally, such as Figure 3 As shown, the rotating structure 212 also includes an inner fixing plate 2124. The inner fixing plate 2124 has a through hole 102 in the middle for the movable shaft 215 to pass through. The bottom of the inner rotating ring 2122 and the rotary bearing 2123 are fixedly connected to the inner fixing plate 2124. In this embodiment, the inner fixing plate 2124 and the pressing platform 2151 of the movable shaft 215 are arranged vertically opposite each other, that is, the pressing platform 2151 and the moving ring 2133 are located below the inner fixing plate 2124. When the first elastic member 2135 uses its elastic force to make the lower friction ring 2131 abut against the upper friction ring 2121 to lock the rotating structure 212, the pressing platform 2151 and the moving ring 2133 can abut against the inner fixing plate 2124, or be spaced apart from the inner fixing plate 2124.

[0051] Optionally, a fixing ring 2111 is fixedly connected to the housing 211. The fixing ring 2111 is arranged around the rotating structure 212 and the movable shaft 215. The rotary bearing 2123 is fixed to the fixing ring 2111. A fixing post 2112 is fixedly connected to the fixing ring 2111. The lower friction ring 2131 is movably connected to the fixing post 2112. In this embodiment, the fixing ring 2111 is annular and is fixedly connected to the end of the housing 211. The lower friction ring 2131 is movably arranged on the fixing ring 2111 and has a movable hole. The fixing post 2112 passes through the movable hole.

[0052] Optionally, the fixing ring 2111 is provided with a through hole 101, the guide post 2132 of the lower friction ring 2131 passes through the through hole 101 and abuts against the top post 2134, and the second elastic element 2136 is disposed in the through hole 101.

[0053] Optionally, the active detection part 2161 of the encoder 216 is fixedly connected to the inner side of the upper friction ring 2121 near the lower friction ring 2131, and the fixed detection part 2162 is fixed to the end of the fixed post 2112. The active detection part 2161 and the fixed detection part 2162 are arranged vertically at intervals.

[0054] Optionally, the rotating structure 212 further includes a first linear bearing 2125, which is fixed on the inner rotating ring 2122. The movable shaft 215 is movably inserted through the inner rotating ring 2122 and the upper friction ring 2121, and connected to the first linear bearing 2125. In this embodiment, the first linear bearing 2125 is fixed to the inner side of the inner rotating ring 2122, and is located between the inner rotating ring 2122 and the movable shaft 215. The axis of the first linear bearing 2125 coincides with the axis of the movable shaft 215.

[0055] Optionally, the rocker arm 214 is fan-shaped, including a connecting part 2141 and a fan-shaped swinging part 2142. The connecting part 2141 is rotatably connected to the housing 211, the inner side of the fan-shaped swinging part 2142 is fixedly connected to the connecting part 2141, and the outer side of the fan-shaped swinging part 2142 is arc-shaped. When the handle 11 drives the movable shaft 215 to move, the movable shaft 215 acts on the rocker arm 214, causing the rocker arm 214 to swing around the connecting part, thereby transmitting the force to the movable shaft 215 of the next linkage joint 21, until it is transmitted to the last linkage joint 21.

[0056] Optionally, the movable shaft 215 is a hollow shaft, and the thickness of the connecting part 2141 is greater than the thickness of the fan-shaped swing part 2142. The wires of the encoder 216 can be correspondingly arranged inside the movable shaft 215 and the fan-shaped swing part 2142 of the swing arm 214.

[0057] Optionally, Figure 7This is a top view of the end of the operating arm of the present invention, as shown in the figure. Figure 1 and Figure 7 As shown, the end of the operating arm 10 away from the multi-axis linkage arm 20 is provided with a terminal interface 12 for connecting devices. These devices include surgical medical instruments and dental medical instruments, such as puncture needle sheaths, scalpels, electrosurgical units, etc., but are not limited to these.

[0058] Optionally, Figure 8 This is a cross-sectional view of the operating arm of the present invention when the handle is in the first position. Figure 9 This is a cross-sectional view of the operating arm of the present invention when the handle is in the second position. Figure 10 This is a partial cross-sectional view of the operating arm and linkage of the present invention, as shown in the figure. Figure 8 , Figure 9 and Figure 10 As shown, the other end of the operating arm 10 near the multi-axis linkage arm 20 is provided with a movable seat 13, a return spring 14, and a force transmission shaft 15. A rack 131 is fixedly connected to the movable seat 13. The handle 11 is provided with a gear 112 that meshes with the rack 131. The return spring 14 is connected between the movable seat 13 and the force transmission shaft 15. The force transmission shaft 15 abuts against the movable shaft 215. The handle 11 can drive the movable seat 13, the return spring 14, the force transmission shaft 15, and the movable shaft 215 through the gear 112 and the rack 131. When the handle 11 is not pressed, the handle 11 is in the first position. When the handle 11 is pressed and moves from the first position to the second position, the handle 11 swings around the connection and drives the rack 131 of the movable seat 13 to move towards the linkage shaft 21. The movable seat 13 squeezes the return spring 14, causing the return spring 14 to push the force transmission shaft 15 and the movable shaft 215 to move. At this time, the force of the lower friction ring 2131 on the upper friction ring 2121 decreases, thereby unlocking the rotating structure 212. The force is transmitted to the next linkage shaft 21 through the rocker arm 214, and the rotating structure 212 of each linkage shaft 21 is unlocked in sequence. When the pressing force on the handle 11 is removed, the return spring 14 restores its elastic deformation and pushes the movable seat 13 to move towards the handle 11. At this time, the rack 131 drives the gear 112 to rotate, thereby driving the handle 11 to swing back to the first position.

[0059] Optionally, such as Figure 8 As shown, the bottom of the operating arm 10 is provided with a guide cavity 104, the movable seat 13, the return spring 14 and the force transmission shaft 15 are disposed in the guide cavity 104, and the outer wall of the movable shaft 215 is in contact with or spaced from the cavity wall of the guide cavity 104. The guide cavity 104 provides directional guidance for the movable seat 13.

[0060] Optionally, such as Figure 8As shown, the end of the handle 11 is rotatably connected to the cavity wall of the guide cavity 104 via a rotating shaft. The center of the gear 112 is located at the rotating shaft of the handle 11. The rack 131 is arranged in the vertical direction, and the end of the rack 131 is fixedly connected to the movable seat 13.

[0061] Optionally, Figure 11 This is a cross-sectional structural schematic diagram of the fastening arm of the present invention, as shown below. Figure 1 , Figure 2 and Figure 11 As shown, the multi-axis robotic arm also includes a fastening arm 30. The end of the multi-axis linkage arm 20 away from the operating arm 10 is connected to the fastening arm 30. The fastening arm 30 can be locked onto an object, for example, the multi-axis robotic arm can be locked onto an object such as a bed head or a bracket through the fastening arm 30.

[0062] Optionally, the fastening arm 30 includes a fixed clamp 31, a movable clamp 32, and a rotating handle 33. The fixed clamp 31 is connected to the multi-axis linkage arm 20, and the movable clamp 32 is movably connected to the fixed clamp 31. An adjusting shaft 331 is fixedly connected to one side of the rotating handle 33. One end of the adjusting shaft 331 passes through the fixed clamp 31 and is connected to the movable clamp 32. When the rotating handle 33 is rotated clockwise, the movable clamp 32 gradually moves closer to the fixed clamp 31 to achieve a clamping action. When the rotating handle 33 is rotated counterclockwise, the movable clamp 32 gradually moves away from the fixed clamp 31 to achieve a releasing action.

[0063] In other embodiments, the fastening arm 30 includes a base and an adsorption structure (suction cup or magnet) connected to the base. The base is connected to the multi-axis linkage arm 20. The adsorption structure can be fixed to the object by adsorption by the suction cup or by magnetic adsorption.

[0064] Optionally, Figure 12 This is a cross-sectional view of the connection between the linkage shaft and the first transmission arm of the present invention, as shown in the figure. Figure 1 , Figure 2 and Figure 12 As shown, the multi-axis linkage arm 20 also includes a first transmission arm 22, which is connected between two adjacent linkage shaft sections 21. The first transmission arm 22 contains a movable first transmission shaft 223 and a swinging member 224. One end of the first transmission shaft 223 is linked to the swing arm 214 of one linkage shaft section 21, and the other end of the first transmission shaft 223 is linked to the swinging member 224. The swinging member 224 is linked to the swing arm 214 of the other linkage shaft section 21. In this embodiment, one end of the first transmission arm 22 is fixedly connected to the housing 211 of one linkage shaft section 21, and the other end of the first transmission arm 22 is fixedly connected to the upper friction ring 2121 of the rotating structure 212 of the other linkage shaft section 21.

[0065] Optionally, the function and structure of the oscillating element 224 are the same as those of the rocker arm 214 of the linkage joint 21, only the names are different.

[0066] Optionally, the first transmission arm 22 includes a first housing 221 and a first guide sleeve 222 connected within the first housing 221. A first transmission shaft 223 passes through the first guide sleeve 222 and is reciprocating along the length of the first guide sleeve 222. A swing member 224 is rotatably connected within the first housing 221 and is located below the first guide sleeve 222. In this embodiment, a second linear bearing 225 connects the first guide sleeve 222 and the first transmission shaft 223 to ensure that the first transmission shaft 223 can slide smoothly.

[0067] Optionally, Figure 13 This is a cross-sectional view of the connection between the linkage shaft and the second transmission arm of the present invention, as shown in the figure. Figure 1 , Figure 2 and Figure 13 As shown, the housing 211 includes a first housing portion 2113 and a second housing portion 2114. A rotating structure 212, a locking structure 213, and a movable shaft 215 are mounted on the first housing portion 2113. A swing arm 214 is oscillatingly connected to the second housing portion 2114. The multi-axis linkage arm 20 also includes a second transmission arm 23, which is connected between the first housing portion 2113 and the second housing portion 2114 of a linkage shaft joint 21. The second transmission arm 23 has a movable second transmission shaft 233 inside. One end of the second transmission shaft 233 is linked to the movable shaft 215, and the other end of the second transmission shaft 233 is linked to the swing arm 214. In this embodiment, the second transmission arm 23 can increase the length of the multi-axis linkage arm 20. The second transmission arm 23 is used to transmit the force transmitted by the movable shaft 215 inside the linkage shaft joint 21 to the swing arm 214, thereby enabling the swing arm 214 to transmit the force to the movable shaft 215 of the next linkage shaft joint 21.

[0068] Optionally, the second transmission arm 23 includes a second housing 231 and a second guide sleeve 232 connected within the second housing 231. The second transmission shaft 233 passes through the second guide sleeve 232 and is reciprocating along the length of the second guide sleeve 232. In this embodiment, a third linear bearing 235 is connected between the second guide sleeve 232 and the second transmission shaft 233 to ensure that the second transmission shaft 233 can slide smoothly.

[0069] Optionally, the multi-axis linkage arm 20 includes an operating arm 10, a fastening arm 30, six linkage joints 21, a first transmission arm 22, and a second transmission arm 23. The six linkage joints 21 are respectively a first linkage joint 21a, a second linkage joint 21b, a third linkage joint 21c, a fourth linkage joint 21d, a fifth linkage joint 21, and a sixth linkage joint 21f. The first linkage joint 21a is connected to the fastening arm 30, and the second linkage joint 21b is connected to the first linkage joint 21a. Next, the first transmission arm 22 is connected between the second linkage joint 21b and the third linkage joint 21c; the fourth linkage joint 21d is connected to the third linkage joint 21c; the second transmission arm 23 is connected between the first housing portion 2113 and the second housing portion 2114 of the fourth linkage joint 21d; the fifth linkage joint 21 is connected to the fourth linkage joint 21d and the first linkage joint 21a; the sixth linkage joint 21f is connected to the fifth linkage joint 21; and the operating arm 10 is connected to the sixth linkage joint 21f. It is worth noting that the number of linkage joints 21 is greater than or equal to two, and can be freely increased or decreased according to actual needs.

[0070] Specifically, the housing 211 of the first linkage joint 21a includes a first housing part 2113, but does not include the mounting rocker arm 214 and the second housing part 2114. The first housing part 2113 of the first linkage joint 21a is fixedly connected to the fastening arm 30. The upper friction ring 2121 of the rotating structure 212 of the first linkage joint 21a is fixedly connected to the second housing part 2114 of the second linkage joint 21b. The first linkage joint 21a and the second linkage joint 21b are arranged perpendicular to each other.

[0071] The first housing portion 2113 of the second linkage shaft 21b is fixedly connected to the second housing portion 2114. The upper friction ring 2121 of the rotating structure 212 of the second linkage shaft 21b is fixedly connected to the first outer shell 221 of the first transmission arm 22. The second linkage shaft 21b and the first transmission arm 22 are arranged perpendicular to each other.

[0072] The first housing portion 2113 of the third linkage shaft 21c is fixedly connected to the second housing portion 2114. The second housing portion 2114 of the third linkage shaft 21c is fixedly connected to the first outer shell 221 of the first transmission arm 22. The upper friction ring 2121 of the rotating structure 212 of the third linkage shaft 21c is fixedly connected to the second housing portion 2114 of the fourth linkage shaft 21d. The third linkage shaft 21c is arranged perpendicularly to the first transmission arm 22 and the fourth linkage shaft 21d, respectively.

[0073] The first housing portion 2113 and the second housing portion 2114 of the fourth linkage shaft joint 21d are spaced apart. The second housing 231 of the second transmission arm 23 is fixedly connected between the first housing portion 2113 and the second housing portion 2114. The upper friction ring 2121 of the rotating structure 212 of the fourth linkage shaft joint 21d is fixedly connected to the second housing portion 2114 of the fifth linkage shaft joint 21. The fourth linkage shaft joint 21d and the fifth linkage shaft joint 21 are arranged perpendicular to each other.

[0074] The first housing portion 2113 of the fifth linkage shaft 21 is fixedly connected to the second housing portion 2114, the upper friction ring 2121 of the rotating structure 212 of the fifth linkage shaft 21 is fixedly connected to the second housing portion 2114 of the sixth linkage shaft 21f, and the fifth linkage shaft 21 and the sixth linkage shaft 21f are arranged perpendicular to each other.

[0075] The first housing portion 2113 of the sixth linkage shaft 21f is fixedly connected to the second housing portion 2114, and the upper friction ring 2121 of the rotating structure 212 of the sixth linkage shaft 21f is fixedly connected to the operating arm 10.

[0076] The multi-axis linkage arm 20 of the present invention includes six linkage shafts 21, and the operating arm 10 can be adjusted to any angle and position in space through the six linkage shafts 21.

[0077] Figure 14 This is a schematic diagram showing the coordinate system established in each linkage joint of the multi-axis linkage arm of the invention. Figure 14 The zero-position of each linkage joint 21 of the multi-axis linkage arm 20 is shown in the table below. The Standard_DH parameter of the multi-axis linkage arm 20 can be obtained based on the zero-position of each linkage joint 21, as shown in the table below:

[0078]

[0079] Wherein, θ1 is the position value calculated by the encoder 216 in the first linkage joint 21a; θ2 is the position value calculated by the encoder 216 in the second linkage joint 21b; θ3 is the position value calculated by the encoder 216 in the third linkage joint 21c; θ4 is the position value calculated by the encoder 216 in the fourth linkage joint 21d; θ5 is the position value calculated by the encoder 216 in the fifth linkage joint 21; θ6 ​​is the position value calculated by the encoder 216 in the sixth linkage joint 21f; d1 is the position value calculated by the fastening arm 3. d1 is the vertical distance from the bottom of 0 to the axis of the second linkage joint 21b; d2 is the vertical distance from the axis of the second linkage joint 21b to the axis of the third linkage joint 21c; d3 is the vertical distance from the axis of the third linkage joint 21c to the axis of the fifth linkage joint 21; d4 is the vertical distance from the axis of the fifth linkage joint 21 to the end interface 12 of the operating arm 10; a1 is the vertical distance from the axis of the first linkage joint 21a to the axis of the first transmission arm 22, or the vertical distance from the axis of the second transmission arm 23 to the axis of the operating arm 10.

[0080] The forward kinematics of the multi-axis linkage arm 20 of this invention are solved using the Denavit-Hartenberg (DH) method. The DH parameters are substituted into the homogeneous transformation matrix from coordinate system i-1 to coordinate system i as shown in Equation 1-1:

[0081]

[0082] We can obtain the homogeneous transformation matrix from base coordinate system 0 to coordinate system 1 in sequence:

[0083]

[0084] Homogeneous transformation matrix from coordinate system 1 to coordinate system 2:

[0085]

[0086] Homogeneous transformation matrix from coordinate system 2 to coordinate system 3:

[0087]

[0088] Homogeneous transformation matrix from coordinate system 3 to coordinate system 4:

[0089]

[0090] Homogeneous transformation matrix from coordinate system 4 to coordinate system 5:

[0091]

[0092] Homogeneous transformation matrix from coordinate system 5 to the final coordinate system 6:

[0093]

[0094] Therefore, the representation of the 12 poses of the end effector interface 10 in the base coordinate system is the homogeneous transformation matrix from base coordinate system 0 to end effector coordinate system 6:

[0095]

[0096] The multi-axis robotic arm of this invention has a simple structure, small size and weight, no need for reducers and motors, low manufacturing cost, and can be quickly deployed, saving surgical time.

[0097] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A multi-axis robotic arm, characterized in that, The device includes an operating arm and a multi-axis linkage arm. A handle is connected to the operating arm. The multi-axis linkage arm includes multiple linkage shaft sections that are rotatably connected in sequence. Each linkage shaft section includes a housing, a rotating structure, a locking structure, a rocker arm, and a movable shaft. The rotating structure is rotatably mounted on the housing. The operating arm is fixedly connected to the rotating structure of an adjacent linkage shaft section. The housing is fixedly connected to the rotating structure of an adjacent linkage shaft section. The locking structure is connected to the housing and is used to lock and unlock the rotating structure. The movable shaft is linked to the handle. The rocker arm is linked between the movable shafts of two adjacent linkage shaft sections. The rocker arm has a first position where the locking structure locks the rotating structure, and a second position where the locking structure unlocks the rotating structure. The handle can drive the rocker arm from the first position to the second position via the movable shaft. The rotating structure includes an upper friction ring, and the operating arm is fixedly connected to the upper friction ring. Between two adjacent linkage shafts, the housing of one linkage shaft is fixedly connected to the upper friction ring of the other linkage shaft. The locking structure includes a lower friction ring, which is movably connected to the housing and located between the housing and the upper friction ring. Driving the handle causes the handle to move the movable shaft, thereby moving the swing arm from the first position to the second position, so that the lower friction ring and the upper friction ring engage to lock the rotating structure.

2. The multi-axis robotic arm as described in claim 1, characterized in that, Each of the linkage shafts further includes an encoder for detecting the rotation angle of the rotating structure. The encoder includes a movable detection part and a fixed detection part. The movable detection part and the fixed detection part are arranged opposite to each other. The movable detection part is fixedly connected to the rotating structure and the movable detection part is fixedly connected to the locking structure.

3. The multi-axis robotic arm as described in claim 1, characterized in that, The locking structure further includes a movable ring and a first elastic element. The movable ring is arranged around the movable shaft and is linked to the movable shaft and the lower friction ring respectively. The first elastic element is connected between the housing and the movable ring. The first elastic element pushes the movable ring and the lower friction ring with elastic force, so that the lower friction ring abuts against the upper friction ring to lock the rotating structure. The handle can drive the movable ring to compress the first elastic element through the movable shaft to unlock the rotating structure.

4. The multi-axis robotic arm as described in claim 3, characterized in that, A top post is fixedly connected to the moving ring, and a guide post is fixedly connected to the lower friction ring. The ends of the top post and the guide post abut against each other under the elastic force of the first elastic element.

5. The multi-axis robotic arm as described in claim 4, characterized in that, The locking structure further includes a second elastic element, which is sleeved on the guide post. One end of the second elastic element abuts against the lower friction ring, and the other end of the second elastic element abuts against the top post. The elastic force of the second elastic element is less than that of the first elastic element.

6. The multi-axis robotic arm as described in claim 1, characterized in that, The rotating structure also includes an inner rotating ring and a slewing bearing. The slewing bearing is connected inside the housing. The inner rotating ring is connected to the slewing bearing. The upper friction ring is fixedly connected to the inner rotating ring. The upper friction ring rotates through the slewing bearing.

7. The multi-axis robotic arm as described in claim 6, characterized in that, A fixed ring is fixedly connected to the housing. The fixed ring is arranged around the rotating structure and the movable shaft. The rotary bearing is fixed to the fixed ring. A fixed post is fixedly connected to the fixed ring. The lower friction ring is movably connected to the fixed post.

8. The multi-axis robotic arm as described in claim 6, characterized in that, The rotating structure also includes a first linear bearing, which is fixed on the inner rotating ring. The movable shaft is movably inserted through the inner rotating ring and the upper friction ring and is connected to the first linear bearing.

9. The multi-axis robotic arm as described in any one of claims 1 to 8, characterized in that, The end of the operating arm away from the multi-axis linkage arm is provided with a terminal interface for a connecting device. The other end of the operating arm near the multi-axis linkage arm is provided with a movable seat, a return spring, and a force transmission shaft. A rack is fixedly connected to the movable seat. The handle is provided with a gear that meshes with the rack. The return spring is connected between the movable seat and the force transmission shaft. The force transmission shaft abuts against the movable shaft. The handle can drive the movable seat, the return spring, the force transmission shaft, and the movable shaft through the gear and the rack.

10. The multi-axis robotic arm as described in any one of claims 1 to 8, characterized in that, The multi-axis robotic arm also includes a fastening arm that can be locked onto an object. The fastening arm is connected to the linkage shaft of the multi-axis linkage arm, and the linkage shaft does not have the swing arm.

11. The multi-axis robotic arm as described in any one of claims 1 to 8, characterized in that, The multi-axis linkage arm further includes a first transmission arm, which is connected between two adjacent linkage shaft sections. The first transmission arm is provided with a movable first transmission shaft and a swinging member. One end of the first transmission shaft is linked to the swing arm of one of the linkage shaft sections, and the other end of the first transmission shaft is linked to the swinging member. The swinging member is linked to the swing arm of the other linkage shaft section.

12. The multi-axis robotic arm as described in any one of claims 1 to 8, characterized in that, The housing includes a first housing portion and a second housing portion. The rotating structure, the locking structure, and the movable shaft are mounted on the first housing portion. The swing arm is oscillatingly connected to the second housing portion. The multi-axis linkage arm also includes a second transmission arm. The second transmission arm is connected between the first housing portion and the second housing portion of a linkage shaft section. The second transmission arm has a movable second transmission shaft inside. One end of the second transmission shaft is linked to the movable shaft, and the other end of the second transmission shaft is linked to the swing arm.

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