A multi-degree-of-freedom robot arm

Abstract

The application provides a multi-degree-of-freedom mechanical arm, and belongs to the technical field of mechanical arms.The multi-degree-of-freedom mechanical arm comprises an outer wall pipe, the outer wall pipe comprises a plurality of coaxial pipe sections, and the two sides of the pipe section in the axial direction are each provided with a connecting assembly.The connecting assembly comprises a connecting head and a connecting seat, the connecting head and the connecting seat are oppositely arranged on the two sides of the pipe section in the radial direction, the connecting seat is provided with a circular connecting groove, in the two adjacent pipe sections, the connecting head is rotatably embedded in the connecting groove, the two adjacent pipe sections are rotatably connected, and the multi-degree-of-freedom bending of the entire outer wall pipe is realized.The outer wall pipe described above can be integrally machined by laser cutting, each pipe section and each connecting assembly can be directly cut on the surface of the light pipe to form a groove body, the machining method is simple, the cost is relatively low, the size limitation is relatively small, the flexibility is relatively good, the bending action is more sensitive, and the control is convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom mechanical arm. BACKGROUND

[0002] Multi-degree-of-freedom mechanical arms are widely used in various fields, especially in the medical field. The bending action of the multi-degree-of-freedom mechanical arm can be used to transport sharp instruments such as forceps and electrotomes to the lesion site through the complex natural cavity of the human body, allowing doctors to perform precise and delicate surgery.

[0003] At present, the common multi-degree-of-freedom mechanical arm is generally composed of multiple universal joints, so that the mechanical arm can bend in any direction. However, the mechanical arm composed of universal joints has many parts, which is difficult to produce and assemble, and the size is limited, making it difficult to make it more delicate. There are also defects such as obvious jerk, sensitivity, and difficulty in control. SUMMARY

[0004] In order to solve the defects of the mechanical arm composed of multiple universal joints in the prior art, the present application provides a multi-degree-of-freedom mechanical arm.

[0005] The multi-degree-of-freedom mechanical arm provided by the present application comprises an outer wall pipe, the outer wall pipe comprises a plurality of pipe segments connected in series, and the two sides of the pipe segment are provided with a connecting assembly;

[0006] The connecting assembly comprises a connecting head and a connecting seat oppositely arranged on the two sides of the pipe segment in the radial direction, the connecting seat is provided with a connecting groove, the connecting head and the connecting groove are circular and the axes thereof coincide, the connecting groove is provided with an opening on the side away from the pipe segment, and the axes of the two connecting heads in the two connecting assemblies on the same pipe segment are perpendicular to each other.

[0007] In the two adjacent pipe segments, the connecting head is rotatably embedded in the connecting groove, so that the two adjacent pipe segments can rotate relative to the axis of the connecting head.

[0008] Optionally, the outer wall pipe further comprises a plurality of connecting rods, the two ends of the connecting rod are connected between the two connecting seats of the adjacent two pipe segments, and the connecting rod and the two adjacent pipe segments are provided with a gap.

[0009] Optionally, the connecting rod is a spiral structure coaxial with the pipe segment.

[0010] Optionally, the two sides of the connecting head are provided with a limiting plane, the opening of the connecting groove is provided with a limiting clamp on both sides, the limiting clamps on both sides correspond to the two limiting planes respectively, and a gap is provided between the limiting clamps and the limiting planes.

[0011] Optionally, the multi-degree-of-freedom mechanical arm further comprises a flexible framework, the flexible framework is built-in in the inner side of the outer wall pipe, and the flexible framework comprises a plurality of frame bodies, and adjacent two frame bodies are connected through a flexible connecting segment.

[0012] Optionally, the multi-degree-of-freedom mechanical arm further comprises a first joint and a second joint, the first joint and the second joint are respectively inserted at two ends of the outer wall pipe, and two ends of the flexible framework are respectively abutted on the first joint and the second joint.

[0013] Optionally, the multi-degree-of-freedom mechanical arm further comprises a reset spring, the reset spring is built-in in the outer wall pipe, and two ends of the reset spring are respectively connected on the first joint and the second joint.

[0014] Optionally, the first joint is provided with a first limiting groove, the second joint is provided with a second limiting groove, and two ends of the reset spring are respectively embedded in the first limiting groove and the second limiting groove.

[0015] Optionally, the second limiting groove is a through hole, the second joint is provided with a detachable blocking piece, and the blocking piece closes the opening of the second limiting groove.

[0016] Optionally, the outer wall pipe is integrally formed through laser cutting.

[0017] The technical scheme of the present application has the following advantages:

[0018] The multi-degree-of-freedom mechanical arm provided by the present application can directly cut the light pipe through laser cutting and the like to form, and is simpler to process and manufacture, has smaller size limitation, has a larger size range that can be processed and manufactured, and has better flexibility and more sensitive bending action, and is convenient to control. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present application or the technical scheme in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0020] Fig. 1 The structure schematic view of the multi-degree-of-freedom mechanical arm provided by the present application;

[0021] Fig. 2 The partial view for showing the cooperation relationship between the connecting head and the connecting seat;

[0022] Fig. 3 The cross-sectional view of the multi-degree-of-freedom mechanical arm provided by the present application;

[0023] 100, outer wall pipe; 110, pipe segment; 120, connecting assembly; 121, connecting head; 1211, limiting plane; 122, connecting seat; 1221, connecting groove; 1222, limiting clamping head; 130, connecting rod; 200, flexible framework; 210, frame body; 220, flexible connecting piece; 300, first joint; 301, first limiting groove; 400, second joint; 401, second limiting groove; 402, plugging piece; 500, reset spring. DETAILED DESCRIPTION

[0024] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0025] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0028] The present embodiment provides a multi-degree-of-freedom mechanical arm, which combines Figs. 1 to 3As shown, the multi-degree-of-freedom mechanical arm comprises an outer wall pipe 100, the outer wall pipe 100 is composed of a plurality of coaxial pipe segments 110, both sides of the pipe segment 110 in the axial direction are provided with a connecting assembly 120, adjacent pipe segments 110 are rotatably connected together through the connecting assembly 120, and the rotation axis of each pipe segment 110 and its adjacent two pipe segments 110 is perpendicular to each other, so that the outer wall pipe 100 can perform multi-degree-of-freedom bending action.

[0029] The connecting assembly 120 comprises a connecting head 121 and a connecting seat 122, the connecting head 121 and the connecting seat 122 are oppositely arranged on the two sides of the pipe segment 110 in the radial direction, the end of the connecting head 121 away from the pipe segment 110 is a circular structure, the connecting seat 122 is provided with a circular connecting groove 1221, the side of the connecting groove 1221 away from the pipe segment 110 is provided with an opening suitable for embedding the connecting head 121, and the axis of the connecting head 121 coincides with the axis of the connecting groove 1221. In the connecting assemblies 120 located on both sides of the same pipe segment 110, the axes of the two connecting heads 121 are arranged perpendicular to each other, in the adjacent two pipe segments 110, the connecting head 121 is rotatably embedded in the connecting groove 1221 to realize the rotational connection of the adjacent two pipe segments 110, thereby realizing the multi-degree-of-freedom bending of the entire outer wall pipe 100.

[0030] Further, two connecting rods 130 are arranged between the two connecting seats 122 between the two adjacent pipe segments 110, the connecting rod 130 is a spiral structure, the two ends of the connecting rod 130 are respectively connected and fixed with the connecting seats 122 on both sides, so that each connecting seat 122 is provided with symmetrical connecting rods 130 on both sides, thereby the adjacent two pipe segments 110 can be connected and fixed together through the connecting rod 130, the entire outer wall pipe 100 is an integral structure, the structural strength of the outer wall pipe 100 is improved, and the movement of the adjacent pipe segments 110 in the radial direction can be avoided. Moreover, the two side walls of the connecting rod 130 coincide with the inner and outer side walls of the pipe segment 110, the connecting rod 130 and the adjacent two pipe segments 110 are both provided with gaps to avoid interfering with the bending action of the outer wall pipe 100.

[0031] Further, both sides of each connecting head 121 are provided with a recessed groove, the recessed grooves on both sides form a limiting plane 1211 on both sides of the connecting head 121, the openings on both sides of the connecting groove 1221 are provided with a limiting clamp 1222, the two limiting clamps 1222 correspond to the two limiting planes 1211, and a gap is also arranged between the limiting clamp 1222 and the limiting plane 1211 to limit the rotation amplitude of the connecting head 121 in the connecting groove 1221, thereby avoiding the excessive rotation amplitude of the pipe segment 110.

[0032] The outer wall pipe 100 described above can be formed by laser cutting and integrated processing, and each pipe segment 110 and each connecting component 120 can be formed by cutting grooves directly on the surface of the light pipe. The processing method is simple, the cost is low, the size limitation is small, and the size range of the outer wall pipe 100 that can be manufactured is larger.

[0033] In some embodiments, the multi-degree-of-freedom mechanical arm can further include a flexible skeleton 200, which is built inside the outer wall pipe 100 described above. The flexible skeleton 200 can be made of flexible materials such as polyurethane, which supports the outer wall pipe 100, strengthens the structural strength of the outer wall pipe 100 when bending, and improves the service life of the entire multi-degree-of-freedom mechanical arm.

[0034] Specifically, the flexible skeleton 200 includes a plurality of frame bodies 210, which are arranged coaxially and spaced apart. Flexible connecting components 220 are provided between adjacent two frame bodies 210, so that each frame body 210 of the flexible skeleton 200 can move relatively, so as to respond to the bending action of the outer wall pipe 100. In addition, each frame body 210 is correspondingly embedded in each pipe segment 110, and each flexible connecting component 220 is correspondingly arranged at each connecting head 121, so that the flexible skeleton 200 can bend more smoothly with the outer wall pipe 100, and the support effect on the outer wall pipe 100 is better.

[0035] In some embodiments, the multi-degree-of-freedom mechanical arm can further include a first joint 300 and a second joint 400. The pipe segments 110 at both ends of the outer wall pipe 100 can be provided with only one set of connecting components, so that the end faces of the outer wall pipe 100 are flat. The first joint 300 and the second joint 400 can be connected to the two ends of the outer wall pipe 100, and the two ends of the flexible skeleton 200 abut on the first joint 300 and the second joint 400 respectively, so as to fix the flexible skeleton 200 inside the outer wall pipe 100.

[0036] In some embodiments, the multi-degree-of-freedom mechanical arm can further include a reset spring 500, which is arranged inside the flexible skeleton 200, and the reset spring 500 is coaxially arranged with the outer wall pipe 100. When the outer wall pipe 100 and the flexible skeleton 200 bend, the reset spring 500 also bends and stores power. After the bending control of the outer wall pipe 100 is removed, the outer wall pipe 100 and the flexible skeleton 200 can be reset to a flat state under the action of the reset spring 500, so as to facilitate the control of the entire multi-degree-of-freedom mechanical arm.

[0037] The two ends of the reset spring 500 can be connected to the first joint 300 and the second joint 400 respectively, and the reset spring 500 can be connected to the first joint 300 and the second joint 400 through the flexible connecting components 220. Fig. 3As shown, the first joint 300 is provided with a first limiting slot 301, the second joint 400 is provided with a second limiting slot 401, and the two ends of the reset spring 500 are respectively embedded in the first limiting slot 301 and the second limiting slot 401, so as to fix the reset spring 500.

[0038] In addition, the second limiting slot 401 can also be provided as a through hole structure, the reset spring 500 is arranged in the through hole, the second joint 400 is provided with a detachable sealing member 402, the sealing member 402 seals the opening of the second limiting slot 401, the reset spring 500 abuts against the sealing member 402, so as to fix the reset spring 500, and meanwhile, the reset spring 500 can be assembled and disassembled from the opening of the second limiting slot 401 by opening the sealing member 402, so as to facilitate replacement work after the elastic force of the reset spring 500 is reduced.

[0039] The multi-degree-of-freedom mechanical arm in the above embodiment is provided with the flexible skeleton 200 and the reset spring 500, so as to improve the structural strength of the mechanical arm under the premise of ensuring sufficient flexibility, the reset spring 500 can reset the outer wall pipe 100 and the flexible skeleton 200 after bending, so as to facilitate the operation and control of the whole mechanical arm, and the first joint 300 and the second joint 400 are provided, so that the structure of the whole mechanical arm is simple and compact, and the assembly is relatively simple.

[0040] Obviously, the above embodiments are only examples for clearly illustrating, but not limitation on the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A multi-degree-of-freedom robot arm, characterized by, The outer wall pipe (100) comprises a plurality of mutually connected pipe segments (110), and both sides of the pipe segment (110) are provided with a connecting assembly (120); The connecting assembly (120) comprises a connecting head (121) and a connecting seat (122) oppositely arranged on the two sides of the pipe segment (110), the connecting seat (122) is provided with a connecting groove (1221), the connecting head (121) and the connecting groove (1221) are circular and coaxial, and the connecting groove (1221) is open on the side away from the pipe segment (110), the axes of the two connecting heads (121) are perpendicular to each other in the two connecting assemblies (120) on the same pipe segment (110); In the two adjacent pipe segments (110), the connecting head (121) is rotatably embedded in the connecting groove (1221), so that the two adjacent pipe segments (110) can rotate relative to the axis of the connecting head (121); The outer wall pipe (100) further comprises a plurality of connecting rods (130), the two ends of the connecting rod (130) are connected between the two connecting seats (122) of the adjacent two pipe segments (110), the connecting rod (130) is provided with a gap with the two adjacent pipe segments (110), the connecting rod (130) is a spiral structure coaxial with the pipe segment (110), each connecting seat (122) is provided with symmetrical connecting rods (130) on both sides, and the two adjacent pipe segments (110) are fixedly connected through the connecting rod (130).

2. The multi-degree-of-freedom robotic arm of claim 1, wherein, Both sides of the connecting head (121) are provided with a limiting plane (1211), both sides of the opening of the connecting groove (1221) are provided with a limiting clamp (1222), the limiting clamps (1222) on both sides correspond to the two limiting planes (1211) respectively, and a gap is provided between the limiting clamp (1222) and the limiting plane (1211).

3. The multi-degree-of-freedom robotic arm of claim 1, wherein, The multi-degree-of-freedom mechanical arm further comprises a flexible skeleton (200), the flexible skeleton (200) is built-in on the inner side of the outer wall pipe (100), the flexible skeleton (200) comprises a plurality of frame bodies (210), and the two adjacent frame bodies (210) are connected through a flexible connecting segment.

4. The multi-degree-of-freedom robotic arm of claim 3, wherein, The multi-degree-of-freedom mechanical arm further comprises a first joint (300) and a second joint (400), the first joint (300) and the second joint (400) are respectively inserted into the two ends of the outer wall pipe (100), and the two ends of the flexible skeleton (200) are respectively abutted on the first joint (300) and the second joint (400).

5. The multi-degree-of-freedom robotic arm of claim 4, wherein, The multi-degree-of-freedom mechanical arm further comprises a reset spring (500), the reset spring (500) is built-in in the outer wall pipe (100), and the two ends of the reset spring (500) are connected to the first joint (300) and the second joint (400) respectively.

6. The multi-degree-of-freedom robotic arm of claim 5, wherein, The first joint (300) is provided with a first limiting groove (301), the second joint (400) is provided with a second limiting groove (401), and the two ends of the reset spring (500) are respectively embedded in the first limiting groove (301) and the second limiting groove (401).

7. The multi-degree-of-freedom robotic arm of claim 6, wherein, The second limiting groove (401) is a through hole, and the second joint (400) is provided with a detachable blocking piece (402), which closes the opening of the second limiting groove (401).

8. The multi-degree-of-freedom robotic arm of any one of claims 1-7, wherein, The outer wall pipe (100) is integrally formed by laser cutting.

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