Robotic arm and planting device

Abstract

The application provides a mechanical arm and a planting device. The mechanical arm comprises a position adjusting mechanism and a posture adjusting mechanism connected with each other. The posture adjusting mechanism is used for being connected with an operating instrument and can adjust the position and posture of the operating instrument, so that the operating instrument can be conveniently used for treatment operation. The position adjusting mechanism comprises a first position adjusting assembly and a second position adjusting assembly connected with each other. The first position adjusting assembly is used for driving the operating instrument to move in parallel along a first direction. When the first position adjusting assembly adjusts the height of the operating instrument along the first direction, the posture of the operating instrument remains unchanged, and the position of the operating instrument is conveniently calculated. The second position adjusting assembly is used for driving the operating instrument to move in parallel on a vertical plane of the first direction. When the second position adjusting assembly adjusts the position of the operating instrument on the vertical plane of the first direction, the posture of the operating instrument remains unchanged, and the position of the operating instrument is conveniently calculated.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a robotic arm and an implantation device. Background Technology

[0002] With increasing automation, more and more robots are being applied in the medical field. For example, equipping robotic arms with instruments for treatment can reduce the workload of doctors. However, controlling robotic arms is complex, and the processor requires a huge amount of computation. Therefore, simplifying the control and computation of robotic arms has become an urgent problem to be solved. Summary of the Invention

[0003] This application provides a robotic arm and planting equipment that can simplify the structure and control of the robotic arm.

[0004] This application provides a robotic arm, including:

[0005] Position adjustment mechanism;

[0006] An attitude adjustment mechanism is connected to the position adjustment mechanism and is used to connect to the operating instrument;

[0007] The position adjustment mechanism includes a first position adjustment component and a second position adjustment component, the second position adjustment component being connected to the first position adjustment component, and the attitude adjustment mechanism being connected to the second position adjustment component; the first position adjustment component is used to drive the second position adjustment component, the attitude adjustment mechanism, and the operating instrument to move parallel to each other along a first direction, and the second position adjustment component is used to drive the attitude adjustment mechanism and the operating instrument to move parallel to each other in a plane perpendicular to the first direction.

[0008] In the above technical solution, by setting a position adjustment mechanism and a posture adjustment mechanism, and connecting the posture adjustment mechanism to the position adjustment mechanism, and connecting the operating instrument to the posture adjustment mechanism, the position adjustment mechanism can adjust the position of the operating instrument, and the posture adjustment mechanism can adjust the posture of the operating instrument, thereby facilitating the operation of the operating instrument for treatment. By setting a first position adjustment component and a second position adjustment component, the first position adjustment component is used to drive the second position adjustment component, the posture adjustment mechanism, and the operating instrument to move parallel to each other along a first direction. That is, when the first position adjustment component adjusts the height of the operating instrument along the first direction, the posture of the operating instrument remains unchanged, so that the first position adjustment component only adjusts the position of the operating instrument in the parallel plane of the first direction, which facilitates the calculation of the position of the operating instrument. The second position adjustment component is used to drive the posture adjustment mechanism and the operating instrument to move parallel to each other in the vertical plane of the first direction. That is, when the second position adjustment component adjusts the position of the operating instrument in the vertical plane of the first direction, the posture of the operating instrument remains unchanged, so that the second position adjustment component only adjusts the horizontal position of the operating instrument, which facilitates the calculation of the position of the operating instrument.

[0009] In some embodiments, the first position adjustment component includes a first joint, which is arranged in a parallelogram shape.

[0010] In the above technical solution, the first position adjustment component includes a first joint, which is arranged in the shape of a parallelogram. It can drive the second position adjustment component, the posture adjustment mechanism and the operating device to move parallel along the first direction. Furthermore, the first position adjustment component is operated manually without a driver, which makes the structure of the first position adjustment component simpler, occupies less space and is easier to control.

[0011] In some embodiments, the second position adjustment component includes a second joint, a third joint, a first connecting rod, and a second connecting rod. The second joint is connected to the first joint and the first connecting rod, respectively. The third joint is connected to the end of the first connecting rod away from the second joint and the second connecting rod, respectively. The posture adjustment mechanism is connected to the end of the second connecting rod away from the third joint.

[0012] In the above technical solution, the second position adjustment component includes a second joint, a third joint, a first connecting rod, and a second connecting rod. The second joint is connected to the first joint and the first connecting rod, respectively. The third joint is connected to the end of the first connecting rod away from the second joint and the second connecting rod, respectively. The attitude adjustment mechanism is connected to the end of the second connecting rod away from the third joint, so that the second joint can rotate to drive the first connecting rod and the third joint to rotate around the second joint. The third joint can rotate to drive the second connecting rod and the attitude adjustment mechanism to rotate around the third joint, thereby adjusting the position of the attitude adjustment mechanism and the operating device in the vertical plane of the first direction, and keeping the attitude of the operating device unchanged. The second and third joints are operated manually without a driver, which makes the structure of the second position adjustment component simpler, occupies less space, and is easier to control.

[0013] In some embodiments, the posture adjustment mechanism includes a fourth joint and a fifth joint. The fourth joint is connected to the end of the second connecting rod away from the third joint and is rotatable relative to the second connecting rod about a first axis, which is parallel to the first direction. The fifth joint is connected to the fourth joint via a third connecting rod and is rotatable relative to the third connecting rod about a second axis, which is perpendicular to the first direction. The operating device is connected to the fifth joint, and the first axis and the second axis intersect at point A, with the end of the operating device located at point A.

[0014] In the above technical solution, the attitude adjustment mechanism includes a fourth joint and a fifth joint. The fourth joint is connected to the end of the second connecting rod away from the third joint. The fourth joint can rotate relative to the second connecting rod around the first axis, allowing the operating device to rotate around the first axis, thereby adjusting the attitude of the operating device. The fifth joint is connected to the fourth joint via the third connecting rod. The fifth joint can rotate relative to the third connecting rod around the second axis. The operating device is connected to the fifth joint, allowing the operating device to rotate around the second axis, thereby adjusting the attitude of the operating device. Since the first axis and the second axis are perpendicular, the fourth and fifth joints can cooperate to adjust the operating device to any attitude within a preset space. The first axis and the second axis intersect at point A, and the end of the operating device is located at point A. This ensures that when the operating device rotates around the first or second axis, the position of the end of the operating device remains unchanged. This allows the fourth joint to adjust only one degree of freedom of the operating device, and the fifth joint to adjust only one degree of freedom of the operating device, facilitating the calculation of the attitude of the operating device. The fourth and fifth joints are operated manually without a driver, making the structure of the attitude adjustment mechanism simpler, occupying less space, and easier to control.

[0015] In some embodiments, the attitude adjustment mechanism further includes a sixth joint, which is connected to the fifth joint via a fourth connecting rod. The sixth joint is rotatable relative to the fourth connecting rod about the second axis, and the operating instrument is connected to the sixth joint.

[0016] In the above technical solution, the attitude adjustment mechanism also includes a sixth joint, which is connected to the fifth joint via a fourth connecting rod. The sixth joint can rotate relative to the fourth connecting rod around the first axis. The operating device is connected to the sixth joint, thereby enabling the sixth joint to adjust the attitude of the operating device. Since the end of the operating device is located at point A on the second axis, the position of the end of the operating device remains unchanged when the operating device rotates around the second axis. This allows the sixth joint to adjust only one degree of freedom of the operating device, facilitating the calculation of the attitude of the operating device. The sixth joint is operated manually without a driver, which simplifies the structure of the attitude adjustment mechanism, reduces its space requirements, and makes control easier.

[0017] In some embodiments, the third connecting rod and the fourth connecting rod are respectively arranged in an L-shape.

[0018] In the above technical solution, the third connecting rod and the fourth connecting rod are respectively arranged in an L-shape, which makes the rotation axis (first axis) of the fourth joint perpendicular to the rotation axis (second axis) of the fifth joint, and the rotation axis (second axis) of the fifth joint perpendicular to the rotation axis (first axis) of the sixth joint.

[0019] In some embodiments, the first joint includes a first rod, a second rod, a third rod, and a fourth rod. The first rod is rotatably connected to the second rod and the third rod, and the fourth rod is rotatably connected to the second rod and the third rod, respectively. The first rod and the fourth rod are arranged in parallel, and the second rod and the third rod are arranged in parallel. The attitude adjustment mechanism is connected to the first rod.

[0020] In the above technical solution, the first joint includes a first rod, a second rod, a third rod, and a fourth rod. The first rod is rotatably connected to the second and third rods, and the fourth rod is rotatably connected to the second and third rods. The first and fourth rods are arranged in parallel, and the second and third rods are arranged in parallel. This ensures that during the adjustment process, the first and fourth rods remain parallel, and the second and third rods remain parallel, thereby enabling the attitude adjustment mechanism connected to the first rod and the operating device connected to the attitude adjustment mechanism to move parallel along the first direction.

[0021] In some embodiments, the position adjustment mechanism further includes an elastic support member with adjustable elasticity. One end of the elastic support member is connected to the connection between the first rod and the second rod, and the other end of the elastic support member is connected to the fourth rod.

[0022] In the above technical solution, the position adjustment mechanism also includes an elastic support member. One end of the elastic support member is connected to the connection between the first rod and the second rod, and the other end of the elastic support member is connected to the fourth rod, which can play a buffering role in the fall of the first joint. The elastic force of the elastic support member is adjustable, so that the first joint can be suspended at a preset height, thereby making the position of the operating device more stable.

[0023] In some embodiments, a limiting member is provided within the second joint and / or the third joint to limit the rotation angle of the second joint and / or the third joint.

[0024] In the above technical solution, by setting limiters in the second and / or third joints to limit the rotation angle of the second and / or third joints, the possibility of the second and / or third joints interfering with other components during rotation can be reduced, thus improving the safety of the robotic arm.

[0025] In some embodiments, the robotic arm further includes a base and a seventh joint, the seventh joint being disposed on the base and connected to the position adjustment mechanism for driving the position adjustment mechanism, the attitude adjustment mechanism, and the operating instrument to rotate.

[0026] In the above technical solution, the robotic arm also includes a base and a seventh joint. The seventh joint is set on the base and connected to the position adjustment mechanism. It is used to drive the position adjustment mechanism, the posture adjustment mechanism and the operating instrument to rotate, and can adjust the overall layout and position of the robotic arm.

[0027] In some embodiments, a brake is provided within the first joint for braking the rotation of the first joint.

[0028] In the above technical solution, by setting a brake in the first joint to brake the rotation of the first joint, the first joint can stop rotating and remain stationary when it rotates to a preset angle, thereby assisting the first joint to hover at a preset height, making the position of the operating device more stable.

[0029] This application provides a planting device, including a robotic arm and an operating device as described above. The operating device is mounted on the robotic arm, and the robotic arm is used to adjust the position and posture of the operating device. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings.

[0031] Figure 1 A three-dimensional structural schematic diagram of a robotic arm provided in some embodiments of this application;

[0032] Figure 2 A three-dimensional structural diagram of a planting device in use, provided in some embodiments of this application;

[0033] Figure 3 This is a side view of the planting equipment provided in some embodiments of this application;

[0034] Figure 4 A three-dimensional structural schematic diagram of the first position adjustment assembly of the robotic arm provided in some embodiments of this application;

[0035] Figure 5 A side view of the first position adjustment assembly of a robotic arm provided in some embodiments of this application;

[0036] Figure 6 A cross-sectional view of the first position adjustment assembly of a robotic arm provided in some embodiments of this application;

[0037] Figure 7 A side view of the first position adjustment assembly of the robotic arm provided in some embodiments of this application in another usage state;

[0038] Figure 8 A side view of the first position adjustment assembly of the robotic arm provided in some embodiments of this application in another usage state;

[0039] Figure 9 A three-dimensional structural diagram of the planting equipment provided in some embodiments of this application in another usage state;

[0040] Figure 10 A top view of the planting equipment provided in some embodiments of this application in another usage state;

[0041] Figure 11 A side view of the planting equipment provided in some embodiments of this application in another usage state;

[0042] Figure 12 This is a side view of the operating mechanism of the planting equipment provided in some embodiments of this application.

[0043] Icons: 10-Robotic arm; 100-Position adjustment mechanism; 110-First joint; 111-First rod; 112-Second rod; 113-Third rod; 114-Fourth rod; 115-Connector; 116-First housing; 117-Second housing; 118-Third housing; 119-Fourth housing; 120-Second joint; 130-Third joint; 140-First connecting rod; 150-Second connecting rod; 160-Elastic support; 200-Posture adjustment mechanism; 210-Fourth joint; 220-Fifth joint; 230-Third connecting rod; 240-Sixth joint; 250-Fourth connecting rod; 300-Base; 310-Seventh joint; 20-Operating device; 201-First main body; 202-Second main body; 203-Drill bit; 204-Connector; X-First direction; Y-Second direction; Z-Third direction. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0045] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having" and any variations thereof in the specification, claims and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0046] The terms "first," "second," etc., in the specification, claims, or the accompanying drawings of this application are used to distinguish different objects, rather than to describe a specific order or primary / secondary relationship.

[0047] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0048] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0050] With advancements in technology, the medical industry is moving towards automation. Currently, the effectiveness of many surgical procedures relies heavily on the surgeon's accumulated experience and on-the-spot performance. For example, in dental implant surgery, the limited space within the mouth means that the surgeon's handling of the instruments inevitably causes wobbling, significantly impacting the implant's outcome. Therefore, by mounting the instruments onto a robotic arm to assist the surgeon, the workload can be reduced. Currently, robotic arms typically have multiple joints, enabling adjustment of the instrument's position and orientation. However, robotic arms are generally non-decoupled, meaning that the movement of one joint simultaneously affects the position and orientation of the instrument. Transporting the instrument to a preset position and orientation via the robotic arm requires multiple iterative calculations, resulting in a massive computational load and complex control.

[0051] See Figures 1 to 3 , Figure 1 A three-dimensional structural schematic diagram of a robotic arm provided in some embodiments of this application; Figure 2 A three-dimensional structural diagram of a planting device in use, provided in some embodiments of this application; Figure 3 This is a side view of the planting equipment provided in some embodiments of this application.

[0052] This application provides a robotic arm 10, including a position adjustment mechanism 100 and a posture adjustment mechanism 200. The posture adjustment mechanism 200 is connected to the position adjustment mechanism 100 and is used to connect to an operating device 20. The position adjustment mechanism 100 includes a first position adjustment component and a second position adjustment component. The second position adjustment component is connected to the first position adjustment component, and the posture adjustment mechanism 200 is connected to the second position adjustment component. The first position adjustment component is used to drive the second position adjustment component, the posture adjustment mechanism 200, and the operating device 20 to move parallel to each other along a first direction X. The second position adjustment component is used to drive the posture adjustment mechanism 200 and the operating device 20 to move parallel to each other in a vertical plane of the first direction X.

[0053] By setting up a position adjustment mechanism 100 and a posture adjustment mechanism 200, and connecting the posture adjustment mechanism 200 to the position adjustment mechanism 100, and connecting the operating instrument 20 to the posture adjustment mechanism 200, the position adjustment mechanism 100 can adjust the position of the operating instrument 20, and the posture adjustment mechanism 200 can adjust the posture of the operating instrument 20, thereby facilitating the treatment operation of the operating instrument 20. By setting up a first position adjustment component and a second position adjustment component, the first position adjustment component is used to drive the second position adjustment component, the posture adjustment mechanism 200, and the operating instrument 20 to move parallel to the first direction X. That is, when the first position adjustment component adjusts the height of the operating instrument 20 along the first direction X, the posture of the operating instrument 20 remains unchanged, so that the first position adjustment component only adjusts the position of the operating instrument in a plane parallel to the first direction (e.g., the XZ plane), which facilitates the calculation of the position of the operating instrument 20. The second position adjustment component is used to drive the attitude adjustment mechanism 200 and the operating device 20 to move parallel to each other in the vertical plane of the first direction X. That is, when the second position adjustment component adjusts the position of the operating device 20 in the vertical plane of the first direction X (e.g., the YZ plane), the attitude of the operating device 20 remains unchanged, so that the second position adjustment component only adjusts the horizontal position of the operating device, which makes it easier to calculate the position of the operating device 20.

[0054] In some embodiments, the first position adjustment component includes a first joint 110, which is arranged in a parallelogram shape.

[0055] The first position adjustment component includes a first joint 110, which is arranged in a parallelogram shape. It can drive the second position adjustment component, the attitude adjustment mechanism 200 and the operating device 20 to move parallel to the first direction X. The first position adjustment component is operated manually without a driver, which makes the structure of the first position adjustment component simpler, occupies less space and is easier to control.

[0056] In some embodiments, the second position adjustment assembly includes a second joint 120, a third joint 130, a first connecting rod 140, and a second connecting rod 150. The second joint 120 is connected to the first joint 110 and the first connecting rod 140, respectively. The third joint 130 is connected to the end of the first connecting rod 140 away from the second joint 120 and the second connecting rod 150, respectively. The attitude adjustment mechanism 200 is connected to the end of the second connecting rod 150 away from the third joint 130.

[0057] In some embodiments, the joint may include a fixed part and a rotating part (not shown in the figure), the fixed part being fixedly connected to one component, the rotating part being fixedly connected to another component, and the rotating part being able to rotate relative to the fixed part so that the two components rotate relative to each other.

[0058] The second position adjustment assembly includes a second joint 120, a third joint 130, a first connecting rod 140, and a second connecting rod 150. The second joint 120 is connected to the first joint 110 and the first connecting rod 140. The third joint 130 is connected to the end of the first connecting rod 140 away from the second joint 120 and the second connecting rod 150. The attitude adjustment mechanism 200 is connected to the end of the second connecting rod 150 away from the third joint 130, allowing the second joint 120 to rotate to drive the first connecting rod 140 and the third joint 130 to rotate around the second joint 120. The third joint 130 can also rotate to drive the second connecting rod 150 and the attitude adjustment mechanism 200 to rotate around the third joint 130. This allows for adjustment of the position of the attitude adjustment mechanism 200 and the operating device 20 in the vertical plane of the first direction X, while maintaining the posture of the operating device 20. The second joint 120 and the third joint 130 are manually operated without a driver, simplifying the structure of the second position adjustment assembly, reducing its space requirements, and making control easier.

[0059] See also Figures 4 to 6 , Figure 4 A three-dimensional structural schematic diagram of the first position adjustment assembly of the robotic arm provided in some embodiments of this application; Figure 5 A side view of the first position adjustment assembly of a robotic arm provided in some embodiments of this application; Figure 6 A cross-sectional view of the first position adjustment assembly of a robotic arm provided in some embodiments of this application.

[0060] In some embodiments, the first joint 110 includes a first rod 111, a second rod 112, a third rod 113, and a fourth rod 114. The first rod 111 is rotatably connected to the second rod 112 and the third rod 113, and the fourth rod 114 is rotatably connected to the second rod 112 and the third rod 113, respectively. The first rod 111 and the fourth rod 114 are arranged in parallel, and the second rod 112 and the third rod 113 are arranged in parallel. The attitude adjustment mechanism 200 is connected to the first rod 111.

[0061] The first joint 110 includes a first rod 111, a second rod 112, a third rod 113, and a fourth rod 114. The first rod 111 is rotatably connected to the second rod 112 and the third rod 113, and the fourth rod 114 is rotatably connected to the second rod 112 and the third rod 113, respectively. The first rod 111 and the fourth rod 114 are arranged in parallel, as are the second rod 112 and the third rod 113. This ensures that during adjustment, the first joint 110 maintains the parallelism between the first rod 111 and the fourth rod 114, and between the second rod 112 and the third rod 113, thereby enabling the attitude adjustment mechanism 200 connected to the first rod 111 and the operating device 20 connected to the attitude adjustment mechanism 200 to move parallel along the first direction X.

[0062] In some embodiments, the first position adjustment assembly further includes a connector 115, which is integrally formed with the first rod 111 and is annular in shape for connection with the second joint 120.

[0063] See Figure 7 and Figure 8 , Figure 7 A side view of the first position adjustment assembly of the robotic arm provided in some embodiments of this application in another usage state; Figure 8 This is a side view of the first position adjustment component of the robotic arm provided in some embodiments of this application in another usage state.

[0064] In some embodiments, a force can be applied to the connector 115 to cause the connector 115 to move parallel to the first direction X. For example Figure 7 As shown, connector 115 moves upward under force. For example... Figure 8 As shown, connector 115 moves downward under force.

[0065] In some embodiments, the first position adjustment assembly further includes a first housing 116, a second housing 117, a third housing 118, and a fourth housing 119. The first housing 116 covers the first rod 111, the second housing 117 covers the second rod 112, the third housing 118 covers the third rod 113, and the fourth housing 119 covers the fourth rod 114, thereby protecting the first rod 111, the second rod 112, the third rod 113, and the fourth rod 114.

[0066] In some embodiments, the position adjustment mechanism 100 may further include an elastic support 160, the elastic force of which is adjustable. One end of the elastic support 160 is connected to the connection between the first rod 111 and the second rod 112, and the other end of the elastic support 160 is connected to the fourth rod 114.

[0067] The position adjustment mechanism 100 may further include an elastic support 160. One end of the elastic support 160 is connected to the connection between the first rod 111 and the second rod 112, and the other end is connected to the fourth rod 114, which can buffer the fall of the first joint 110. The elastic force of the elastic support 160 is adjustable, allowing the first joint 110 to hover at a preset height, thereby making the position of the operating device 20 more stable.

[0068] In some embodiments, the elastic support 160 is a gas spring.

[0069] In some embodiments, a limiting member is provided in the second joint 120 and / or the third joint 130 to limit the rotation angle of the second joint 120 and / or the third joint 130.

[0070] By providing limiting elements within the second joint 120 and / or the third joint 130 to restrict the rotation angle of the second joint 120 and / or the third joint 130, the possibility of interference between the second joint 120 and / or the third joint 130 and other components during rotation can be reduced, thus enhancing the safety of the robotic arm.

[0071] See Figure 3 , Figures 9 to 11 , Figure 9 A three-dimensional structural diagram of the planting equipment provided in some embodiments of this application in another usage state; Figure 10 A top view of the planting equipment provided in some embodiments of this application in another usage state; Figure 11 This is a side view of the planting equipment provided in some embodiments of this application in another usage state.

[0072] In some embodiments, the posture adjustment mechanism 200 includes a fourth joint 210 and a fifth joint 220. The fourth joint 210 is connected to the end of the second connecting rod 150 away from the third joint 130. The fourth joint 210 is rotatable relative to the second connecting rod 150 about a first axis l1 with a rotation radius of R1. The first axis l1 is parallel to the first direction X. The fifth joint 220 is connected to the fourth joint 210 via a third connecting rod 230. The fifth joint 220 is rotatable relative to the third connecting rod 230 about a second axis l2 with a rotation radius of R2. The second axis l2 is perpendicular to the first direction X. The operating device 20 is connected to the fifth joint 220. The first axis l1 and the second axis l2 intersect at point A, and the end of the operating device 20 is located at point A.

[0073] The posture adjustment mechanism 200 includes a fourth joint 210 and a fifth joint 220. The fourth joint 210 is connected to the end of the second connecting rod 150 away from the third joint 130. The fourth joint 210 can rotate relative to the second connecting rod 150 around a first axis l1, allowing the operating device 20 to rotate around the first axis l1, thereby adjusting the posture of the operating device 20. The fifth joint 220 is connected to the fourth joint 210 via a third connecting rod 230. The fifth joint 220 can rotate relative to the third connecting rod 230 around a second axis l2. The operating device 20 is connected to the fifth joint 220, allowing the operating device 20 to rotate around the second axis l2, thereby adjusting the posture of the operating device 20. Since the first axis l1 is perpendicular to the second axis l2, the fourth joint 210 and the fifth joint 220 can cooperate to adjust the operating device 20 to any posture within a preset space. The first axis l1 and the second axis l2 intersect at point A. The end of the manipulator 20 is located at point A, ensuring that the position of the end of the manipulator 20 remains unchanged when it rotates around the first axis l1 or the second axis l2. This allows the fourth joint 210 to adjust only one degree of freedom of the manipulator 20 (e.g., the angle between the length direction of the manipulator 20 and the XY plane), and the fifth joint 220 to adjust only one degree of freedom of the manipulator 20 (e.g., the angle between the length direction of the manipulator 20 and the YZ plane), facilitating the calculation of the attitude of the manipulator 20. The fourth joint 210 and the fifth joint 220 are manually operated without a driver, simplifying the structure of the attitude adjustment mechanism 200, reducing its space requirements, and making control easier.

[0074] In some embodiments, the posture adjustment mechanism 200 further includes a sixth joint 240, which is connected to the fifth joint 220 via a fourth connecting rod 250. The sixth joint 240 is rotatable relative to the fourth connecting rod 250 about the second axis l2, and the operating instrument 20 is connected to the sixth joint 240.

[0075] In some embodiments, the fourth joint 210, the fifth joint 220, and the sixth joint 240 can all rotate 360° to facilitate adjustment of the posture of the operating instrument 20.

[0076] The attitude adjustment mechanism 200 also includes a sixth joint 240, which is connected to the fifth joint 220 via a fourth connecting rod 250. The sixth joint 240 can rotate relative to the fourth connecting rod 250 around the second axis l2. The operating device 20 is connected to the sixth joint 240, allowing the sixth joint 240 to adjust the attitude of the operating device 20. Since the end of the operating device 20 is located at point A on the second axis l2, the position of the end of the operating device 20 remains unchanged when it rotates around the second axis l2. This allows the sixth joint 240 to adjust only one degree of freedom of the operating device 20 (e.g., the angle between the length direction of the operating device 20 and the XY plane), facilitating the calculation of the attitude of the operating device 20. The sixth joint 240 is manually operated without a driver, which simplifies the structure of the attitude adjustment mechanism 200, reduces its space requirements, and simplifies control.

[0077] In some embodiments, the third connecting rod 230 and the fourth connecting rod 250 are respectively arranged in an L-shape.

[0078] The third connecting rod 230 and the fourth connecting rod 250 are respectively arranged in an L-shape, which makes the rotation axis (first axis l1) of the fourth joint 210 perpendicular to the rotation axis (second axis l2) of the fifth joint 220, and the rotation axis (second axis l2) of the fifth joint 220 perpendicular to the rotation axis (first axis l1) of the sixth joint 240.

[0079] See Figure 1 In some embodiments, the robotic arm 10 further includes a base 300 and a seventh joint 310. The seventh joint 310 is disposed on the base 300 and connected to the position adjustment mechanism 100, and is used to drive the position adjustment mechanism 100, the posture adjustment mechanism 200 and the operating instrument 20 to rotate.

[0080] The robotic arm 10 also includes a base 300 and a seventh joint 310. The seventh joint 310 is disposed on the base 300 and connected to the position adjustment mechanism 100. It is used to drive the position adjustment mechanism 100, the posture adjustment mechanism 200 and the operating device 20 to rotate, and can adjust the overall layout and position of the robotic arm 10.

[0081] In some embodiments, the seventh joint 310 can rotate 360° to facilitate adjustment of the overall layout and positioning of the robotic arm 10.

[0082] In some embodiments, brakes (not shown in the figure) may be provided in the first joint 110, the second joint 120, the third joint 130, the fourth joint 210, the fifth joint 220, the sixth joint 240, and the seventh joint 310 to brake the rotation of each joint.

[0083] In some embodiments, the brake may be a holding brake.

[0084] By installing brakes in the first joint 110, second joint 120, third joint 130, fourth joint 210, fifth joint 220, sixth joint 240, and seventh joint 310 to brake their rotation, the first joint 110, second joint 120, third joint 130, fourth joint 210, fifth joint 220, sixth joint 240, and seventh joint 310 can be stopped rotating and held stationary when they reach a preset angle. This assists the first joint 110 in hovering at a preset height and the second joint 120, third joint 130, fourth joint 210, fifth joint 220, sixth joint 240, and seventh joint 310 in stopping rotating at a preset angle, thus making the position of the operating device 20 more stable.

[0085] See Figure 2 This application provides a planting device, including a robotic arm 10 and an operating device 20 provided in any of the above embodiments. The operating device 20 is disposed on the robotic arm 10, and the robotic arm 10 is used to adjust the position and posture of the operating device 20.

[0086] In some embodiments, the operating instrument 20 can be an implant handpiece for drilling holes for dental implants.

[0087] In other embodiments, the operating device 20 may also be other devices used for treatment.

[0088] See Figure 12 , Figure 12 This is a side view of the operating device of the planting equipment provided in some embodiments of this application. In some embodiments, the operating device 20 includes a first main body 201, a second main body 202, a drill bit 203, and a connecting part 204. The connecting part 204 is connected to a sixth joint 240. The first main body 201 is connected to the connecting part 204. The second main body 202 is connected to the end of the first main body 201 away from the connecting part 204. The drill bit 203 is connected to the end of the second main body 202 away from the first main body 201.

[0089] The extension direction of the first main body 201 intersects the extension direction of the second main body 202 at an angle of θ. The extension direction of the second main body 202 is parallel to the axis of the connecting part 204. The axis of the connecting part 204 is collinear with the axis of the sixth joint 240. The extension direction of the drill bit 203 is perpendicular to the extension direction of the second main body 202, and the center of the drill bit 203 is located on the axis of the connecting part 204, so that when the attitude adjustment mechanism 200 adjusts the attitude of the operating instrument 20, the position of the center of the drill bit 203 remains unchanged.

[0090] In some embodiments, θ is 15°-20°, such as 15°, 18° or 20°.

[0091] In some embodiments, after the operating device 20 reaches a preset position and preset posture, the mechanical arm 10 can be locked by the brakes of each joint of the mechanical arm 10, so that the operating device 20 can only move in the extension direction of the drill bit 203, and drilling can be achieved by pressing the operating device 20.

[0092] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0093] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic arm, characterized in that, include: Position adjustment mechanism; An attitude adjustment mechanism is connected to the position adjustment mechanism and is used to connect to the operating instrument; The position adjustment mechanism includes a first position adjustment component and a second position adjustment component, the second position adjustment component being connected to the first position adjustment component, and the attitude adjustment mechanism being connected to the second position adjustment component; the first position adjustment component is used to drive the second position adjustment component, the attitude adjustment mechanism, and the operating device to move parallel to each other along a first direction, and the second position adjustment component is used to drive the attitude adjustment mechanism and the operating device to move parallel to each other in a plane perpendicular to the first direction; The first position adjustment component includes a first joint, and the second position adjustment component includes a second joint, a third joint, a first connecting rod, and a second connecting rod. The second joint is connected to the first joint and the first connecting rod, and the third joint is connected to the end of the first connecting rod away from the second joint and the second connecting rod. The attitude adjustment mechanism is connected to the end of the second connecting rod away from the third joint. The posture adjustment mechanism includes a fourth joint and a fifth joint. The fourth joint is connected to the end of the second connecting rod away from the third joint and is capable of rotating relative to the second connecting rod around a first axis, which is parallel to the first direction. The fifth joint is connected to the fourth joint via a third connecting rod and is capable of rotating relative to the third connecting rod around a second axis, which is perpendicular to the first direction. The operating device is connected to the fifth joint, and the first axis and the second axis intersect at point A. The end of the operating device is located at point A. The posture adjustment mechanism further includes a sixth joint, which is connected to the fifth joint via a fourth connecting rod. The sixth joint is capable of rotating relative to the fourth connecting rod around the first axis, and the operating instrument is connected to the sixth joint.

2. The robotic arm according to claim 1, characterized in that, The first joint is arranged in the shape of a parallelogram.

3. The robotic arm according to claim 1, characterized in that, The third connecting rod and the fourth connecting rod are respectively arranged in an L-shape.

4. The robotic arm according to claim 3, characterized in that, The first joint includes a first rod, a second rod, a third rod, and a fourth rod. The first rod is rotatably connected to the second rod and the third rod, and the fourth rod is rotatably connected to the second rod and the third rod. The first rod and the fourth rod are arranged in parallel, and the second rod and the third rod are arranged in parallel. The attitude adjustment mechanism is connected to the first rod.

5. The robotic arm according to claim 4, characterized in that, The position adjustment mechanism further includes an elastic support member with adjustable elasticity. One end of the elastic support member is connected to the connection between the first rod and the second rod, and the other end of the elastic support member is connected to the fourth rod.

6. The robotic arm according to claim 1, characterized in that, A limiting element is provided in the second joint and / or the third joint to limit the rotation angle of the second joint and / or the third joint.

7. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a base and a seventh joint. The seventh joint is disposed on the base and connected to the position adjustment mechanism, and is used to drive the position adjustment mechanism, the posture adjustment mechanism and the operating instrument to rotate.

8. The robotic arm according to claim 1, characterized in that, A brake is provided inside the first joint to brake the rotation of the first joint.

9. A planting device, characterized in that, Includes the robotic arm and operating device as described in any one of claims 1 to 8, wherein the operating device is disposed on the robotic arm, and the robotic arm is used to adjust the position and orientation of the operating device.

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