Parallel manipulator easy to assemble

Abstract

The invention discloses a parallel manipulator easy to assemble, and relates to the technical field of parallel manipulators, the parallel manipulator easy to assemble comprises a rack and a parallel manipulator assembly, the parallel manipulator assembly is arranged at the bottom of the rack, a sleeving pipe is arranged on the outer wall of an output shaft, and manipulator bodies are distributed on the side, away from a driving motor, of a distribution support in parallel; a pull ring is fixed to the side, away from the safety box, of the side panel. According to the parallel manipulator easy to assemble, the sleeving pipe, the pull ring, the connecting rod and the tool mounting table can be quickly assembled or disassembled by manually holding the pull ring and inserting and pulling the pull ring, the end of the inserting pipe is attached to the side face of the distribution support when assembling is completed, and at the moment, a magnet piece at the end of the inserting pipe and a magnet piece at the side face of the distribution support attract each other; therefore, the insertion firmness is enhanced, the phenomenon that the insertion pipe retreats is prevented, the assembling difficulty from the sleeving pipe to the pull ring, the connecting rod and the tool mounting table is reduced, and later disassembly for maintenance or overhaul replacement is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of parallel manipulators, in particular to an easy-to-assemble parallel manipulator. Background Art

[0002] A parallel manipulator is a robotic arm with three or more degrees of freedom. It achieves complex spatial motion through multiple links and joints. Because it can achieve complex spatial motion, it is widely used in minimally invasive surgery. The parallel manipulator can carry various surgical tools to perform precise operations and reduce the difficulty of surgery.

[0003] The existing parallel manipulator uses multiple power sources, namely motors, to coordinate outputs to control surgical tools to complete complex spatial movements. However, when the three robotic arms are assembled on the output shafts of the motors, the assembly structure is too complicated and difficult to quickly disassemble and replace later.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and an easy-to-assemble parallel manipulator is proposed. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides an easily assembled parallel manipulator, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an easy-to-assemble parallel manipulator, comprising a frame and a parallel manipulator arm assembly, a parallel manipulator arm assembly is arranged at the bottom of the frame, the parallel manipulator arm assembly comprises a distribution bracket, a drive motor, an output shaft, a sleeve, a manipulator arm body, an insertion hole, a slot, a side panel, a safety box, a bearing, a sleeve and a pull ring, a drive motor is fixed to the side of the distribution bracket, and the output end of the drive motor is connected to the output shaft, a sleeve is arranged on the outer wall of the output shaft, a manipulator arm body is distributed in parallel on the side of the distribution bracket away from the drive motor, and an insertion hole is opened on the top surface of the manipulator arm body, slots are opened around the insertion hole on the surface of the manipulator arm body, and a side panel is inserted into the inside of the slot, a safety box is fixed on the side of the side panel close to the output shaft, a sleeve is rotatably connected to the side of the safety box close to the output shaft through a bearing, and a pull ring is fixed on the side of the side panel away from the safety box.

[0007] Furthermore, the end of the sleeve is fixedly connected to the side of the distribution bracket, and the sleeve is plug-connected to the plug-in tube.

[0008] Furthermore, magnet sheets are embedded in the end of the plug-in tube and the side of the distribution bracket, and the plug-in tube is plugged into the outer wall of the sleeve tube.

[0009] Furthermore, the safety box is arranged inside the insertion hole, and the output shaft penetrates into the safety box.

[0010] Furthermore, the bottom of the robot arm body is rotatably connected to a connecting rod, and the bottom of the connecting rod is rotatably connected to a tool mounting platform.

[0011] Furthermore, the parallel robot arm assembly also includes a first magnetic block and a second magnetic block. The first magnetic block is fixed inside the safety box, and the second magnetic blocks are magnetically adsorbed on both sides of the first magnetic block.

[0012] Furthermore, the parallel robot arm assembly also includes a sliding plate, and the sliding plate is fixed to a side of the second magnetic block away from the first magnetic block.

[0013] Furthermore, the parallel robot arm assembly also includes an arc spring, and the arc spring is arranged on the side of the sliding plate away from the second magnetic block.

[0014] Furthermore, the sliding plate and the second magnetic block are elastically connected to the safety box via an arc spring, and the sliding plate is slidably connected to the safety box.

[0015] Furthermore, the parallel mechanical arm assembly also includes a paddle shaft, which is arranged between the sliding plates and fixed to the end of the output shaft, and the center of the paddle shaft coincides with the center of the safety box.

[0016] The present invention provides an easy-to-assemble parallel manipulator, which has the following beneficial effects: 1. The parallel manipulator that is easy to assemble can quickly assemble or disassemble the sleeve tube to the pull ring, the connecting rod, and the tool installation platform by manually holding the pull ring and plugging and pulling it. When the assembly is completed, the end of the plug-in tube is attached to the side of the distribution bracket. At this time, the magnet sheet at the end of the plug-in tube and the magnet sheet on the side of the distribution bracket are mutually attracted, thereby enhancing the plug-in firmness to prevent the plug-in tube from retreating, thereby reducing the difficulty of assembling the sleeve tube to the pull ring, the connecting rod, and the tool installation platform, and facilitating later disassembly for maintenance or overhaul and replacement.

[0017] 2. For the parallel manipulator that is easy to assemble, if the three drive motors fail to cooperate due to program errors or other reasons and jam, the thrust of the paddle shaft on the sliding plate driven by the motor is greater than the thrust and magnetic adsorption force of the arc spring on the sliding plate due to the jam, so that the second magnetic block is separated from the first magnetic block and the sliding plate slides, and the displacement sensor is used to monitor the displacement distance of the sliding plate in real time. When the displacement distance of the sliding plate is greater than the warning value, the drive motor stops working. Therefore, in the case of jam, the output shaft can continue to rotate for a certain angle and then stop, so as to avoid damage to the drive motor caused by the sudden stop of the output shaft due to jam, and provide safety protection measures for the long-term accurate cooperation of the drive motor, so as to extend the service life of the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an easily assembled parallel manipulator of the present invention; Figure 2 This is a schematic diagram of the structure of a distribution bracket of an easily assembled parallel manipulator of the present invention; Figure 3 It is a schematic diagram of the exploded structure of a parallel robot arm assembly of an easily assembled parallel robot of the present invention from the right side perspective; Figure 4 It is a schematic diagram of the exploded structure of a parallel robot arm assembly of an easily assembled parallel robot of the present invention from the left side perspective; Figure 5 The figure is a schematic diagram of the internal structure of a safety box of an easily assembled parallel manipulator of the present invention.

[0019] In the figure: 1. frame; 2. parallel robot arm assembly; 201. distribution bracket; 202. drive motor; 203. output shaft; 204. sleeve tube; 205. robot arm body; 206. insertion hole; 207. slot; 208. side panel; 209. safety box; 210. bearing; 211. plug-in tube; 212. pull ring; 213. first magnetic block; 214. second magnetic block; 215. sliding plate; 216. arc spring; 217. paddle shaft; 3. connecting rod; 4. tool mounting table. DETAILED DESCRIPTION

[0020] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0021] like Figure 1-Figure 5As shown, the present invention provides a technical solution: an easy-to-assemble parallel manipulator, comprising a frame 1 and a parallel manipulator arm assembly 2, wherein the parallel manipulator arm assembly 2 is arranged at the bottom of the frame 1, and the parallel manipulator arm assembly 2 comprises a distribution bracket 201, a drive motor 202, an output shaft 203, a sleeve pipe 204, a manipulator body 205, an insertion hole 206, a slot 207, a side panel 208, a safety box 209, a bearing 210, a plug-in pipe 211 and a pull ring 212, a drive motor 202 is fixed to the side of the distribution bracket 201, and the output end of the drive motor 202 is connected to the output shaft 203, and the outer wall of the output shaft 203 is provided with a sleeve pipe 204, and a manipulator body 205 is distributed in parallel on a side of the distribution bracket 201 away from the drive motor 202, and the top surface of the manipulator body 205 is provided with an insertion hole 206, and the insertion hole 206 is surrounded by the manipulator body 2 05 surface is provided with a slot 207, and a side panel 208 is plugged into the slot 207, a safety box 209 is fixed to the side of the side panel 208 close to the output shaft 203, and a plug-in tube 211 is rotatably connected to the side of the safety box 209 close to the output shaft 203 through a bearing 210, and a pull ring 212 is fixed to the side of the side panel 208 away from the safety box 209, the end of the sleeve tube 204 is fixedly connected to the side of the distribution bracket 201, and the sleeve tube 204 is plugged into the plug-in tube 211, and magnet sheets are embedded in the end of the plug-in tube 211 and the side of the distribution bracket 201, and the plug-in tube 211 is plugged into the outer wall of the sleeve tube 204, the safety box 209 is arranged inside the insertion hole 206, and the output shaft 203 penetrates into the safety box 209, the bottom of the robot arm body 205 is rotatably connected to the connecting rod 3, and the bottom of the connecting rod 3 is rotatably connected to the tool mounting table 4; The specific operation is as follows. When assembling the parallel robot arm assembly 2, firstly, the safety box 209 is inserted into the insertion hole 206. At this time, the plug post on the surface of the side panel 208 is inserted into the slot 207. Then, the plug tube 211 is sleeved onto the outside of the sleeve tube 204 until the end of the plug tube 211 is attached to the side of the distribution bracket 201. At this time, the magnet sheet at the end of the plug tube 211 and the magnet sheet on the side of the distribution bracket 201 are mutually attracted. Thus, the parallel robot arm assembly 2 can be quickly assembled. When the tool mounting table 4 and the surgical tools on its surface are moved in space, the three driving motors 202 cooperate with each other to rotate to drive the robot arm body 205 to rotate through the output shaft 203, thereby carrying the tool mounting table 4 and the surgical tools on its surface to move through the connecting rod 3. When the parallel robot arm assembly 2 needs to be disassembled later, it is only necessary to manually pull out the pull ring 212 to disengage the side panel 208 from the slot 207, and at the same time, the safety box 209 is disengaged from the insertion hole 206, and when the external force is greater than the adsorption force of the magnet sheet, the insertion tube 211 is disengaged from the outer wall of the sleeve tube 204, thereby quickly removing the sleeve tube 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4; Based on the above description, the present invention can complete the rapid assembly or disassembly of the sleeve tube 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4 by manually holding the pull ring 212 and plugging and unplugging it. When the assembly is completed, the end of the plug-in tube 211 is attached to the side of the distribution bracket 201. At this time, the magnet sheet at the end of the plug-in tube 211 and the magnet sheet on the side of the distribution bracket 201 are attracted to each other, thereby enhancing the plug-in firmness to prevent the plug-in tube 211 from retreating, thereby reducing the assembly difficulty of the sleeve tube 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4, and facilitating the later disassembly for maintenance or overhaul and replacement.

[0022] like Figure 1-Figure 5 As shown, the parallel mechanical arm assembly 2 also includes a first magnetic block 213 and a second magnetic block 214, the first magnetic block 213 is fixed inside the safety box 209, and the second magnetic blocks 214 are magnetically attracted to both sides of the first magnetic block 213, the parallel mechanical arm assembly 2 also includes a sliding plate 215, and the sliding plate 215 is fixed on the side of the second magnetic block 214 away from the first magnetic block 213, the parallel mechanical arm assembly 2 also includes an arc spring 216, and the side of the sliding plate 215 away from the second magnetic block 214 is provided with an arc spring 216, the sliding plate 215 and the second magnetic block 214 are elastically connected to the safety box 209 through the arc spring 216, and the sliding plate 215 is slidably connected to the safety box 209, the parallel mechanical arm assembly 2 also includes a paddle shaft 217, a paddle shaft 217 is provided between the sliding plates 215, and the paddle shaft 217 is fixed to the end of the output shaft 203, and the center of the paddle shaft 217 coincides with the center of the safety box 209; The specific operation is as follows: when the output shaft 203 rotates, the paddle shaft 217 is carried to rotate synchronously; when the paddle shaft 217 rotates normally, the thrust exerted by the paddle shaft 217 on the sliding plate 215 is smaller than the thrust exerted by the arc spring 216 on the sliding plate 215, and smaller than the adsorption force when the second magnetic block 214 and the first magnetic block 213 are adsorbed on each other; therefore, when the paddle shaft 217 rotates, the safety box 209 is driven by the sliding plate 215 to rotate the robot body 205; thereby, the tool mounting table 4 and the surgical tools on its surface are carried to move in space through the connecting rod 3; and if the three driving motors 202 fail to cooperate and become stuck due to program errors or other reasons, the paddle shaft 217 driven by the motor to the sliding plate 215 may be blocked due to the jamming. The thrust applied by 215 is greater than the thrust applied by the arc spring 216 to the sliding plate 215 and the magnetic adsorption force, so that the sliding plate 215 slides and the arc spring 216 is compressed, and at the same time the second magnetic block 214 is separated from the first magnetic block 213, and the displacement sensor is used to monitor the displacement distance of the sliding plate 215 in real time. When the displacement distance of the sliding plate 215 is greater than the warning value, the drive motor 202 stops operating. Therefore, in the event of a jam, the output shaft 203 can continue to rotate for a certain angle and then stop, so as to avoid damage to the drive motor 202 caused by the sudden stop of the output shaft 203 due to the jam, so as to provide safety protection measures for the long-term and accurate cooperation of the drive motor 202, so as to extend the service life of the drive motor 202.

[0023] In summary, when the parallel manipulator that is easy to assemble is used, first, when assembling the parallel manipulator arm assembly 2, first, insert the safety box 209 into the insertion hole 206, then insert the plug post on the surface of the side panel 208 into the slot 207, and then sleeve the plug tube 211 onto the outside of the sleeve tube 204 until the end of the plug tube 211 is attached to the side of the distribution bracket 201. At this time, the magnet sheet at the end of the plug tube 211 and the magnet sheet on the side of the distribution bracket 201 are mutually attracted, thereby completing the rapid assembly of the parallel manipulator arm assembly 2, and when the tool mounting table 4 and the surgical tools on its surface are moved in space, the three driving motors 202 cooperate with each other to rotate to drive the manipulator arm body 205 to rotate through the output shaft 203, thereby carrying the tool mounting table 4 and the surgical tools on its surface to move through the connecting rod 3; When the output shaft 203 rotates, the paddle shaft 217 is carried to rotate synchronously. When the paddle shaft 217 rotates normally, the thrust applied by the paddle shaft 217 to the sliding plate 215 is smaller than the thrust applied by the arc spring 216 to the sliding plate 215, and smaller than the adsorption force when the second magnetic block 214 and the first magnetic block 213 are adsorbed to each other. Therefore, when the paddle shaft 217 rotates, the safety box 209 is driven by the sliding plate 215 to rotate the robot body 205, thereby carrying the tool mounting table 4 and the surgical tools on its surface to move in space through the connecting rod 3. If the three driving motors 202 fail to cooperate due to program errors or other reasons and become stuck, the paddle shaft 217 is caused to be stuck in the motor drive due to the stuck reason. The thrust force applied to the sliding plate 215 by the arc spring 216 is greater than the thrust force applied to the sliding plate 215 by the arc spring 216 and the magnetic adsorption force, so that the sliding plate 215 slides and the arc spring 216 is compressed, and at the same time, the second magnetic block 214 is separated from the first magnetic block 213, and the displacement sensor is used to monitor the displacement distance of the sliding plate 215 in real time. When the displacement distance of the sliding plate 215 is greater than the warning value, the built-in controller receives the electrical signal from the displacement sensor and converts it into a digital signal. The controller issues an instruction to stop the drive motor to automatically control the drive motor 202 to stop working, so that the output shaft 203 can continue to rotate a certain angle and then stop in the case of a jam; When the parallel robot arm assembly 2 needs to be disassembled at a later stage, it is only necessary to manually pull out the pull ring 212 to make the side panel 208 detach from the inside of the slot 207, and at the same time carry the safety box 209 out of the insertion hole 206, and at the same time when the external force is greater than the adsorption force of the magnet sheet, the insertion tube 211 detaches from the outer wall of the sleeve tube 204, thereby quickly removing the sleeve tube 204 to the pull ring 212 as well as the connecting rod 3 and the tool mounting table 4.

[0024] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An easily assembled parallel robot, comprising a frame (1) and a parallel robot arm assembly (2), characterized in that: A parallel mechanical arm assembly (2) is arranged at the bottom of the frame (1), and the parallel mechanical arm assembly (2) comprises a distribution bracket (201), a drive motor (202), an output shaft (203), a sleeve pipe (204), a mechanical arm body (205), an insertion hole (206), a slot (207), a side panel (208), a safety box (209), a bearing (210), a plug pipe (211), and a pull ring (212); the drive motor (202) is fixed to the side of the distribution bracket (201), and the output end of the drive motor (202) is connected to the output shaft (203), and the outer wall of the output shaft (203) is provided with a sleeve pipe (204); the mechanical arm body (205) is distributed in parallel on a side of the distribution bracket (201) away from the drive motor (202), and the top of the mechanical arm body (205) is provided with a sleeve pipe (204). An insertion hole (206) is provided on the surface of the mechanical arm body (205), and slots (207) are provided around the insertion hole (206) on the surface of the mechanical arm body (205), and a side panel (208) is inserted into the slot (207), a safety box (209) is fixed on the side of the side panel (208) close to the output shaft (203), a plug-in tube (211) is rotatably connected to the side of the safety box (209) close to the output shaft (203) through a bearing (210), and a pull ring (212) is fixed on the side of the side panel (208) away from the safety box (209), and the parallel mechanical arm assembly (2) further comprises a first magnetic block (213) and a second magnetic block (214), the first magnetic block (213) is fixed inside the safety box (209), and the second magnetic blocks (214) are magnetically adsorbed on both sides of the first magnetic block (213).

2. The easily assembled parallel manipulator according to claim 1, characterized in that: The end of the sleeve tube (204) is fixedly connected to the side of the distribution bracket (201), and the sleeve tube (204) is plug-connected to the plug-in tube (211).

3. The easily assembled parallel manipulator according to claim 1, characterized in that: Magnet sheets are embedded in the end of the plug-in tube (211) and the side of the distribution bracket (201), and the plug-in tube (211) is plugged into the outer wall of the sleeve tube (204).

4. The easily assembled parallel manipulator according to claim 1, characterized in that: The safety box (209) is arranged inside the insertion hole (206), and the output shaft (203) penetrates into the safety box (209).

5. The easily assembled parallel manipulator according to claim 1, characterized in that: The bottom of the mechanical arm body (205) is rotatably connected to a connecting rod (3), and the bottom of the connecting rod (3) is rotatably connected to a tool mounting platform (4).

6. The easily assembled parallel manipulator according to claim 5, characterized in that: The parallel mechanical arm assembly (2) further comprises a sliding plate (215), and the sliding plate (215) is fixed to a side of the second magnetic block (214) away from the first magnetic block (213).

7. The easily assembled parallel manipulator according to claim 6, characterized in that: The parallel mechanical arm assembly (2) further comprises an arc-shaped spring (216), and the arc-shaped spring (216) is arranged on a side of the sliding plate (215) away from the second magnetic block (214).

8. The easily assembled parallel manipulator according to claim 7, characterized in that: The sliding plate (215) and the second magnetic block (214) are elastically connected to the safety box (209) via an arc spring (216), and the sliding plate (215) is slidably connected to the safety box (209).

9. The easily assembled parallel manipulator according to claim 8, characterized in that: The parallel mechanical arm assembly (2) further comprises a paddle shaft (217), the paddle shaft (217) being arranged between the sliding plates (215), and the paddle shaft (217) being fixed to the end of the output shaft (203), and the center of the paddle shaft (217) coincides with the center of the safety box (209).

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