An easily assembled parallel manipulator

Abstract

The present invention discloses an easily assembled parallel manipulator, which relates to the technical field of parallel manipulators and includes a frame and a parallel manipulator arm assembly. A parallel manipulator arm assembly is provided at the bottom of the frame. A sleeve pipe is provided on the outer wall of the output shaft. The manipulator arm body is parallelly distributed on the side of the distribution bracket away from the driving motor. A pull ring is fixed on the side of the side panel away from the safety box. For this easily assembled parallel manipulator, the sleeve pipe to 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 or pulling it. When the assembly is completed, the end of the insertion pipe is attached to the side of the distribution bracket. At this time, the magnet sheet at the end of the insertion pipe and the magnet sheet on the side of the distribution bracket are adsorbed to each other, thereby enhancing the firmness of the insertion and preventing the insertion pipe from retracting. Thus, the assembly difficulty of the sleeve pipe to the pull ring, the connecting rod, and the tool mounting table is greatly reduced, and it is convenient for later disassembly for maintenance or overhaul and replacement.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel manipulators, and specifically to an easily assembled parallel manipulator. Background Art

[0002] A parallel manipulator is a robotic arm with three or more degrees of freedom, which realizes complex spatial motions through multiple linkages and joints. Due to its ability to achieve complex spatial motions, it is widely used in minimally invasive surgeries. Through the parallel manipulator, various surgical tools can be carried to complete precise operations, thereby reducing the surgical difficulty.

[0003] The existing parallel manipulators are controlled by multiple power sources, namely motors, which cooperate to output to control surgical tools to complete complex spatial motions. However, when the three robotic arms are assembled onto the output shafts of the motors, the assembly structure is too complex and it is not easy to perform quick disassembly and replacement later.

[0004] Therefore, in view of this, research and improvement are carried out on the existing structure and deficiencies, and an easily assembled parallel manipulator is proposed. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an easily assembled parallel manipulator, which solves the problems raised in the above background art.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An easily assembled parallel manipulator, comprising a frame and a parallel robotic arm assembly. The parallel robotic arm assembly is arranged at the bottom of the frame. The parallel robotic arm assembly includes a distribution bracket, a driving motor, an output shaft, a sleeve pipe, a robotic arm body, an insertion hole, a slot, a side panel, a safety box, a bearing, an insertion pipe, and a pull ring. The driving motor is fixed to the side of the distribution bracket, and the output end of the driving motor is connected to the output shaft. A sleeve pipe is arranged on the outer wall of the output shaft. The robotic arm bodies are distributed in parallel on the side of the distribution bracket away from the driving motor, and an insertion hole is opened on the top surface of the robotic arm body. Slots are opened on the surface of the robotic arm body around the insertion hole, and a side panel is inserted into the slot. A safety box is fixed to the side of the side panel close to the output shaft. The insertion pipe is rotatably connected to the side of the safety box close to the output shaft through a bearing. A pull ring is fixed to the side of the side panel away from the safety box.

[0007] Further, the end of the sleeve pipe is fixedly connected to the side of the distribution bracket, and the sleeve pipe is inserted and connected to the insertion pipe.

[0008] Further, magnet sheets are embedded at the ends of the insertion pipe and the side of the distribution bracket, and the insertion pipe is inserted on the outer wall of the sleeve pipe.

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

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

[0011] Furthermore, the parallel robot arm assembly further 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 further includes a sliding plate. The sliding plate is fixed to the side of the second magnetic block away from the first magnetic block.

[0013] Furthermore, the parallel robot arm assembly further includes an arc spring. 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 through the arc spring, and the sliding plate is slidably connected to the safety box.

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

[0016] The present invention provides an easily assembled parallel manipulator, which has the following beneficial effects:

[0017] 1. For this easily assembled parallel manipulator, the quick assembly or disassembly of the sleeve pipe to the pull ring, the connecting rod, and the tool mounting table can be completed by manually holding the pull ring and inserting or pulling it. When the assembly is completed, the end of the insertion pipe is attached to the side of the distribution bracket. At this time, the magnet sheet at the end of the insertion pipe and the magnet sheet on the side of the distribution bracket are adsorbed to each other, thereby enhancing the insertion firmness to prevent the insertion pipe from retracting. Thus, the assembly difficulty of the sleeve pipe to the pull ring, the connecting rod, and the tool mounting table is greatly reduced, and it is convenient for later disassembly for maintenance or repair and replacement.

[0018] 2. For this easily assembled parallel manipulator, if the three drive motors cooperate incorrectly and get stuck due to program errors or other reasons, since the reason for the jamming causes the thrust exerted on the sliding plate by the paddle shaft under the drive of the motor to be greater than the thrust and magnetic adsorption force exerted on the sliding plate by the arc spring at this time, the second magnetic block is separated from the first magnetic block and the sliding plate slides. 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. Thus, in the case of jamming, the output shaft can continue to rotate 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 jamming, provide a safety protection measure for the long-term accurate cooperation of the drive motor, and extend the service life of the drive motor. Description of the Drawings

[0019] Figure 1 Schematic diagram of the overall structure of a parallel manipulator with easy assembly according to the present invention;

[0020] Figure 2 Schematic diagram of the distribution bracket structure of a parallel manipulator with easy assembly according to the present invention;

[0021] Figure 3 Exploded view of the right side perspective of the parallel manipulator arm assembly of a parallel manipulator with easy assembly according to the present invention;

[0022] Figure 4 Exploded view of the left side perspective of the parallel manipulator arm assembly of a parallel manipulator with easy assembly according to the present invention;

[0023] Figure 5 Schematic diagram of the internal structure of the safety box of a parallel manipulator with easy assembly according to the present invention.

[0024] In the figure: 1, frame; 2, parallel manipulator arm assembly; 201, distribution bracket; 202, drive motor; 203, output shaft; 204, sleeve pipe; 205, manipulator arm body; 206, insertion hole; 207, slot; 208, side panel; 209, safety box; 210, bearing; 211, insertion pipe; 212, pull ring; 213, first magnet; 214, second magnet; 215, sliding plate; 216, arc spring; 217, dial shaft; 3, connecting rod; 4, tool mounting table. Specific embodiments

[0025] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0026] As Figures 1 - 5As shown in the figure, the present invention provides a technical solution: an easily assembled parallel manipulator, which includes a frame 1 and a parallel manipulator arm assembly 2. The parallel manipulator arm assembly 2 is arranged at the bottom of the frame 1. The parallel manipulator arm assembly 2 includes a distribution bracket 201, a driving motor 202, an output shaft 203, a sleeve pipe 204, a manipulator arm body 205, an insertion hole 206, a slot 207, a side panel 208, a safety box 209, a bearing 210, an insertion pipe 211 and a pull ring 212. The driving motor 202 is fixed on the side of the distribution bracket 201, and the output end of the driving motor 202 is connected with the output shaft 203. The outer wall of the output shaft 203 is provided with the sleeve pipe 204. The manipulator arm body 205 is parallelly distributed on the side of the distribution bracket 201 away from the driving motor 202. An insertion hole 206 is opened on the top surface of the manipulator arm body 205. Slots 207 are opened on the surface of the manipulator arm body 205 around the insertion hole 206. The 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. An insertion pipe 211 is rotatably connected to the side of the safety box 209 close to the output shaft 203 through a bearing 210. A pull ring 212 is fixed on the side of the side panel 208 away from the safety box 209. The end of the sleeve pipe 204 is fixedly connected to the side of the distribution bracket 201, and the sleeve pipe 204 is inserted and connected with the insertion pipe 211. Magnet sheets are buried at the ends of the insertion pipe 211 and the side of the distribution bracket 201, and the insertion pipe 211 is inserted on the outer wall of the sleeve pipe 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 manipulator arm body 205 is rotatably connected with a connecting rod 3, and the bottom of the connecting rod 3 is rotatably connected with a tool mounting table 4;

[0027] The specific operation is as follows. When assembling the parallel manipulator arm assembly 2, first pass the safety box 209 into the insertion hole 206. At this time, the insertion post on the surface of the side panel 208 is inserted into the slot 207. Then, the insertion pipe 211 is sleeved outside the sleeve pipe 204 until the end of the insertion pipe 211 is attached to the side of the distribution bracket 201. At this time, the magnet sheet at the end of the insertion pipe 211 and the magnet sheet on the side of the distribution bracket 201 are adsorbed to each other, so that the rapid assembly of the parallel manipulator arm assembly 2 can be completed. When moving the tool mounting table 4 and the surgical tools on its surface 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, so as to move the tool mounting table 4 and the surgical tools on its surface through the connecting rod 3;

[0028] When it is necessary to disassemble the parallel robotic arm assembly 2 in the later stage, simply manually pull out the pull ring 212 externally so that the side panel 208 disengages from the inside of the slot 207, and at the same time, the safety box 209 is carried out of the inside of the insertion hole 206. At the same time, when the external force is greater than the adsorption force of the magnet sheet, the insertion pipe 211 disengages from the outer wall of the sleeve pipe 204. Thus, the sleeve pipe 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4 can be quickly removed;

[0029] Based on the above description, the present invention can quickly assemble or disassemble the sleeve pipe 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4 by manually holding the pull ring 212 and inserting or pulling it out. When the assembly is completed, the end of the insertion pipe 211 is attached to the side of the distribution bracket 201. At this time, the magnet sheet at the end of the insertion pipe 211 and the magnet sheet on the side of the distribution bracket 201 adsorb each other, thereby enhancing the insertion firmness to prevent the insertion pipe 211 from retracting. Thus, the assembly difficulty of the sleeve pipe 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4 is significantly reduced, and it is convenient for later disassembly for maintenance or repair and replacement.

[0030] As Figures 1 - 5 shown, the parallel robotic arm assembly 2 further includes a first magnet 213 and a second magnet 214. The first magnet 213 is fixed inside the safety box 209, and the second magnets 214 are magnetically adsorbed on both sides of the first magnet 213. The parallel robotic arm assembly 2 further includes a sliding plate 215. The sliding plate 215 is fixed on the side of the second magnet 214 away from the first magnet 213. The parallel robotic arm assembly 2 further includes an arc spring 216. The arc spring 216 is arranged on the side of the sliding plate 215 away from the second magnet 214. The sliding plate 215 and the second magnet 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 robotic arm assembly 2 further includes a dial shaft 217. The dial shaft 217 is arranged between the sliding plates 215 and is fixed to the end of the output shaft 203. The center of the dial shaft 217 coincides with the center of the safety box 209;

[0031] The specific operation is as follows. When the output shaft 203 rotates, it drives the paddle shaft 217 to rotate synchronously. When the paddle shaft 217 rotates normally, the thrust it exerts on the sliding plate 215 is less than the thrust exerted by the arc spring 216 on the sliding plate 215 and less than the adsorption force when the second magnet 214 and the first magnet 213 adsorb to each other. Thus, when the paddle shaft 217 rotates, it drives the safety box 209 through the sliding plate 215 to make the manipulator body 205 rotate. Thereby, the tool mounting table 4 and the surgical tool on its surface are carried by the connecting rod 3 for spatial movement. If, due to reasons such as program errors, the three drive motors 202 cooperate incorrectly and get stuck, due to the stuck reason, the thrust exerted by the paddle shaft 217 on the sliding plate 215 under the drive of the motor at this time is greater than the thrust exerted by the arc spring 216 on the sliding plate 215 and the magnetic adsorption force, causing the sliding plate 215 to slide and the arc spring 216 to be compressed. At the same time, the second magnet 214 and the first magnet 213 are separated. 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. Thus, in the case of getting stuck, the output shaft 203 can continue to rotate 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 getting stuck, providing a safety protection measure for the long-term precise cooperation of the drive motor 202 and extending the service life of the drive motor 202.

[0032] In summary, for this easily assembled parallel manipulator, during use, first, when assembling the parallel manipulator assembly 2, first pass the safety box 209 into the insertion hole 206. At this time, the insertion post on the surface of the side panel 208 is inserted into the slot 207. Then, sleeved the insertion pipe 211 outside the sleeve pipe 204 until the end of the insertion pipe 211 is attached to the side of the distribution bracket 201. At this time, the magnet sheet at the end of the insertion pipe 211 and the magnet sheet on the side of the distribution bracket 201 adsorb to each other. Thus, the rapid assembly of the parallel manipulator assembly 2 can be completed. When carrying the tool mounting table 4 and the surgical tool on its surface for spatial movement, the three drive motors 202 cooperate with each other to rotate to drive the manipulator body 205 to rotate through the output shaft 203. Thereby, the tool mounting table 4 and the surgical tool on its surface are carried by the connecting rod 3 for movement.

[0033] When the output shaft 203 rotates, it drives the paddle shaft 217 to rotate synchronously. When the paddle shaft 217 rotates normally, the thrust it exerts on the sliding plate 215 is less than the thrust exerted by the arc spring 216 on the sliding plate 215 and less than the adsorption force when the second magnet 214 and the first magnet 213 adsorb to each other. Thus, when the paddle shaft 217 rotates, it drives the safety box 209 through the sliding plate 215 to make the robotic arm body 205 rotate. Thus, the tool mounting table 4 and the surgical tools on its surface are moved in space through the connecting rod 3. If, due to program errors or other reasons, the three drive motors 202 cooperate incorrectly and get stuck, due to the jamming, the thrust exerted by the paddle shaft 217 on the sliding plate 215 under the drive of the motor at this time is greater than the thrust exerted by the arc spring 216 on the sliding plate 215 and the magnetic adsorption force, causing the sliding plate 215 to slide and the arc spring 216 to be compressed. At the same time, the second magnet 214 is separated from the first magnet 213. 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 transmitted by 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. Thus, in the case of jamming, the output shaft 203 can continue to rotate a certain angle and then stop;

[0034] When it is necessary to disassemble the parallel robotic arm assembly 2 in the later stage, only need to manually pull out the pull ring 212 externally to make the side panel 208 disengage from the inside of the slot 207, and at the same time carry the safety box 209 to disengage from the inside of the insertion hole 206. At the same time, when the external force is greater than the adsorption force of the magnet piece, the insertion pipe 211 disengages from the outer wall of the sleeve pipe 204. Thus, the sleeve pipe 204 to the pull ring 212, the connecting rod 3, and the tool mounting table 4 can be quickly removed.

[0035] The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention so as to design various embodiments with various modifications suitable for a particular purpose.

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), an insertion pipe (211), and a pull ring (212); a drive motor (202) is fixed to the side of the distribution bracket (201), and an output end of the drive motor (202) is connected to the output shaft (203); a sleeve pipe (204) is arranged on the outer wall of the output shaft (203); A mechanical arm body (205) is arranged in parallel on a side of the distribution bracket (201) away from the drive motor (202), and a plug-in hole (206) is provided on the top surface of the mechanical arm body (205), and slots (207) are provided around the plug-in hole (206) on the surface of the mechanical arm body (205), and a side panel (208) is plugged into the inside of the slot (207), and a safety box (209) is fixed on a 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) via a bearing (210), and the side panel (208) is away from the safety box (20 9), a pull ring (212) is fixed on one side of the parallel mechanical arm assembly (2), the parallel mechanical arm assembly (2) further comprising 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), 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 parallel mechanical arm assembly (2) further comprising a sliding plate (215), a sliding plate (215) is fixed on the side of the second magnetic block (214) away from the first magnetic block (213), and the parallel mechanical arm assembly (2) further comprising a sliding plate (215), and the second magnetic block (214) is fixed on the side away from the first magnetic block (213), and the parallel mechanical arm assembly (2) further comprising a sliding plate (215). The parallel mechanical arm assembly (2) further comprises an arc spring (216), the arc spring (216) being arranged on a side of the sliding plate (215) away from the second magnetic block (214), the sliding plate (215) and the second magnetic block (214) being elastically connected to the safety box (209) via the arc spring (216), and the sliding plate (215) and the safety box (209) being slidably connected, and 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).

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 2, 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).

4. The easily assembled parallel manipulator according to claim 3 is 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).

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