Mechanical arm with force feedback function

Abstract

The invention relates to the technical field of robotics and precision machinery, in particular to a mechanical arm with a force feedback function, which is characterized in that a six-dimensional force sensor is mounted at the tail end or a joint of the mechanical arm and is used for synchronously detecting three-dimensional space force and torque; the mechanical arm comprises a base, a first driving arm, a second driving arm, a third driving arm and a fourth driving arm; the tail end of the fourth driving arm is connected with an operating instrument; the surface of the third driving arm is fixedly connected with a prompting assembly, the prompting assembly comprises a connecting seat, and the connecting seat is fixedly connected to the third driving arm; a servo motor is connected to the back face of the connecting base through bolts and connected with a base of a first driving motor through a speed reducer, and a first connecting rod is rotationally connected to the lower portion of the base of the first driving motor. The six-dimensional force sensor is installed at the tail end or the joint of the mechanical arm, and three-dimensional space force Fx, Fy and Fz and torque Mx, My and Mz are synchronously detected.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robotics and precision machinery, in particular to a mechanical arm with force feedback function. BACKGROUND

[0002] The mechanical arm refers to a high-precision, multi-input and multi-output, highly nonlinear, strongly coupled complex system, which has been widely used in industrial assembly, safety and explosion-proof fields due to its unique operation flexibility. The mechanical arm is a complex system, and there are uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, the modeling model of the mechanical arm also has uncertainties. For different tasks, the joint space motion trajectory of the mechanical arm needs to be planned, thereby cascading the end pose.

[0003] The mechanical arm in the prior art is usually used to drive the operating instrument to move in multiple axes during use, and the mechanical arm does not have a corresponding prompting function during the process of the doctor operating the operating instrument.

[0004] Therefore, a mechanical arm with force feedback function is proposed to solve the above problems. SUMMARY

[0005] To achieve the above purpose, the present application provides the following technical scheme: a six-dimensional force sensor is installed at the end of the mechanical arm or the joint, which synchronously detects three-dimensional space force and torque; The mechanical arm comprises a base, a first driving arm, a second driving arm, a third driving arm and a fourth driving arm. The end of the fourth driving arm is connected with an operating instrument. The surface of the third driving arm is fixedly connected with a prompting assembly.

[0006] In one possible implementation, the prompting assembly comprises a connecting seat fixedly connected to the third driving arm; A servo motor is bolted to the back of the connecting seat, the servo motor is connected to the base of the first driving motor through a reducer, and a first connecting rod is rotatably connected below the base of the first driving motor; The first connecting rod is fixedly connected with the output shaft of the first driving motor.

[0007] In one possible implementation, the end of the first connecting rod is connected with a second driving motor, the output shaft of the second driving motor is fixedly connected with a second connecting rod, and the second connecting rod is rotatably connected to the bottom of the first connecting rod.

[0008] In one possible implementation, a plurality of sensors are arranged at the bottom of the first connecting rod and the second connecting rod in equal distances. The first driving motor and the second driving motor drive the first connecting rod and the second connecting rod to expand, so that the first connecting rod and the second connecting rod simulate the curvature of the human arm after expansion.

[0009] In a possible implementation manner, the second connecting rod is connected with the absorption assembly at the end thereof; The absorption assembly comprises a shell fixedly connected to the end of the second connecting rod; The shell is internally bolted with an electric push rod, and the telescopic end of the electric push rod is fixedly connected to the receiving sleeve.

[0010] In a possible implementation manner, the shell is fixedly connected with a driving rack inside, and the receiving sleeve is provided with a one-way bearing on the surface thereof; The outer ring of the one-way bearing is fixedly connected with the driving member, and the inner ring of the one-way bearing is fixedly connected with the first belt pulley; The effect is that when the receiving sleeve moves outward, the driving member meshes with the driving rack and drives the first belt pulley to rotate, and when the receiving sleeve moves inward, the driving member meshes with the driving rack and drives the first belt pulley to rotate, thereby facilitating replacement of the sterile gauze area.

[0011] In a possible implementation manner, the receiving sleeve is rotatably connected with the first belt pulley and the second belt pulley at the upper end and the lower end thereof respectively; The first belt pulley and the second belt pulley are drivingly connected through the transmission member.

[0012] In a possible implementation manner, the receiving sleeve is provided with a gap at the bottom thereof; The shell is provided with a through hole at the bottom thereof, and a color sensor is arranged below the sidewall of the shell.

[0013] In a possible implementation manner, the color sensor is used for sensing the red area on the surface of an external object and driving the absorption assembly to operate, so that the sterile gauze on the transmission member in the absorption assembly is in contact with blood and absorbs the bloodstains.

[0014] Compared with the prior art, the mechanical arm with the force feedback function has the following beneficial effects: 1、The six-dimensional force sensor is installed at the end of the mechanical arm or the joint, and the three-dimensional space forces Fx, Fy, Fz and the moments Mx, My, Mz are synchronously detected.

[0015] 2、When the receiving sleeve moves outward, the transmission member passes through the through hole and contacts the red area outside, the sterile gauze on the transmission member can contact the red area, and the sterile gauze can absorb the bloodstains; Then the electric push rod is controlled to drive the receiving sleeve to move inward, when the receiving sleeve moves inward, the driving member meshes with the driving rack, the driving member drives the first belt pulley to rotate, the first belt pulley drives the transmission member to rotate through the second belt pulley, the area of the transmission member located in the gap area is rotated to the other end of the receiving sleeve, the new gauze on the transmission member is transferred to the gap area, and the bloodstains are conveniently treated next time.

[0016] 3、The first driving motor and the second driving motor drive the first connecting rod and the second connecting rod to expand, so that the first connecting rod and the second connecting rod simulate the curvature of the human arm after expansion, when the doctor needs to replace the instrument during the operation, the arm expands outward, the arm is located below the first connecting rod and the second connecting rod, and the inductor on the first connecting rod and the second connecting rod senses that the arm below has reached the replacement instrument pickup point and sends out a prompt sound to prompt the nurse beside.

[0017] 4、The surface of the belt is provided with a magic tape sub-port, and the surface of the magic tape female buckle is provided with sterile gauze, so as to install and replace the sterile gauze through the magic tape. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings described herein are used to provide further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute improper limitations on the present application. In the drawings: Figure 1 Structure diagram of the present application Figure 1 ; Figure 2 Structure diagram of the present application Figure 2 ; Figure 3 Structure diagram of the present application Figure 3 ; Figure 4 Structure diagram of the present application Figure 1 ; Figure 5 Structure diagram of the present application Figure 2 ; Figure 6 Structure diagram of the present application Figure 3 ; Figure 7 Structure diagram of the present application Figure 4 .

[0019] In the drawings: 1, base; 2, first driving arm; 3, second driving arm; 4, third driving arm; 5, fourth driving arm; 6, prompting assembly; 61, adapter seat; 62, first driving motor; 63, first connecting rod; 64, second driving motor; 65, second connecting rod; 66, absorbing assembly; 661, housing; 662, electric push rod; 663, receiving sleeve; 664, driving rack; 665, driving piece; 666, first pulley; 667, second pulley; 668, transmission piece; 669, notch; 661a, through hole; 661b, color sensor. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0021] Please refer to Figure 1 Figure 7 In the embodiment, a mechanical arm with force feedback function is provided, a six-dimensional force sensor is installed at the end or joint of the mechanical arm, and three-dimensional space forces Fx, Fy and Fz and moments Mx, My and Mz are synchronously detected. The mechanical arm comprises a base 1, a first driving arm 2, a second driving arm 3, a third driving arm 4 and a fourth driving arm 5. The first driving arm 2, the second driving arm 3, the third driving arm 4 and the fourth driving arm 5 are driven by motors and reducers. The reducer converts the high-speed and low-torque output of the motor into the low-speed and high-torque output required by the joint, and at the same time, it reduces the angular displacement of the motor by the proportion of the reduction ratio; for example, a 100:1 reducer can reduce 1° of the motor rotation to 0.01° of the output end; this directly greatly improves the angular resolution of the final mechanical arm joint. An encoder is arranged on the transmission shaft connected with the reducer and the driving arm, for measuring the angle in real time; the controller issues an instruction: “rotate to 30 degrees position”; the controller drives the motor to rotate; the encoder measures in real time: “now actually at 5 degrees, 10 degrees, 20 degrees, 25 degrees, 28 degrees, 29.5 degrees and 30 degrees”.

[0022] Please refer to Figure 1 Figure 3 The end of the fourth driving arm 5 is connected with an operating instrument. The operating instrument can be specifically; a microscope, for magnifying the operation area; a bipolar coagulation forceps, with a temperature sensor and a pressure sensing film integrated in the forceps tip, for adjusting the closing pressure Fz in real time to control 1-8 N to prevent tissue carbonization; a tissue grasping forceps, with a sawtooth anti-slip design and occlusal surface pressure distribution detection, for limiting the grasping force Fz to 5 N to avoid tissue extrusion injury; an anatomical scissors, with a blade contact force sensing module and a shear resistance feedback Fx / Mz linkage to identify blood vessels and nerves; a needle holder, with a needle seat groove matched with the curvature of the suture needle and closed-loop control of the clamping force to maintain a constant clamping force of 0.3-0.6 N to prevent needle falling off. ​​

[0023] Further, as shown in Figures 1-7 The surface of the third driving arm 4 is fixedly connected with a prompting assembly 6; The prompting assembly 6 comprises a connecting seat 61 fixedly connected to the third driving arm 4; The back of the connecting seat 61 is bolted with a servo motor, which is connected with the base of a first driving motor 62 through a speed reducer, and the bottom of the base of the first driving motor 62 is rotatably connected with a first connecting rod 63; the servo motor is used to adjust the angle of the base on the driving motor 62, and in turn to adjust the angle of the first connecting rod 63 and a second connecting rod 65 as a whole; The first connecting rod 63 is fixedly connected with the output shaft of the first driving motor 62; the first connecting rod 63 is provided with a prompter; the prompter is specifically an audible and visual prompt (LED flickering + bee buzzing); The end of the first connecting rod 63 is connected with a second driving motor 64, the output shaft of the second driving motor 64 is fixedly connected with a second connecting rod 65, and the second connecting rod 65 is rotatably connected to the bottom of the first connecting rod 63; The bottom of the first connecting rod 63 and the second connecting rod 65 is provided with a plurality of groups of sensors at equal distances; The end of the second connecting rod 65 is connected with an absorbing assembly 66; When the mechanical arm is placed in the surgical area, and the microscope is installed on the fourth driving arm 5 on the mechanical arm, then the magnification area of the microscope is adjusted through the mechanical arm; The doctor contacts the ocular of the microscope in the area below the third driving arm 4 to watch the magnification area, and operates the surgical area; The first driving motor 62 and the second driving motor 64 are controlled to drive the first connecting rod 63 and the second connecting rod 65 to expand, so that the first connecting rod 63 and the second connecting rod 65 simulate the curvature after the human arm is expanded; when the doctor needs to replace the instrument during the operation, the arm is expanded outward, the arm is located below the first connecting rod 63 and the second connecting rod 65, the sensors on the first connecting rod 63 and the second connecting rod 65 sense that the arm below has reached the replacement instrument pickup point, and a prompt sound is emitted to prompt the nurse beside.

[0024] Meanwhile, as shown in Figures 1-7 The absorbing assembly 66 comprises a shell 661 fixedly connected to the end of the second connecting rod 65; the first connecting rod 63 and the second connecting rod 65 can be used to finely adjust the position of the absorbing assembly 66; The shell 661 is bolted with an electric push rod 662 inside, and the telescopic end of the electric push rod 662 is fixedly connected with a receiving sleeve 663; The shell 661 is fixedly connected with a driving rack 664 inside, and the surface of the receiving sleeve 663 is provided with a one-way bearing; The outer ring of the one-way bearing is fixedly connected with the driving member 665, and the inner ring of the one-way bearing is fixedly connected with the first belt pulley 666; the driving rack 664 is specifically a gear; The first belt pulley 666 and the second belt pulley 667 are rotatably connected to the upper and lower ends of the receiving sleeve 663 respectively; The first belt pulley 666 and the second belt pulley 667 are drivingly connected through the transmission member 668; the transmission member 668 is specifically a belt, and the surface of the belt is provided with a magic tape sub-port, and the surface of a magic tape female buckle is provided with sterile gauze, so as to install and replace the sterile gauze through the magic tape; The receiving sleeve 663 is provided with a gap 669 at the bottom; the second belt pulley 667 and a small part of the sterile gauze are exposed outside; The bottom of the shell 661 is provided with a through hole 661a, and the lower side wall of the shell 661 is provided with a color sensor 661b; Wherein, the absorption assembly 66 is driven to move by the mechanical arm, when the color sensor 661b on the absorption assembly 66 detects that there is a red bloodstain on the protective clothing worn by the doctor, the electric push rod 662 is controlled to drive the receiving sleeve 663 to move outward, the receiving sleeve 663 drives the driving member 665 to move outward, the driving member 665 is engaged with the driving rack 664, the driving member 665 rotates, and due to the action of the one-way bearing, the driving member 665 does not drive the first belt pulley 666 to rotate; When the receiving sleeve 663 moves outward, the transmission member 668 passes through the through hole 661a and contacts the red area outside, the sterile gauze on the transmission member 668 can contact the red area, and the sterile gauze can absorb the bloodstain; Then the electric push rod 662 is controlled to drive the receiving sleeve 663 to move inward, when the receiving sleeve 663 moves inward, the driving member 665 is engaged with the driving rack 664, the driving member 665 drives the first belt pulley 666 to rotate, the first belt pulley 666 drives the transmission member 668 to rotate through the second belt pulley 667, so that the area of the transmission member 668 located in the gap 669 region is rotated to the other end in the receiving sleeve 663, so that the new gauze on the transmission member 668 is transferred to the gap 669 region, facilitating the processing of the bloodstain next time.

[0025] The installation mode, connection mode or setting mode disclosed in the embodiment are all common mechanical connection modes, as long as the beneficial effects can be achieved, and the specific structure, composition and working principle are not described in detail.

[0026] ​It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0027] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm with force feedback function, characterized in that: A six-dimensional force sensor is installed at the end or joint of the robotic arm to synchronously detect the three-dimensional space force and torque; The robotic arm comprises a base (1), a first driving arm (2), a second driving arm (3), a third driving arm (4), and a fourth driving arm (5); The end of the fourth driving arm (5) is connected to an operating device; A prompting assembly (6) is fixedly connected to the surface of the third driving arm (4).

2. The mechanical arm with force feedback function according to claim 1, characterized in that: The prompt component (6) includes a connecting seat (61), and the connecting seat (61) is fixedly connected to the third driving arm (4); A servo motor is bolted to the back of the connecting seat (61), and the servo motor is connected to the base of the first drive motor (62) through a reducer. A first connecting rod (63) is rotatably connected below the base of the first drive motor (62); The first connecting rod (63) is fixedly connected to the output shaft of the first drive motor (62).

3. The mechanical arm with force feedback function according to claim 2, characterized in that: The end of the first connecting rod (63) is connected to a second drive motor (64), an output shaft of the second drive motor (64) is fixedly connected to the second connecting rod (65), and the second connecting rod (65) is rotatably connected to the bottom of the first connecting rod (63).

4. The mechanical arm with force feedback function according to claim 2, characterized in that: A plurality of sensors are provided at equal intervals on the bottom of the first connecting rod (63) and the second connecting rod (65); The first drive motor (62) and the second drive motor (64) drive the first connecting rod (63) and the second connecting rod (65) to unfold, so that the first connecting rod (63) and the second connecting rod (65) simulate the curvature of a human arm after unfolding.

5. The mechanical arm with force feedback function according to claim 4, characterized in that: The end of the second connecting rod (65) is connected to an absorption component (66); The absorption assembly (66) includes a housing (661), and the housing (661) is fixedly connected to the end of the second connecting rod (65); An electric push rod (662) is bolted inside the housing (661), and a telescopic end of the electric push rod (662) is fixedly connected to the receiving sleeve (663).

6. The mechanical arm with force feedback function according to claim 5, characterized in that: A driving rack (664) is fixedly connected to the housing (661), and a one-way bearing is provided on the surface of the receiving sleeve (663); The outer ring of the one-way bearing is fixedly connected to the driving member (665), and the inner ring of the one-way bearing is fixedly connected to the first pulley (666).

7. The mechanical arm with force feedback function according to claim 5, characterized in that: The upper and lower ends of the receiving sleeve (663) are rotatably connected to a first pulley (666) and a second pulley (667); The first pulley (666) and the second pulley (667) are connected to each other via a transmission member (668).

8. The mechanical arm with force feedback function according to claim 5, characterized in that: A notch (669) is provided at the bottom of the receiving sleeve (663); A through hole (661a) is provided at the bottom of the housing (661), and a color sensor (661b) is provided below the side wall of the housing (661).

9. The mechanical arm with force feedback function according to claim 8, characterized in that: The color sensor (661b) is used to sense the red area on the surface of an external object and drive the absorption component (66) to operate, so that the sterile gauze on the transmission component (668) in the absorption component (66) contacts the blood and absorbs it.

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