Robotic arm and medical cart

Abstract

The application relates to a mechanical arm and a medical trolley. The mechanical arm comprises a first arc-shaped joint, the first arc-shaped joint has a first arc-shaped track, and the first arc-shaped joint has a first central axis which is perpendicular to the plane where the first arc-shaped track is located; the first arc-shaped joint comprises a first arc-shaped arm and a second arc-shaped arm, the second arc-shaped arm is movably connected with the first arc-shaped arm along the first arc-shaped track; the second arc-shaped joint has a second arc-shaped track, and the second arc-shaped joint has a second central axis which is perpendicular to the plane where the second arc-shaped track is located, the second central axis intersects with the first central axis at a virtual motion center, and the second arc-shaped joint is movably connected with the second arc-shaped arm along the second arc-shaped track. The motion center can be ensured to be unchanged, the stability of the motion center control can be improved, and the error of the motion center control can be reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a robotic arm and a medical trolley. Background Technology

[0002] With the development of medical technology, surgical robots can perform complex surgical procedures in a minimally invasive manner. A surgical robot can include a master control unit, a slave control unit, and surgical instruments mounted on the slave control unit. The doctor can issue control commands from the master control unit to the slave control unit, and the slave control unit controls the movement of the surgical instruments according to the control commands, thereby performing surgical procedures on the patient.

[0003] In related technologies, the control end typically includes a robotic arm with multiple sequentially connected motion components. One of the distal motion components is connected to a power unit, which in turn is connected to the surgical instruments. Adjacent motion components form a joint. The joints work together to adjust the position and orientation of the distal surgical instruments, ensuring that the instruments always move around a center of motion, which is the incision area on the patient's body surface.

[0004] However, in related technologies, the linkage of various joints to adjust the position and posture of surgical instruments is complex, the stability of the motion center control is poor, and the control error is relatively large. Summary of the Invention

[0005] Based on this, embodiments of this application provide a robotic arm and a medical trolley, which can ensure that the center of motion remains unchanged during the coordinated or independent movement of the various joints of the robotic arm, thereby improving the stability of the center of motion control and reducing the error of the center of motion control.

[0006] On one hand, embodiments of this application provide a robotic arm, including:

[0007] The first arc joint has a first arc trajectory and a first central axis perpendicular to the plane of the first arc trajectory. The first arc joint includes a first arc arm and a second arc arm. The second arc arm is movably connected to the first arc arm along the first arc trajectory. When the first arc arm moves along the first arc trajectory, the second arc arm is linked with the first arc arm.

[0008] The second arc joint has a second arc trajectory and a second central axis perpendicular to the plane of the second arc trajectory. The second central axis intersects the first central axis at the virtual motion center. The second arc joint is movably connected to the second arc arm along the second arc trajectory.

[0009] In one implementation, either the first arc trajectory or the second arc trajectory is a circular arc trajectory.

[0010] In one implementation, the robotic arm further includes a suspension rotary joint having a rotation axis along a first arcuate trajectory, and a first arcuate arm is movably connected to the suspension rotary joint.

[0011] The first central axis intersects the rotation axis at the virtual motion center, and the second central axis intersects the rotation axis at the virtual motion center.

[0012] In one implementation, when the first arc-shaped arm rotates relative to the suspension rotary joint along the first arc-shaped trajectory, the second arc-shaped arm is linked with the first arc-shaped arm, and the direction of movement of the second arc-shaped arm is the same as that of the first arc-shaped arm.

[0013] In one implementation, the robotic arm further includes a first sliding component along a first arcuate trajectory, with a portion of the first sliding component connected to a first arcuate arm and another portion of the first sliding component connected to a second arcuate arm.

[0014] In one implementation, the first sliding component includes:

[0015] The first guide rail is along the first arc-shaped trajectory and is connected to one of the first arc-shaped arm and the second arc-shaped arm.

[0016] The first slider is connected to the other of the first and second arc arms, and the first slider is slidably connected to the first guide rail.

[0017] In one implementation, the first guide rail is fixedly connected to the first arc-shaped arm;

[0018] Along the first arc-shaped trajectory, the second arc-shaped arm has a first end and a second end, the first end being fixedly connected to the first slider, and the second end being connected to the second arc-shaped joint.

[0019] In one implementation, the first guide rail is connected to the second arc-shaped arm, and along the first arc-shaped trajectory, the first slider is located at the end of the first arc-shaped arm near the second arc-shaped joint.

[0020] In one implementation, the robotic arm further includes a second sliding component along a first arcuate trajectory, with a portion of the second sliding component connected to the first arcuate arm and another portion connected to a suspension rotary joint.

[0021] In one implementation, the second sliding component includes:

[0022] The second guide rail is connected to the first arc-shaped arm along the first arc-shaped trajectory.

[0023] The second slider is connected to the suspension rotary joint and is slidably connected to the second guide rail.

[0024] In one implementation, the robotic arm further includes a first drive assembly, the output of which is connected to a first arcuate joint. The first drive assembly is used to drive the first arcuate joint to move relative to the suspended rotary joint along a first arcuate trajectory.

[0025] In one implementation, the first driving component includes:

[0026] The first driving component is located at the suspension rotary joint;

[0027] The first transmission component is connected to the output end of the first drive component, and is also connected to the first arc-shaped arm and the second arc-shaped arm. The first transmission component drives the first arc-shaped arm and the second arc-shaped arm to move together along the first arc-shaped trajectory.

[0028] In one implementation, the first transmission component includes:

[0029] The first driving wheel is connected to the output end of the first driving component;

[0030] The flexible component is wound around the first drive wheel and connected to the end of the first arc-shaped arm away from the second arc-shaped joint. When the flexible component drives the first arc-shaped arm to move relative to the suspension joint, the flexible component drives the second arc-shaped arm to move relative to the first arc-shaped arm.

[0031] In one implementation, the first transmission member further includes a driven wheel, which is rotatably disposed at the first end of the second arcuate arm; a flexible member is wound around the first driving wheel and the driven wheel.

[0032] In one implementation, a first reversing wheel is provided at one end of the first arc-shaped arm near the second arc-shaped joint, and the flexible component includes:

[0033] The first flexible component has one end connected to the end of the first arc-shaped arm away from the second arc-shaped joint, and the other end of the first flexible component is wrapped around the first drive wheel;

[0034] The second flexible component has one end wound around the first driving wheel in the opposite direction to the first flexible component. The other end of the second flexible component passes around the first reversing wheel and is wound around the driven wheel. The winding direction of the second flexible component on the driven wheel is the same as the winding direction of the first flexible component on the first driving wheel.

[0035] In one implementation, the flexible component further includes a third sub-flexible component, one end of which is connected to the end of the first arcuate arm away from the second arcuate joint, and the other end of which is wound around the driven wheel, with the winding direction of the third sub-flexible component opposite to that of the second sub-flexible component.

[0036] In one implementation, a torque member is provided on the rotating shaft of the driven wheel. One end of the torque member is connected to the driven wheel via a transmission, and the other end of the torque member is connected to the second arc-shaped arm.

[0037] In one implementation, the flexible component also includes:

[0038] The fourth flexible component is wound around the first drive wheel, with one end of the fourth flexible component connected to one end of the first arc-shaped arm and the other end of the fourth flexible component connected to the other end of the first arc-shaped arm.

[0039] In one implementation, the first arc-shaped arm is rotatably provided with a second reversing wheel; the flexible component also includes:

[0040] The fifth flexible component has one end connected to the suspension rotary joint, and the other end of the fifth flexible component bypasses the end of the first arc arm away from the second arc joint and the second reversing wheel, and is connected to the end of the second arc arm near the second arc joint.

[0041] The sixth flexible component has one end connected to the suspension rotary joint, and the other end of the sixth flexible component bypasses the end of the first arc arm near the second arc joint and the second reversing wheel, and is connected to the end of the second arc arm away from the second arc joint.

[0042] In one implementation, the flexible component includes any one of a drive wire, a drive chain, and a drive belt.

[0043] In one implementation, the second arc-shaped joint is provided with multiple power boxes, which are evenly distributed along the second arc-shaped trajectory.

[0044] In one implementation, the robotic arm further includes a telescopic joint, which is located in one of the first arcuate joint and the second arcuate joint, and the telescopic direction of the telescopic joint is consistent with the second central axis.

[0045] The telescopic joint is equipped with a locking device, which is located on the second central axis.

[0046] In one implementation, the telescopic joint includes:

[0047] The telescopic body has a telescopic extension direction that is consistent with the second central axis.

[0048] A connector is connected to the telescopic body, and the extension direction of the connector intersects with the telescopic direction of the telescopic body. A snap-fit ​​is attached to the end of the connector away from the telescopic body.

[0049] In one implementation, the retractable body includes:

[0050] A linear guide rail is connected to one of the first arc-shaped joint and the second arc-shaped joint, and the extension direction of the linear guide rail is consistent with the second central axis.

[0051] Telescopic base, which is slidably connected to the linear guide rail, and the connecting piece is connected to the telescopic base;

[0052] The second drive assembly is located on the telescopic base and is used to drive the telescopic base to move along the linear guide rail.

[0053] In one implementation, the telescopic joint further includes:

[0054] The handle is fitted onto the outer periphery of the connector.

[0055] The sensor is located on the connector and is connected to the handle.

[0056] In one implementation, a telescopic joint is located on the second arc-shaped arm, at the end of the second arc-shaped arm away from the second arc-shaped joint.

[0057] On the other hand, embodiments of this application provide a medical cart, including:

[0058] The trolley body has a cantilever; and

[0059] The robotic arm provided in the foregoing embodiments of this application is connected to a cantilever.

[0060] The robotic arm and medical trolley provided in this application embodiment have a first arcuate joint with a first arcuate trajectory and a first central axis perpendicular to the plane of the first arcuate trajectory, and a second arcuate joint with a second arcuate trajectory and a second central axis perpendicular to the second arcuate trajectory. The first and second central axes are set to intersect at a virtual motion center. Thus, whether the first arcuate joint moves along the first arcuate trajectory to adjust the posture of the end effector, or the second arcuate joint moves the end effector along the second arcuate trajectory to adjust its posture, the motion center of the end effector is always located at the virtual motion center where the first and second central axes intersect. In other words, whether the first or second arcuate joint adjusts the end effector, the position of the motion center of the end effector remains unchanged, facilitating control of the end effector's motion center, improving the stability of the end effector's motion center control, and reducing control errors.

[0061] In addition, in this embodiment, the first arcuate joint includes a first arcuate arm and a second arcuate arm, and the second arcuate arm is movably connected to the first arcuate arm along a first arcuate trajectory. The stroke of the first arcuate joint can be the superposition of the strokes of the first arcuate joint and the second arcuate joint, which can increase the stroke of the first arcuate joint, and the space required by the first arcuate joint can be reduced by stacking the first arcuate arm and the second arcuate arm, thereby reducing the volume of the first arcuate joint.

[0062] In addition, when the first arc-shaped arm moves along the first arc-shaped trajectory, the first arc-shaped arm and the second arc-shaped arm move in tandem. Thus, only one set of drive structures is needed to drive both the first and second arc-shaped arms, reducing the number of drive structures required and consequently lowering the manufacturing cost of the robotic arm. Reducing the number of drive structures also decreases the noise emitted by the drive structures, improving the quietness of the robotic arm.

[0063] When one of the first arc-shaped arm and the second arc-shaped arm is driven and moved by a first displacement, the other of the first arc-shaped arm and the second arc-shaped arm also moves by a first displacement. For the first arc-shaped joint, this is equivalent to moving twice the first displacement, which increases the rotational speed of the first arc-shaped joint and thus improves the efficiency of adjusting the pitch angle of the end effector. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the structure of a medical trolley provided in some embodiments of this application.

[0065] Figure 2 This is a schematic diagram of an application scenario of a medical trolley provided in some embodiments of this application.

[0066] Figure 3 This is a schematic diagram of a robotic arm provided in some embodiments of this application.

[0067] Figure 4 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0068] Figure 5 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0069] Figure 6 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0070] Figure 7 This is a schematic diagram of a structure in which the first arc-shaped arm and the second arc-shaped arm cooperate in a robotic arm provided in some embodiments of this application.

[0071] Figure 8This is a schematic diagram of another structure of the robotic arm provided in some embodiments of this application, in which the first arc arm and the second arc arm cooperate.

[0072] Figure 9 This is a schematic diagram of a second arc-shaped joint in a robotic arm provided in some embodiments of this application.

[0073] Figure 10 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0074] Figure 11 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0075] Figure 12 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0076] Figure 13 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0077] Figure 14 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0078] Figure 15 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0079] Figure 16 This is a partial structural diagram of the telescopic joint in a robotic arm provided in some embodiments of this application.

[0080] Figure 17 This is a schematic diagram of another partial structure of the telescopic joint in a robotic arm provided in some embodiments of this application.

[0081] Figure 18 This is another partial structural diagram of the telescopic joint in a robotic arm provided in some embodiments of this application.

[0082] Explanation of reference numerals in the attached figures:

[0083] 10 - Robotic arm; 20 - Cart body;

[0084] 11-First arc joint; 12-Second arc joint; 13-Suspension rotary joint; 16-First drive assembly; 17-Power box; 18-Telescopic joint; 19-Clip; 21-Traveling mechanism; 22-Support arm; 23-Cantilever;

[0085] 100 - Virtual motion center; 101 - First arc-shaped trajectory; 102 - First central axis; 103 - Second arc-shaped trajectory; 104 - Second central axis; 105 - Rotation axis; 111 - First arc-shaped arm; 112 - Second arc-shaped arm; 141 - First slider; 151 - Second slider; 161 - First transmission component; 162 - Driven wheel; 163 - First reversing wheel; 164 - Second reversing wheel; 181 - Telescopic body; 182 - Connector; 183 - Handle; 184 - Sensor;

[0086] 1121 - First end; 1122 - Second end; 1611 - First drive wheel; 1612 - Flexible component; 1612a - First sub-flexible component; 1612b - Second sub-flexible component; 1612c - Third sub-flexible component; 1612d - Fourth sub-flexible component; 1612e - Fifth sub-flexible component; 1612f - Sixth sub-flexible component; 1811 - Linear guide rail; 1812 - Telescopic base; 1813 - Second drive assembly. Detailed Implementation

[0087] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0088] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0089] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0091] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0092] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0093] Figure 1 This is a schematic diagram of the structure of a medical trolley provided in some embodiments of this application. Figure 2 This is a schematic diagram of an application scenario of a medical trolley provided in some embodiments of this application.

[0094] In some examples, refer to Figure 1 and Figure 2 As shown in the figure, this application embodiment provides a medical cart. The medical cart may include a cart body 20. The cart body 20 may have a walking mechanism 21. In use, the position of the medical cart can be moved by the walking mechanism 21, making it easy to move the medical cart to the bedside for minimally invasive surgery.

[0095] In some examples, refer to Figure 1 and Figure 2As shown, the trolley body 20 may have a cantilever 23. The cantilever 23 may be mounted on the traveling mechanism 21. For example, the cantilever 23 may be supported on the traveling mechanism 21 by a support arm 22.

[0096] In some examples, refer to Figure 1 and Figure 2 As shown, the medical cart may include a robotic arm 10. The robotic arm 10 may be connected to a cantilever 23. The robotic arm 10 may typically have multiple sequentially connected motion components. One of the motion components at the distal end may be connected to a power unit 17, which may be connected to an end effector.

[0097] In some examples, two adjacent moving parts form a joint, and these joints work together to adjust the position and orientation of the end effector, ensuring that the end effector always moves around a center of motion. The center of motion can be the incision area on the patient's body surface.

[0098] However, the linkage of each joint adjusts the position and posture of the end effector, which is complex and results in poor stability of the motion center control and large control error.

[0099] Figure 3 This is a schematic diagram of a robotic arm provided in some embodiments of this application.

[0100] Therefore, referring to Figure 1 and Figure 3 As shown in some examples of embodiments of this application, the robotic arm 10 may include a first arcuate joint 11. The first arcuate joint 11 may have a first arcuate trajectory 101 and a first central axis 102, and the first central axis 102 may be perpendicular to the plane on which the first arcuate trajectory 101 is located.

[0101] In some examples, the first arcuate joint 11 can move along the first arcuate trajectory 101. For example, the first arcuate joint 11 can move relative to the trolley body 20 along the first arcuate trajectory 101. When the first arcuate joint 11 moves along the first arcuate trajectory 101, the first arcuate joint 11 can rotate about the first central axis 102.

[0102] In some examples, refer to Figure 1 and Figure 3 As shown, the robotic arm 10 may include a second arcuate joint 12. The second arcuate joint 12 may be movably connected to the first arcuate joint 11. The first arcuate joint 11 may drive the second arcuate joint 12 to move along the first arcuate trajectory 101.

[0103] In some examples, refer to Figure 1 and Figure 3As shown, the second arcuate joint 12 may have a second arcuate trajectory 103 and a second central axis 104, the second central axis 104 being perpendicular to the plane containing the second arcuate trajectory 103. The second arcuate joint 12 can move relative to the first arcuate joint 11 along the second arcuate trajectory 103. While the second arcuate joint 12 moves along the second arcuate trajectory 103, the second arcuate joint 12 can rotate about the second central axis 104.

[0104] In some examples, the second central axis 104 and the first central axis 102 may intersect at a virtual center of motion 100. The virtual center of motion 100 can be the motion center of an end effector. That is, the virtual center of motion 100 can be the incision area on the patient's body surface. During minimally invasive surgery, the virtual center of motion 100, where the first central axis 102 and the second central axis 104 intersect, can be located within the incision area on the patient's body surface.

[0105] In some examples of embodiments of this application, the first central axis 102 and the second central axis 104 are set to intersect at a virtual motion center 100. Thus, whether the first arcuate joint 11 moves along the first arcuate trajectory 101 to adjust the posture of the end effector, or the second arcuate joint 12 moves the end effector along the second arcuate trajectory 103 to adjust the posture of the end effector, the motion center of the end effector is always located at the virtual motion center 100 where the first central axis 102 and the second central axis 104 intersect. In other words, whether the first arcuate joint 11 or the second arcuate joint 12 adjusts the end effector, the position of the motion center of the end effector remains unchanged, thereby facilitating control of the motion center of the end effector, improving the stability of the motion center control, and reducing the control error of the motion center of the end effector.

[0106] In some examples, refer to Figure 3 As shown, the first arcuate joint 11 may include a first arcuate arm 111 and a second arcuate arm 112. The second arcuate arm 112 can be movably connected to the first arcuate arm 111 along the first arcuate trajectory 101. That is, the second arcuate arm 112 can move relative to the first arcuate arm 111 along the first arcuate trajectory 101. Thus, when a large range of adjustment of the pitch angle of the end effector is required along the first arcuate trajectory 101, the second arcuate arm 112 can extend from the first arcuate arm 111, increasing the adjustment stroke and range of the first arcuate joint 11. When adjustment of the pitch angle of the end effector is not required, or when the adjustment range is small, the second arcuate arm 112 can be stacked with the first arcuate arm 111, thereby reducing the space required by the first arcuate joint 11 and reducing its volume.

[0107] The robotic arm 10 provided in this embodiment has a first arcuate joint 11 with a first arcuate trajectory 101 and a first central axis 102 perpendicular to the plane containing the first arcuate trajectory 101, and a second arcuate joint 12 with a second arcuate trajectory 103 and a second central axis 104 perpendicular to the second arcuate trajectory 103. The first central axis 102 and the second central axis 104 are set to intersect at a virtual motion center 100. Thus, whether the first arcuate joint 11 moves along the first arcuate trajectory 101 to adjust the posture of the end effector, or the second arcuate joint 12 drives the end effector to move along the second arcuate trajectory 103 to adjust the posture of the end effector, the motion center of the end effector is always located at the virtual motion center 100 where the first central axis 102 and the second central axis 104 intersect. In other words, whether the first arc joint 11 or the second arc joint 12 adjusts the end effector, the position of the motion center of the end effector remains unchanged, which facilitates the control of the motion center of the end effector, improves the stability of the motion center control of the end effector, and reduces the control error of the motion center of the end effector.

[0108] In addition, in this embodiment, the first arcuate joint 11 includes a first arcuate arm 111 and a second arcuate arm 112, the second arcuate arm 112 being movably connected to the first arcuate arm 111 along the first arcuate trajectory 101. The stroke of the first arcuate joint 11 can be the superposition of the strokes of the first arcuate joint 11 and the second arcuate joint 12, which can increase the stroke of the first arcuate joint 11. Furthermore, the stacking of the first arcuate arm 111 and the second arcuate arm 112 can reduce the space required by the first arcuate joint 11, thereby reducing the volume of the first arcuate joint 11.

[0109] In some examples, either the first arc trajectory 101 or the second arc trajectory 103 can be a circular arc trajectory.

[0110] In some examples, the first arc trajectory 101 can be a circular arc trajectory.

[0111] In some examples, the second arc trajectory 103 can be a circular arc trajectory.

[0112] In some examples of embodiments of this application, either the first arcuate trajectory 101 or the second arcuate trajectory 103 is set as a circular arc trajectory. Thus, when the first arcuate joint 11 moves along the first arcuate trajectory 101, the position of the first central axis 102 remains unchanged; and when the second arcuate joint 12 moves along the second arcuate trajectory 103, the position of the second central axis 104 remains unchanged. In other words, the position of the virtual motion center 100 where the first central axis 102 and the second central axis 104 intersect remains unchanged, facilitating control of the motion center of the end effector and improving the stability of the control.

[0113] In some examples, refer to Figure 1 and Figure 3 As shown, the robotic arm 10 may include a suspension rotary joint 13. The suspension rotary joint 13 may be connected to the cantilever 23. The suspension rotary joint 13 may have a rotation axis 105. That is, the suspension rotary joint 13 may rotate relative to the robotic arm 10 about the rotation axis 105.

[0114] Figure 4 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0115] In some examples, refer to Figure 4 As shown, the first arc-shaped arm 111 is movably connected to the suspension rotary joint 13 along the first arc-shaped trajectory 101. That is, the first arc-shaped arm 111 can move relative to the suspension rotary joint 13 along the first arc-shaped trajectory 101. It can be understood that when the first arc-shaped arm 111 moves relative to the suspension rotary joint 13 along the first arc-shaped trajectory 101, the first arc-shaped arm 111 can rotate about the first central axis 102.

[0116] In some examples, refer to Figure 1 As shown, the first central axis 102 can intersect the rotation axis 105 at the virtual motion center 100.

[0117] In some examples, refer to Figure 1 As shown, the second central axis 104 can intersect the rotation axis 105 at the virtual motion center 100.

[0118] In other words, in some examples of embodiments of this application, the first central axis 102 intersects the rotation axis 105 and the second central axis 104 at the virtual motion center 100.

[0119] In some examples of embodiments of this application, a suspension rotary joint 13 is provided, which is connected to the cantilever 23. The suspension rotary joint 13 has a rotation axis 105. Along the first arcuate trajectory 101, the first arcuate arm 111 is movably connected to the suspension rotary joint 13. Thus, when the suspension rotary joint 13 rotates around the rotation axis 105, it can drive the first arcuate arm 111 to rotate around the rotation axis, thereby driving the first arcuate joint 11, the second arcuate joint 12, and the end effector to rotate around the rotation axis 105. This can improve the degree of freedom of adjustment of the end effector and enhance the flexibility of end effector operation.

[0120] Furthermore, the first central axis 102 intersects the rotation axis 105 at the virtual motion center 100, and the second central axis 104 also intersects the rotation axis 105 at the virtual motion center 100. Thus, the motion centers of the suspended rotary joint 13, which drives the first arcuate joint 11 and the second arcuate joint 12, are also located at the virtual motion center 100. This ensures that the motion center of the end effector remains unchanged, facilitating control of the end effector's motion center and improving the stability of the end effector's motion center control.

[0121] In some examples, refer to Figure 3 and Figure 4 As shown, when the first arc-shaped arm 111 rotates relative to the suspension rotary joint 13 along the first arc-shaped trajectory 101, the second arc-shaped arm 112 can be linked with the first arc-shaped arm 111.

[0122] In some examples, the direction of movement of the second arc-shaped arm 112 may be the same as the direction of movement of the first arc-shaped arm 111.

[0123] In some examples, refer to Figure 3 As shown, in Figure 3 In the process, when the first arc-shaped arm 111 moves counterclockwise along the first arc-shaped trajectory 101, the second arc-shaped arm 112 is linked with the first arc-shaped arm 111, and the second arc-shaped arm 112 also moves counterclockwise. When the first arc-shaped arm 111 moves counterclockwise to its maximum stroke, the second arc-shaped arm 112 also moves counterclockwise to its maximum stroke, thus forming... Figure 4 The state shown.

[0124] In some examples, refer to Figure 4 As shown, in Figure 4 In this process, when the first arc-shaped arm 111 moves clockwise along the first arc-shaped trajectory 101, the second arc-shaped arm 112 is linked to the first arc-shaped arm 111, and the second arc-shaped arm 112 also moves clockwise. For example, it can move to... Figure 3 The state shown.

[0125] In some examples of embodiments of this application, when the first arc-shaped arm 111 rotates relative to the suspension rotary joint 13 along the first arc-shaped trajectory 101, the second arc-shaped arm 112 is configured to move in conjunction with the first arc-shaped arm 111, and the direction of movement of the second arc-shaped arm 112 is the same as the direction of movement of the first arc-shaped arm 111. Thus, the stroke of the first arc-shaped joint 11 is the sum of the strokes of the first arc-shaped arm 111 and the second arc-shaped arm 112. That is, when driving the first arc-shaped arm 111, the stroke can be increased through the linkage of the second arc-shaped arm 112, which can improve the adjustment efficiency of the stroke of the first arc-shaped joint 11, thereby improving the adjustment efficiency of the pitch angle of the end effector.

[0126] Furthermore, in some examples of embodiments of this application, the first arc-shaped arm 111 and the second arc-shaped arm 112 are linked. Thus, only one set of drive structures is needed to drive the first arc-shaped arm 111 and the second arc-shaped arm 112, saving on the number of drive structures required and reducing the manufacturing cost of the robotic arm. Reducing the number of drive structures also reduces noise emitted by the drive structures, improving the quietness of the robotic arm.

[0127] In addition, the first arc-shaped arm 111 is linked with the second arc-shaped arm 112. Thus, when one of the first arc-shaped arm 111 and the second arc-shaped arm 112 is driven and moved by a first displacement, the other of the first arc-shaped arm 111 and the second arc-shaped arm 112 also moves by a first displacement. For the first arc-shaped joint 11, this is equivalent to moving twice the first displacement, which increases the rotational speed of the first arc-shaped joint and thus improves the efficiency of adjusting the pitch angle of the end effector.

[0128] In some examples, the robotic arm 10 may include a first sliding component (not labeled in the figure). Along a first arcuate trajectory 101, a portion of the first sliding component can be connected to a first arcuate arm 111, and another portion can be connected to a second arcuate arm 112. That is, the second arcuate arm 112 can be slidably connected to the first arcuate arm 111 via the first sliding component. This improves the smoothness of movement of the second arcuate arm 112 relative to the first arcuate arm 111 along the first arcuate trajectory 101, thereby improving the stability of the pitch angle adjustment of the end effector and, consequently, the stability of the motion center control of the end effector.

[0129] In some examples, the first sliding component may include a first guide rail (not shown in the figure). Along a first arcuate trajectory 101, the first guide rail may be connected to one of a first arcuate arm 111 and a second arcuate arm 112. The first guide rail may be an arcuate guide rail. The arc of the first guide rail may be the same as, similar to, or approximate to the first arcuate trajectory 101.

[0130] In some examples, refer to Figure 3and Figure 4 As shown, the first sliding assembly may include a first slider 141. The first slider 141 may be connected to the other of the first arcuate arm 111 and the second arcuate arm 112, and the first slider 141 may be slidably connected to the first guide rail.

[0131] In some examples of embodiments of this application, a first guide rail is provided along a first arcuate trajectory 101 on one of the first arcuate arm 111 and the second arcuate arm 112, and a first slider 141 is provided on the other of the first arcuate arm 111 and the second arcuate arm 112. The first slider 141 is slidably connected to the first guide rail, thereby achieving a slidable connection between the first arcuate arm 111 and the second arcuate arm 112. Thus, the first slider 141 slides along the first guide rail, ensuring that the second arcuate arm 112 moves relative to the first arcuate arm 111 along the first arcuate trajectory 101, so that the movement trajectory of the second arcuate arm 112 always remains within the first arcuate trajectory 101. In other words, the second arcuate arm 112 can maintain the position of the first central axis 102 unchanged during movement, thereby ensuring that the motion center of the end effector remains unchanged, facilitating stable control of the motion center of the end effector, and improving the stability of the motion center control of the end effector.

[0132] In some examples, the first guide rail can be fixedly connected to the first arc-shaped arm 111.

[0133] In some examples, refer to Figure 3 and Figure 4 As shown, along the first arcuate trajectory 101, the second arcuate arm 112 can have a first end 1121 and a second end 1122. That is, along the first arcuate trajectory 101, one end of the second arcuate arm 112 can be the first end 1121, and the other end of the second arcuate arm 112 can be the second end 1122.

[0134] In some examples, the first end 1121 can be fixedly connected to the first slider 141. The second end 1122 can be connected to the second arc-shaped joint 12. That is, the first slider 141 and the second arc-shaped joint 12 can be disposed opposite to each other at the two ends of the second arc-shaped arm 112.

[0135] In some examples of embodiments of this application, a first guide rail is fixedly disposed on a first arc-shaped arm 111, a first slider 141 is fixedly disposed on a first end 1121 of a second arc-shaped arm 112, and a second arc-shaped joint 12 is disposed on a second end 1122 of the second arc-shaped arm 112. Thus, the first slider 141 and the second arc-shaped joint 12 can be disposed opposite to each other at the two ends of the second arc-shaped arm 112, and the entire length of the second arc-shaped arm 112 can be used as the travel distance for adjusting the second arc-shaped joint 12. This improves the utilization rate of the arm length of the second arc-shaped arm 112, thereby shortening the required length of the first arc-shaped arm 111 and the second arc-shaped arm 112, and consequently reducing the volume of the first arc-shaped joint 11.

[0136] Figure 5 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 6 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application.

[0137] In some examples, the first guide rail can be connected to the second arc-shaped arm 112. The first guide rail can be fixedly connected to the second arc-shaped arm 112.

[0138] In some examples, refer to Figure 5 and Figure 6 As shown, the first slider 141 can be fixedly mounted on the first arc-shaped arm 111. That is, the second arc-shaped arm 112 can slide on the first slider 141 via the first guide rail, thereby moving relative to the first arc-shaped arm 111 along the first arc-shaped trajectory 101. In this way, the high strength of the first guide rail itself can be used to strengthen the second arc-shaped arm 112, thereby increasing the strength of the second arc-shaped arm 112 and thus improving the overall rigidity of the robotic arm 10 structure.

[0139] In addition, in specific settings, first guide rails can be provided on both sides of the second arc-shaped arm 112 to increase the structural strength of the second arc-shaped arm 112.

[0140] In some examples, the first slider 141 may be located at one end of the first arcuate arm 111 near the second arcuate joint 12. For example, with Figure 5 and Figure 6 The orientation shown is illustrated as a specific example, where the first slider 141 can be located at the right end of the first arc-shaped arm 111.

[0141] In some examples of embodiments of this application, the first guide rail is connected to the second arc-shaped arm 112. This allows the high strength of the first guide rail to reinforce the second arc-shaped arm 112, thereby increasing its structural strength. Furthermore, by placing the first slider 141 along the first arc-shaped trajectory 101 at one end of the first arc-shaped arm 111 near the second arc-shaped joint 12, the movable stroke of the second arc-shaped arm 112 relative to the first arc-shaped arm 111 can be increased, and the volume of the first arc-shaped joint 11 can be reduced.

[0142] In some examples, the robotic arm 10 may include a second sliding assembly (not labeled in the figure). A portion of the second sliding assembly may connect to the first arcuate arm 111 along the first arcuate trajectory 101. Another portion of the second sliding assembly may connect to the suspension rotary joint 13. Thus, the first arcuate arm 111 and the suspension rotary joint 13 can be slidably connected via the second sliding assembly, improving the smoothness of movement of the first arcuate arm 111 relative to the suspension rotary joint 13 and enhancing the stability of motion center control.

[0143] In some examples, the second sliding component may include a second guide rail (not shown in the figure). The second guide rail may be connected to the first arcuate arm 111 along the first arcuate trajectory 101.

[0144] In some examples, the second sliding component may include a second slider 151. The second slider 151 may be connected to the suspension rotary joint 13. The second slider 151 may be slidably connected to the second guide rail.

[0145] It is understood that in some examples of the embodiments of this application, the cooperation method between the second guide rail and the second slider 151 may be the same as, adjacent to or similar to the cooperation method between the first guide rail and the first slider 141 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0146] In some examples, the robotic arm 10 may include a first drive assembly 16. The output of the first drive assembly 16 may be connected to a first arcuate joint 11. The first drive assembly 16 may be used to drive the first arcuate joint 11 to move relative to the suspended rotary joint 13 along a first arcuate trajectory 101.

[0147] In some examples, the first drive assembly 16 may include a first drive element (not shown in the figure). The first drive element may be located on the suspended rotary joint 13. The first drive element may include a motor capable of forward and reverse rotation. For example, the first drive element may include any one of a servo motor, a stepper motor, or a synchronous motor.

[0148] In some examples, the first drive assembly 16 may include a first transmission member 161. The first transmission member 161 may be connected to the output end of the first drive assembly. The first transmission member 161 may be connected to the first arcuate arm 111 and the second arcuate arm 112.

[0149] In some examples, the first transmission member 161 can drive the first arc-shaped arm 111 and the second arc-shaped arm 112 to move together along the first arc-shaped trajectory 101. In this way, it is convenient to link the first arc-shaped arm 111 and the second arc-shaped arm 112 through the first transmission member 161, which simplifies the overall structure of the robotic arm 10.

[0150] In some examples, the first transmission member 161 may include a rack and pinion transmission structure. For example, a drive gear may be provided on the output shaft of the first drive member, and an arcuate rack may be provided on the first arcuate arm 111. The drive gear meshes with the arcuate rack, thereby driving the first arcuate arm 111 to move relative to the suspension rotary joint 13.

[0151] In some examples, the first arc-shaped arm 111 may be equipped with a driven gear, which can be connected to the driving gear via a transmission belt, timing belt, or chain, etc., with the driving gear driving the driven gear to rotate. The second arc-shaped arm 112 may be equipped with an arc-shaped rack, which meshes with the driven gear, thereby enabling the driven gear to drive the second arc-shaped arm 112 in conjunction through the arc-shaped rack.

[0152] Figure 7 This is a schematic diagram of a structure in which the first arc-shaped arm and the second arc-shaped arm cooperate in a robotic arm provided in some embodiments of this application.

[0153] In some examples, refer to Figure 7 As shown, the first transmission component 161 may include a first drive wheel 1611. The first drive wheel 1611 may be connected to the output end of the first drive component.

[0154] In some examples, refer to Figure 7 As shown, the first transmission member 161 may include a flexible member 1612. The flexible member 1612 may be wound around the first drive wheel 1611. The flexible member 1612 may be connected to the end of the first arc-shaped arm 111 away from the second arc-shaped joint 12. When the flexible member 1612 drives the first arc-shaped arm 111 to move relative to the suspension rotary joint 13, the flexible member 1612 may drive the second arc-shaped arm 112 to move relative to the first arc-shaped arm 111.

[0155] In some examples, the flexible element 1612 may include any one of a drive wire, a drive chain, and a drive belt.

[0156] Thus, by using the flexible component 1612 to drive the first arc-shaped arm 111 and the second arc-shaped arm 112 in a coordinated manner, the transmission structure can be simplified and the volume of the first arc-shaped joint 11 can be reduced.

[0157] In some examples, refer to Figure 7 As shown, the first transmission member 161 may include a driven wheel 162. The driven wheel 162 is rotatably disposed at the first end 1121 of the second arcuate arm 112. The flexible member 1612 may be wound around the first driving wheel 1611 and the driven wheel 162. Thus, during the rotation of the first driving wheel 1611, when the flexible member 1612 is wound around the first driving wheel 1611, the second arcuate arm 112 can be tightened, thereby causing the second arcuate arm 112 to move toward the first driving wheel 1611. When the flexible member 1612 is released from the first driving wheel 1611, the second arcuate arm 112 can move under the gravity of the second arcuate joint 12 and the end effector, thereby realizing the linkage movement of the second arcuate arm 112 and the first arcuate arm 111.

[0158] In some examples, refer to Figure 7 As shown, a first reversing wheel 163 may be provided at one end of the first arc-shaped arm 111 near the second arc-shaped joint 12. The first reversing wheel 163 may be rotatably connected to the first arc-shaped arm 111; or, the first reversing wheel 163 may be fixedly connected to the first arc-shaped arm 111.

[0159] In some examples, refer to Figure 7 As shown, the flexible member 1612 may include a first sub-flexible member 1612a. One end of the first sub-flexible member 1612a may be connected to the end of the first arcuate arm 111 away from the second arcuate joint 12. One end of the first sub-flexible member 1612a may be fixedly connected to the end of the first arcuate arm 111 away from the second arcuate joint 12.

[0160] In some examples, the other end of the first sub-flexible member 1612a may be wound around the first drive wheel 1611. For example, the other end of the first sub-flexible member 1612a may be wound around the first drive wheel 1611 at least once.

[0161] In some examples, the first flexible element 1612a can be wound clockwise around the first drive wheel 1611.

[0162] In some examples, refer to Figure 7 As shown, when the first drive wheel 1611 rotates clockwise, the first drive wheel 1611 can wrap the first sub-flexible member 1612a around the first drive wheel 1611, thereby tightening the first sub-flexible member 1612a, so that the first sub-flexible member 1612a pulls the first arc-shaped arm 111 clockwise, and the first arc-shaped arm 111 rotates clockwise along the first arc-shaped trajectory 101.

[0163] In some examples, refer to Figure 7 As shown, the flexible member 1612 may include a second sub-flexible member 1612b. One end of the second sub-flexible member 1612b may be wound around the first drive wheel 1611. The winding direction of the second sub-flexible member 1612b around the first drive wheel 1611 may be opposite to the winding direction of the first sub-flexible member 1612a around the first drive wheel 1611. For example, if the first sub-flexible member 1612a is wound clockwise around the first drive wheel 1611, the second flexible member 1612b may be wound counterclockwise around the first drive wheel 1611.

[0164] In some examples, refer to Figure 7 As shown, the other end of the second flexible member 1612b can bypass the first reversing wheel 163 and be wound around the driven wheel 162. The winding direction of the second flexible member 1612b around the second driven wheel 162 can be the same as the winding direction of the first flexible member 1612a around the first driving wheel 1611. For example, if the first flexible member 1612a is wound around the first driving wheel 1611 in a clockwise direction, the second flexible member 1612b can be wound around the driven wheel 162 in a clockwise direction.

[0165] In some examples, with Figure 7 As an example, when the first drive wheel 1611 rotates clockwise, it winds around the first flexible component 1612a, tightening it and pulling the first arc arm 111 to rotate clockwise along the first arc trajectory 101. Simultaneously, as the first drive wheel 1611 rotates clockwise, the second flexible component 1612b wound around it is released. Under the influence of gravity, the second arc arm 112 moves clockwise along the first arc trajectory 101. At this time, the driven wheel 162 rotates clockwise and winds the released second flexible component 1612b around itself, ensuring that the second flexible component 1612b does not loosen or become knotted.

[0166] In some examples of embodiments of this application, a first reversing wheel 163 is provided at one end of the first arc-shaped arm 111 near the second arc-shaped joint 12, and one end of the first sub-flexible member 1612a is connected to the end of the first arc-shaped arm 111 away from the second arc-shaped joint 12. The other end of the first sub-flexible member 1612a is wound around the first driving wheel 1611. One end of the second sub-flexible member 1612b is wound around the first driving wheel 1611, and the winding direction is opposite to that of the first sub-flexible member 1612a. The other end of the second sub-flexible member 1612b is wound around the first reversing wheel 163 and then wound around the driven wheel 162. The winding direction of the second sub-flexible member 1612b on the driven wheel 162 is the same as the winding direction of the first sub-flexible member 1612a on the first driving wheel 1611. Thus, by setting the winding directions of the first sub-flexible member 1612a and the second sub-flexible member 1612b on the first drive wheel 1611 to be opposite, when the first drive wheel 1611 rotates, the drive control of the first arc arm 111 and the second arc arm 112 can be realized simultaneously. There is no need to set up multiple additional power sources, which effectively simplifies the overall structure of the robotic arm 10 and reduces the complexity and production cost of the equipment. In addition, the winding direction of the second sub-flexible element 1612b on the driven wheel 162 is the same as the winding direction of the first sub-flexible element 1612a on the first driving wheel 1611. Combined with the rotation of the first driving wheel 1611, the driven wheel 162 can timely wind the second sub-flexible element 1612b, or the driven wheel 162 can timely release the second sub-flexible element 1612b, ensuring that the second sub-flexible element 1612b is always in a taut state. This can prevent the second sub-flexible element 1612b from loosening or knotting, thereby ensuring the stability and reliability of the movement of the robotic arm 10 and improving the stability of the motion center control when the robotic arm 10 adjusts the end effector.

[0167] In some examples, refer to Figure 7 As shown, the flexible member 1612 may include a third sub-flexible member 1612c. One end of the third sub-flexible member 1612c may be connected to the end of the first arcuate arm 111 away from the second arcuate joint 12. One end of the third sub-flexible member 1612c may be fixedly connected to the end of the first arcuate arm 111 away from the second arcuate joint 12.

[0168] In some examples, the other end of the third sub-flexible member 1612c may be wound around the driven wheel 162. The winding direction of the third sub-flexible member 1612c may be opposite to the winding direction of the second sub-flexible member 1612b on the driven wheel 162.

[0169] In some examples, with Figure 7As an example, when the first drive wheel 1611 rotates clockwise, it winds around the first flexible component 1612a, thereby pulling the first arc-shaped arm 111 clockwise. The second flexible component 1612b on the first drive wheel 1611 is released, and the second arc-shaped arm 112 moves clockwise along the first arc-shaped trajectory 101 under gravity. The driven wheel 162 rotates and winds around the second flexible component 1612b, ensuring it remains taut and preventing it from slack or knotting. Rotation of the driven wheel 162 releases the third flexible component 1612c, facilitating stable movement of the second arc-shaped arm 112 along the first arc-shaped trajectory 101. This improves the stability of the second arc-shaped arm 112's movement along the first arc-shaped trajectory 101, thereby enhancing the stability of the control over the end effector's motion center.

[0170] In some examples, with Figure 7 As an example, during the counterclockwise rotation of the first drive wheel 1611, the first drive wheel 1611 winds up the second sub-flexible member 1612b. The second sub-flexible member 1612b pulls the first arc-shaped arm 111 counterclockwise via the first reversing wheel 163, causing the first arc-shaped arm 111 to move counterclockwise along the first arc-shaped trajectory 101. Simultaneously, the first drive wheel 1611 releases the first sub-flexible member 1612a, improving the stability of the movement of the first arc-shaped arm 111. In addition, the driven wheel 162 rotates, releasing the second sub-flexible member 1612b and winding around the third sub-flexible member 1612c. The third sub-flexible member 1612c pulls the second arc-shaped arm 112 counterclockwise, thereby causing the second arc-shaped arm 112 to move counterclockwise along the first arc-shaped trajectory 101. This ensures the coordinated movement of the second arc arm 112 and the first arc arm 111, and improves the stability of the movement of the second arc arm 112, thereby improving the stability of the control of the motion center of the end effector.

[0171] In some examples, the rotation shaft of the driven wheel 162 may be fitted with a torque member (not shown in the figure). One end of the torque member may be connected to the driven wheel 162 in a transmission manner. The other end of the torque member may be connected to the second arc-shaped arm 112.

[0172] In some examples, the torque element may include a torsion spring.

[0173] In some examples of embodiments of this application, a torque member is sleeved on the rotating shaft of the driven wheel 162, with one end of the torque member being connected to the driven wheel 162 in a transmission manner, and the other end of the torque member being connected to the second arc-shaped arm 112. In this way, the driven wheel 162 can be driven to rotate by the torque member, eliminating the need for an additional power source for the driven wheel 162. This simplifies the overall structure of the robotic arm 10, reduces its overall size, and lowers its manufacturing costs.

[0174] Figure 8 This is a schematic diagram of another structure of the robotic arm provided in some embodiments of this application, showing the cooperation between the first arc-shaped arm and the second arc-shaped arm.

[0175] In some examples, refer to Figure 8 As shown, the flexible member 1612 may include a fourth sub-flexible member 1612d. The fourth sub-flexible member 1612d may be wound around the first drive wheel 1611. One end of the fourth sub-flexible member 1612d may be connected to one end of the first arc-shaped arm 111. The other end of the fourth sub-flexible member 1612d may be connected to the other end of the first arc-shaped arm 111. That is, the two ends of the fourth sub-flexible member 1612d may be connected to the two ends of the first arc-shaped arm 111.

[0176] In some examples, with Figure 8 As an example, the fourth flexible component 1612d can be wound clockwise around the first drive wheel 1611. When the first drive wheel 1611 rotates clockwise, the fourth flexible component 1612d on the right side of the first drive wheel 1611 is released, and the fourth flexible component 1612d on the left side of the first drive wheel 1611 is wound up. In this way, the fourth flexible component 1612d pulls the first arc-shaped arm 111 to rotate clockwise. The fourth flexible component 1612d is connected to both ends of the first arc-shaped arm 111, which can improve the stability of the movement of the first arc-shaped arm 111, thereby improving the stability of the control of the motion center of the instrument's end effector.

[0177] In some examples, refer to Figure 8 As shown, the first arc-shaped arm 111 is rotatably provided with a second reversing wheel 164.

[0178] In some examples, refer to Figure 8 As shown, the flexible member 1612 may include a fifth sub-flexible member 1612e. One end of the fifth sub-flexible member 1612e may be connected to the suspension rotary joint 13. The fifth sub-flexible member 1612e may be fixedly connected to the suspension rotary joint 13.

[0179] In some examples, refer to Figure 8 As shown, the other end of the fifth flexible component 1612e can bypass the end of the first arcuate arm 111 away from the second arcuate joint 12, and bypass the second reversing wheel 164, connecting to the end of the second arcuate arm 112 near the second arcuate joint 12. Thus, with... Figure 8 As an example, when the first drive wheel 1611 rotates clockwise, the first arc arm 111 rotates clockwise, the left end of the first arc arm 111 decreases in size, the fifth sub-flexible member 1612e is released, and the second arc arm 112 rotates clockwise under the action of gravity.

[0180] In some examples, refer to Figure 8As shown, the flexible member 1612 may include a sixth sub-flexible member 1612f. One end of the sixth sub-flexible member 1612f may be connected to the suspension rotary joint 13. The sixth sub-flexible member 1612f may be fixedly connected to the suspension rotary joint 13.

[0181] In some examples, refer to Figure 8 As shown, the other end of the sixth flexible component 1612f can bypass the end of the first arc-shaped arm 111 near the second arc-shaped joint 12, and after bypassing the second reversing wheel 164, connect to the end of the second arc-shaped arm 112 away from the second arc-shaped joint 12. Thus, with... Figure 8 As an example, when the first drive wheel 1611 rotates clockwise, the first arc-shaped arm 111 rotates clockwise, and the dimension on the right side of the first arc-shaped arm 111 increases, causing the sixth sub-flexible component 1612f to pull the second arc-shaped arm 112 to rotate clockwise. Thus, the linkage between the second arc-shaped arm 112 and the first arc-shaped arm 111 can be controlled by the sixth sub-flexible component 1612f and the fifth sub-flexible component 1612e, which can improve the stability of the movement of the second arc-shaped arm 112 relative to the first arc-shaped arm 111, thereby improving the stability of the control of the motion center of the end effector.

[0182] Figure 9 This is a schematic diagram of a second arc-shaped joint in a robotic arm provided in some embodiments of this application.

[0183] In some examples, refer to Figure 9 As shown, multiple power boxes 17 can be provided on the second arc-shaped joint 12. The multiple power boxes 17 can be evenly distributed along the second arc-shaped trajectory 103.

[0184] In some examples, the second arc joint 12 can be a circular arc joint. Multiple power boxes 17 can be evenly spaced along the circular arc trajectory 103 of the second arc.

[0185] In some examples of embodiments of this application, multiple power boxes 17 are provided on the second arc-shaped joint 12, and the multiple power boxes 17 are evenly distributed along the second arc-shaped trajectory 103. In this way, the power boxes 17 can provide the end effector with the degree of freedom to move along the second central axis 104, which facilitates the driving of the end effector.

[0186] Figure 10 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 11 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 12 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 13 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 14This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 15 This is another structural schematic diagram of the robotic arm provided in some embodiments of this application. Figure 16 This is a partial structural diagram of a telescopic joint in a robotic arm provided in some embodiments of this application.

[0187] In some examples, refer to Figures 10-16 As shown, the robotic arm 10 may include a telescopic joint 18. The telescopic joint 18 may be located in one of the first arcuate joint 11 and the second arcuate joint 12, and the telescopic direction of the telescopic joint 18 may be consistent with the second central axis 104.

[0188] In some examples, refer to Figures 10-13 As shown, the telescopic joint 18 can be located on the first arc-shaped joint 11.

[0189] In some examples, the telescopic joint 18 may be located on the second arcuate arm 112.

[0190] In some examples, refer to Figure 10 and Figure 11 As shown, the telescopic joint 18 can be located at one end of the second arc-shaped arm 112 near the second arc-shaped joint 12.

[0191] In some examples, the telescopic joint 18 may extend in a direction parallel to the second central axis 104.

[0192] In some examples, refer to Figure 12 and Figure 13 As shown, the telescopic joint 18 can be located at the end of the second arc-shaped arm 112 away from the first arc-shaped joint 11. In this way, the second drive component 1813 of the telescopic joint 18 can be closer to the first arc-shaped joint 11. During the movement of the first arc-shaped joint 11, the torque between the first arc-shaped joint 11 and the second drive component 1813 of the telescopic joint 18 can be reduced, thereby improving the stability of the first arc-shaped joint 11 driving the telescopic joint 18 to move.

[0193] In some examples, refer to Figure 14 and Figure 15 As shown, the telescopic joint 18 can be located on the second arc-shaped joint 12.

[0194] In some examples, refer to Figures 10-16 As shown, the telescopic joint 18 may be equipped with a latch 19. The latch 19 may be located on the second central axis 104. The axis of the latch 19 may coincide with or be collinear with the second central axis 104.

[0195] In some examples of embodiments of this application, a telescopic joint 18 is provided in one of the first arcuate joint 11 and the second arcuate joint 12. The telescopic direction of the telescopic joint 18 is consistent with the second central axis 104, and a puncture card 19 is provided in the telescopic joint 18, with the puncture card 19 located on the second central axis 104. In this way, the distance between the puncture card 19 and the incision on the patient's body surface can be adjusted according to the location of the lesion. For example, in some scenarios, when the incision on the patient's body surface is not suitable for setting the puncture card 19, an adapter sleeve can be set on the patient's body surface. The position of the puncture card 19 can be adjusted by the telescopic joint 18 so that the puncture card 19 is connected to the adapter sleeve. At this time, although the position of the puncture card 19 changes, the motion center of the end effector remains in the incision area on the patient's body surface, which can ensure that the motion center of the end effector remains unchanged. In addition, by setting the stamp 19 on the second central axis 104, when the power box 17 drives the end device, the end device moves along the second central axis 104, which can reduce the interference between the end device and the stamp 19, thereby reducing the resistance experienced by the end device and facilitating smooth control and adjustment of the end device.

[0196] Figure 17 This is a schematic diagram of another partial structure of the telescopic joint in a robotic arm provided in some embodiments of this application. Figure 18 This is another partial structural diagram of the telescopic joint in a robotic arm provided in some embodiments of this application.

[0197] In some examples, refer to Figure 16 and Figure 17 As shown, the telescopic joint 18 may include a telescopic body 181. The telescopic direction of the telescopic body 181 may be consistent with the second central axis 104. For example, the telescopic direction of the telescopic body 181 may be parallel to the second central axis 104.

[0198] In some examples, refer to Figure 16 and Figure 17 As shown, the telescopic joint 18 may include a connector 182. The connector 182 can be connected to the telescopic body 181. The extension direction of the connector 182 may intersect the telescopic direction of the telescopic body 181. That is, the extension direction of the connector 182 may intersect the second central axis 104.

[0199] In some examples, the extension direction of connector 182 may be perpendicular to the extension direction of telescopic body 181.

[0200] In some examples, the stamp 19 may be attached to the end of the connector 182 away from the telescopic body 181.

[0201] In some examples of embodiments of this application, the telescopic body 181 is telescopically aligned with the second central axis 104, and a connector 182 is provided on the telescopic body 181. The extension direction of the connector 182 is set to intersect the telescopic direction of the telescopic body 181, and the stamp 19 is connected to the end of the connector 182 away from the telescopic body 181. In this way, the position of the stamp 19 can be extended to the second central axis 104 via the connector 182, facilitating the placement of the stamp 19 on the second central axis 104.

[0202] In some examples, refer to Figure 16 and Figure 17 As shown, the telescopic joint 18 may include a handle 183. The handle 183 may be fitted around the periphery of the connector 182. The handle 183 can be used by an operator or physician to grip and apply force to adjust the initial position of the end effector.

[0203] In some examples, refer to Figure 16 and Figure 17 As shown, the telescopic joint 18 may include a sensor 184. The sensor 184 may be disposed on the connector 182. The sensor 184 may be connected to the handle 183. That is, when the operator applies force to the handle 183, the sensor 184 can detect the force applied by the operator, and then feed it back to the joint motors of the robotic arm 10. The joint motors drive the joints, adjust the initial position of the end effector, reduce the force required by the doctor, and facilitate the doctor's operation.

[0204] In some examples, sensor 184 can be a multidimensional sensor 184. For example, sensor 184 can be a three-dimensional, four-dimensional, or six-dimensional sensor 184, etc.

[0205] In some examples, refer to Figure 18 As shown, the telescopic body 181 may include a linear guide rail 1811. The linear guide rail 1811 may be connected to one of the first arcuate joint 11 and the second arcuate joint 12. The extension direction of the linear guide rail 1811 may be consistent with the second central axis 104.

[0206] In some examples, refer to Figure 18 As shown, the telescopic body 181 may include a telescopic base 1812. The telescopic base 1812 can be slidably connected to the linear guide rail 1811. The connector 182 can be connected to the telescopic base 1812.

[0207] In some examples, refer to Figure 18 As shown, the telescopic body 181 may include a second drive assembly 1813. The second drive assembly 1813 may be disposed on the telescopic base 1812. The second drive assembly 1813 may drive the telescopic base 1812 to move along the linear guide rail 1811.

[0208] In some examples, the second drive assembly 1813 may include a linear motor, or the second drive assembly 1813 may include a motor capable of forward and reverse rotation, driving the telescopic base 1812 to move via a lead screw, rack and pinion, or other means. Of course, the second drive assembly 1813 may also include a telescopic cylinder or hydraulic cylinder, etc.

[0209] In some examples of embodiments of this application, the telescopic base 1812 is driven by the second driving component 1813. Thus, the second driving component 1813 can drive the telescopic base 1812 according to the magnitude of the force detected by the sensor 184, thereby improving the accuracy of the telescopic base 1812's telescopic adjustment.

[0210] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0211] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robotic arm, characterized in that, include: A first arc-shaped joint, the first arc-shaped joint having a first arc-shaped trajectory, and the first arc-shaped joint having a first central axis perpendicular to the plane where the first arc-shaped trajectory is located; The first arc joint includes a first arc arm and a second arc arm. The second arc arm is movably connected to the first arc arm along the first arc trajectory. When the first arc arm moves along the first arc trajectory, the second arc arm is linked with the first arc arm. The second arc joint has a second arc trajectory and a second central axis perpendicular to the plane of the second arc trajectory. The second central axis intersects the first central axis at a virtual motion center. The second arc joint is movably connected to the second arc arm along the second arc trajectory.

2. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a suspended rotary joint, which has a rotation axis along the first arc-shaped trajectory, and the first arc-shaped arm is movably connected to the suspended rotary joint; The first central axis intersects the rotation axis at the virtual motion center, and the second central axis intersects the rotation axis at the virtual motion center.

3. The robotic arm according to claim 2, characterized in that, When the first arc-shaped arm rotates relative to the suspension rotary joint along the first arc-shaped trajectory, the second arc-shaped arm is linked with the first arc-shaped arm, and the direction of movement of the second arc-shaped arm is the same as the direction of movement of the first arc-shaped arm.

4. The robotic arm according to claim 2, characterized in that, The robotic arm also includes a first sliding component, along the first arc-shaped trajectory, with a portion of the first sliding component connected to the first arc-shaped arm and another portion of the first sliding component connected to the second arc-shaped arm; And / or, The robotic arm also includes a second sliding component, which is connected to the first arc-shaped arm along the first arc-shaped trajectory. Another part of the second sliding component is connected to the suspension rotary joint.

5. The robotic arm according to claim 4, characterized in that, The first sliding component includes: A first guide rail is provided along the first arc-shaped trajectory, and the first guide rail is connected to one of the first arc-shaped arm and the second arc-shaped arm. A first slider is connected to the other of the first arc-shaped arm and the second arc-shaped arm, and the first slider is slidably connected to the first guide rail.

6. The robotic arm according to claim 4, characterized in that, The second sliding component includes: The second guide rail is connected to the first arc-shaped arm along the first arc-shaped trajectory. The second slider is connected to the suspension rotary joint and is slidably connected to the second guide rail.

7. The robotic arm according to any one of claims 2-6, characterized in that, The robotic arm also includes a first drive assembly, the output end of which is connected to a first arc-shaped joint. The first drive assembly is used to drive the first arc-shaped joint to move relative to the suspended rotary joint along the first arc-shaped trajectory.

8. The robotic arm according to claim 7, characterized in that, The first driving component includes: A first driving member is disposed at the suspension rotary joint; A first transmission component is connected to the output end of the first drive component, and the first transmission component is also connected to the first arc-shaped arm and the second arc-shaped arm. The first transmission component drives the first arc-shaped arm and the second arc-shaped arm to move in conjunction along the first arc-shaped trajectory.

9. The robotic arm according to claim 8, characterized in that, The first transmission component includes: The first driving wheel is connected to the output end of the first driving component; A flexible element is provided, which is wound around the first drive wheel and connected to the end of the first arc-shaped arm away from the second arc-shaped joint. When the flexible element drives the first arc-shaped arm to move relative to the suspension joint, the flexible element drives the second arc-shaped arm to move relative to the first arc-shaped arm.

10. The robotic arm according to claim 9, characterized in that, The first transmission component further includes a driven wheel, which is rotatably disposed at the first end of the second arcuate arm; the flexible component is wound around the first driving wheel and the driven wheel.

11. The robotic arm according to claim 10, characterized in that, The first arc-shaped arm has a first reversing wheel at one end near the second arc-shaped joint, and the flexible component includes: The first sub-flexible component has one end connected to the end of the first arc-shaped arm away from the second arc-shaped joint, and the other end of the first sub-flexible component is wrapped around the first drive wheel; The second flexible component has one end wound around the first driving wheel in the opposite direction to the first flexible component, and the other end of the second flexible component wraps around the first reversing wheel and is wound around the driven wheel. The winding direction of the second flexible component on the driven wheel is the same as the winding direction of the first flexible component on the first driving wheel.

12. The robotic arm according to claim 11, characterized in that, The flexible component further includes a third sub-flexible component, one end of which is connected to the end of the first arcuate arm away from the second arcuate joint, and the other end of which is wound around the driven wheel, and the winding direction of the third sub-flexible component is opposite to that of the second sub-flexible component.

13. The robotic arm according to claim 11, characterized in that, The driven wheel's rotating shaft is fitted with a torque member, one end of which is connected to the driven wheel via a transmission, and the other end of which is connected to the second arc-shaped arm.

14. The robotic arm according to claim 9, characterized in that, The flexible component also includes: A fourth flexible component is provided, which is wound around the first drive wheel, with one end of the fourth flexible component connected to one end of the first arc-shaped arm and the other end of the fourth flexible component connected to the other end of the first arc-shaped arm.

15. The robotic arm according to claim 14, characterized in that, The first arc-shaped arm is rotatably provided with a second reversing wheel; the flexible component further includes: The fifth flexible component has one end connected to the suspension rotary joint, and the other end of the fifth flexible component bypasses the end of the first arc arm away from the second arc joint and the second reversing wheel, and is connected to the end of the second arc arm near the second arc joint. The sixth flexible component has one end connected to the suspension rotary joint, and the other end of the sixth flexible component bypasses the end of the first arc arm near the second arc joint and the second reversing wheel, and is connected to the end of the second arc arm away from the second arc joint.

16. The robotic arm according to any one of claims 1-6, characterized in that, The robotic arm also includes a telescopic joint, which is located on one of the first arc joint and the second arc joint, and the telescopic direction of the telescopic joint is consistent with the second central axis. The telescopic joint is equipped with a clasp, which is located on the second central axis.

17. The robotic arm according to claim 16, characterized in that, The telescopic joint includes: The telescopic body has a telescopic direction that is consistent with the second central axis; A connector is connected to the telescopic body, and the extension direction of the connector intersects the telescopic direction of the telescopic body. The pin is connected to the end of the connector away from the telescopic body.

18. The robotic arm according to claim 17, characterized in that, The telescopic body includes: A linear guide rail is connected to one of the first arc-shaped joint and the second arc-shaped joint, and the extension direction of the linear guide rail is consistent with the second central axis. A telescopic base, wherein the telescopic base is slidably connected to the linear guide rail, and the connecting member is connected to the telescopic base; A second drive assembly is disposed on the telescopic base and is used to drive the telescopic base to move along the linear guide rail.

19. The robotic arm according to claim 17, characterized in that, The telescopic joint also includes: The handle is sleeved on the outer periphery of the connector. A sensor is disposed on the connector and connected to the handle.

20. The robotic arm according to claim 16, characterized in that, The telescopic joint is disposed on the second arc-shaped arm, and the telescopic joint is located at the end of the second arc-shaped arm away from the second arc-shaped joint.

21. A medical trolley, characterized in that, include: The trolley body has a cantilever. as well as The robotic arm according to any one of claims 1-20, wherein the robotic arm is connected to the cantilever.

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