Mechanical arm adopting rigid transmission structure

Abstract

The utility model provides a mechanical arm adopting a rigid transmission structure, which comprises an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick change seat and a surgical instrument or an endoscope, the quick-change seat can ascend and descend on the instrument lifting seat, the surgical instrument or the endoscope is assembled on the quick-change seat, and transmission is conducted between the inverted-L-shaped arm rod and the first connecting rod, transmission is conducted between the first connecting rod and the second connecting rod, and transmission is conducted between the second connecting rod and the instrument lifting seat through steel belts. The inverted-L-shaped arm rod, the first connecting rod and the second connecting rod form a parallelogram structure, and the instrument lifting base can be driven to rotate correspondingly. The mechanical arm adopting the rigid transmission structure has the advantages of being simple in structure, convenient to use, low in cost, easy to install and debug, good in transmission effect, high in safety performance and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of minimally invasive surgical medical instruments, in particular to a mechanical arm adopting a rigid transmission structure. Background Art

[0002] Minimally invasive surgical robots usually include a doctor's operating end and a patient's operating end. The doctor controls the patient's operating end by operating the doctor's operating end to perform minimally invasive surgery on the patient. The patient's operating end includes a robotic arm. The reference authorization announcement number is CN211433288 U, and the name is a utility model patent for a patient robotic arm. The robotic arm includes an inverted L-shaped arm, a first connecting rod, a second connecting rod, an instrument lifting seat, surgical instruments, etc., wherein the horizontal portion of the inverted L-shaped arm is used to be rotatably mounted on the slave end base of the patient's operating end. The transmission structure of the above-mentioned robotic arm is a wire transmission structure, and there are the following deficiencies during use:

[0003] 1) Low strength: When subjected to heavy loads, the steel wire is prone to breakage;

[0004] 2) Low stiffness: Since the steel wire is an elastic body, if the tension is too large during the transmission process, the steel wire is prone to creep or even break; if the tension is insufficient, transmission gap will occur, reducing transmission accuracy, and even violent shaking will occur during high-speed movement. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the present application proposes a mechanical arm adopting a rigid transmission structure.

[0006] In order to achieve the above-mentioned purpose, the present application proposes a robotic arm with a rigid transmission structure, comprising an inverted L-shaped arm, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick-change seat, and a surgical instrument or an endoscope, wherein the horizontal portion of the inverted L-shaped arm is used to be rotatably mounted on a slave end base at the patient's surgical end, the quick-change seat can perform lifting and lowering movements on the instrument lifting seat, the surgical instrument or endoscope is assembled at the quick-change seat, and transmission is performed between the inverted L-shaped arm and the first connecting rod, between the first connecting rod and the second connecting rod, and between the second connecting rod and the instrument lifting seat through a steel belt, so that the inverted L-shaped arm, the first connecting rod, and the second connecting rod form a parallelogram structure, and can drive the instrument lifting seat to rotate accordingly.

[0007] In some embodiments, a driving motor is provided on the inverted L-shaped arm rod. The driving motor can drive the first driving wheel to rotate. The first driving wheel and the second driving wheel are driven by a first steel belt. The second driving wheel is fixed on the first driving shaft. The first driving shaft is connected to the first assembly hole at the lower end of the vertical part of the inverted L-shaped arm rod through a first bearing. The other end of the first driving shaft is fixed on the first connecting rod. At the outer wall of the first driving shaft in the inner cavity of the first connecting rod, a third driving wheel is connected through a second bearing. The third driving wheel is fixedly connected to the vertical part of the inverted L-shaped arm rod. The third driving wheel and the fourth driving wheel are driven by a second steel belt. The inner wall of the fourth driving wheel is connected to the second driving shaft through a third bearing. The second driving shaft is fixedly connected to the first connecting rod. The second driving shaft passes through the second assembly hole provided on the first connecting rod and the third assembly hole provided on the second connecting rod. The other end of the second driving shaft is located in the inner cavity of the second connecting rod. The fourth driving wheel passes through the second assembly hole and is fixedly connected to the second connecting rod. A fifth driving wheel is fixedly provided on the second driving shaft in the inner cavity of the second connecting rod. The fifth driving wheel and the sixth driving wheel are driven by a third steel belt. The sixth driving wheel is connected to the third driving shaft through a fourth bearing. The third driving shaft is fixed on the second connecting rod. The sixth driving wheel passes through the fourth assembly hole provided on the second connecting rod and is fixedly connected to the adapter seat. The adapter seat is also fixedly connected to the instrument lifting seat.

[0008] In some embodiments, the first steel belt is annular. The first steel belt is fixedly connected to the outer peripheral surfaces of the first driving wheel and the second driving wheel respectively. Tensioning blocks are connected to the first driving wheel and the second driving wheel for tensioning the first steel belt on the outer peripheral surfaces of the first driving wheel and the second driving wheel.

[0009] In some embodiments, the first steel belt is connected to the outer peripheral surface of the first driving wheel away from the second driving wheel. The first steel belt at the connection and on both sides thereof can contact the semi-circumference of the first driving wheel. The first steel belt is connected to the outer peripheral surface of the second driving wheel away from the first driving wheel. The first steel belt at the connection and on both sides thereof can contact the semi-circumference of the second driving wheel.

[0010] In some embodiments, the second steel belt is annular. The second steel belt is fixedly connected to the outer peripheral surfaces of the third driving wheel and the fourth driving wheel respectively. Tensioning blocks are connected to the third driving wheel and the fourth driving wheel for tensioning the second steel belt on the outer peripheral surfaces of the third driving wheel and the fourth driving wheel.

[0011] In some embodiments, the second steel strip is connected to the outer peripheral surface of the third driving wheel away from the fourth driving wheel, and the second steel strip at the connection and on both sides thereof can contact the semi - circumference of the third driving wheel; the second steel strip is connected to the outer peripheral surface of the fourth driving wheel away from the third driving wheel, and the second steel strip at the connection and on both sides thereof can contact the semi - circumference of the fourth driving wheel.

[0012] In some embodiments, the third steel strip is annular, and the third steel strip is fixedly connected to the outer peripheral surfaces of the fifth driving wheel and the sixth driving wheel respectively. Tension blocks are connected to the fifth driving wheel and the sixth driving wheel for tensioning the third steel strip on the outer peripheral surfaces of the fifth driving wheel and the sixth driving wheel.

[0013] In some embodiments, the third steel strip is connected to the outer peripheral surface of the fifth driving wheel away from the sixth driving wheel, and the third steel strip at the connection and on both sides thereof can contact the semi - circumference of the fifth driving wheel; the third steel strip is connected to the outer peripheral surface of the sixth driving wheel away from the fifth driving wheel, and the third steel strip at the connection and on both sides thereof can contact the semi - circumference of the sixth driving wheel.

[0014] In some embodiments, a first group of tension sensors are provided in the inverted L - shaped arm rod for detecting the tension of the first steel strip. The first group of tension sensors are connected to a control unit. A second group of tension sensors are provided in the first connecting rod for detecting the tension of the second steel strip. The second group of tension sensors are connected to the control unit. A third group of tension sensors are provided in the second connecting rod for detecting the tension of the third steel strip. The third group of tension sensors are connected to the control unit. The control unit controls whether to terminate the movement of the robotic arm according to the data transmitted by the first group of tension sensors, the second group of tension sensors, and the third group of tension sensors.

[0015] In some embodiments, the first steel strip, the second steel strip, and the third steel strip all adopt a double - layer steel strip stacking structure.

[0016] The beneficial effect of the solution of the present application is that the robotic arm adopting the rigid transmission structure has the characteristics of simple structure, convenient use, low cost, easy installation and debugging, good transmission effect, and high safety performance; by adopting the rigid transmission structure, both the overall rigidity of the parallelogram link transmission mechanism of the robotic arm is improved, and the robotic arm and the end surgical instrument can be transmitted in place quickly, accurately and smoothly, reducing the surgical operation error and improving the accuracy and safety of the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shows a schematic structural diagram of the robotic arm adopting the rigid transmission structure in the retracted state in the embodiment.

[0018] Figure 2 It shows a partial structural schematic diagram of a robotic arm with a rigid transmission structure in the deployed state in an embodiment.

[0019] Figure 3 It shows a partial structural schematic diagram of another angle of a robotic arm with a rigid transmission structure in the deployed state in an embodiment.

[0020] Figure 4 It shows a schematic diagram of the structural relationship between an inverted L-shaped arm rod and a first connecting rod in an embodiment.

[0021] Figure 5 It shows a schematic diagram of the structural relationship between a first connecting rod, a second connecting rod, and an instrument lifting seat in an embodiment.

[0022] Reference numerals: 1 - slave base at the patient operation end, 2 - inverted L-shaped arm rod, 3 - first connecting rod, 4 - second connecting rod, 5 - instrument lifting seat, 6 - quick-change seat, 7 - surgical instrument or endoscope, 8 - drive motor, 9 - first driving wheel, 10 - first steel belt, 11 - second driving wheel, 12 - tensioning block, 13 - tensioning screw, 14 - first driving shaft, 15 - third driving wheel, 16 - second steel belt, 17 - second driving shaft, 18 - fourth driving wheel, 19 - fifth driving wheel, 20 - third steel belt, 21 - third driving shaft, 22 - sixth driving wheel, 23 - adapter seat, 24 - first tension sensor, 25 - second tension sensor, 26 - third tension sensor, 27 - fourth tension sensor, 28 - fifth tension sensor, 29 - sixth tension sensor. Detailed implementation manners

[0023] The following further describes the detailed implementation manners of the present application with reference to the accompanying drawings.

[0024] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or represent a specific order or sequence. The terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present application.

[0025] Such as Figures 1 to 5As shown in the figure, the robotic arm adopting a rigid transmission structure involved in the present application includes an inverted L-shaped arm rod 2, a first connecting rod 3, a second connecting rod 4, an instrument lifting seat 5, a quick-change seat 6, and a surgical instrument or an endoscope 7. The horizontal part of the inverted L-shaped arm rod 2 is rotatably mounted on the slave end base 1 at the surgical end of the patient. The quick-change seat 6 can move up and down on the instrument lifting seat 5, and the surgical instrument or the endoscope 7 is assembled at the quick-change seat 6. The above structure is basically the same as the structure of the robotic arm at the surgical end of the patient in the prior art and is not the key point of protection of this patent application.

[0026] The inverted L-shaped arm rod 2 and the first connecting rod 3, the first connecting rod 3 and the second connecting rod 4, and the second connecting rod 4 and the instrument lifting seat 5 are driven by steel belts, so that the inverted L-shaped arm rod 2, the first connecting rod 3, and the second connecting rod 4 form a parallelogram structure and can drive the instrument lifting seat 5 to rotate accordingly.

[0027] A driving motor 8, such as a servo motor, is provided on the inverted L-shaped arm rod 2. The driving motor 8 can drive the first driving wheel 9 to rotate. The first driving wheel 9 and the second driving wheel 11 are driven by a first steel belt 10. The first steel belt 10 is annular and is fixedly connected to the outer peripheral surfaces of the first driving wheel 9 and the second driving wheel 11 respectively. Specifically, the first steel belt 10 is connected to the outer peripheral surface of the first driving wheel 9 far from the second driving wheel 11, and the first steel belt 10 at the connection and on both sides thereof can contact the semi-circular circumference of the first driving wheel 9. Similarly, the first steel belt 10 is connected to the outer peripheral surface of the second driving wheel 11 far from the first driving wheel 9, and the first steel belt 10 at the connection and on both sides thereof can contact the semi-circular circumference of the second driving wheel 11. Such a structural design can make the connection stable and reliable, realize the precise movement of the parallelogram structure of the robotic arm, and obtain sufficient rigid support during movement. Tensioning blocks 12 are connected to the first driving wheel 9 and the second driving wheel 11 through tensioning screws 13 for tensioning the first steel belt 10 on the outer peripheral surfaces of the first driving wheel 9 and the second driving wheel 11.

[0028] The second driving wheel 11 is fixed on the first driving shaft 14. The first driving shaft 14 is connected to the first assembly hole at the lower end of the vertical part of the inverted L-shaped arm rod 2 through a first bearing. The other end of the first driving shaft 14 is fixed on the first connecting rod 3. A third driving wheel 15 is connected to the outer wall of the first driving shaft 14 in the inner cavity of the first connecting rod 3 through a second bearing. The third driving wheel 15 is fixedly connected to the vertical part of the inverted L-shaped arm rod 2.

[0029] The third driving wheel 15 and the fourth driving wheel 18 are driven by a second steel belt 16. The second steel belt 16 is annular. The second steel belt 16 is fixedly connected to the outer peripheral surfaces of the third driving wheel 15 and the fourth driving wheel 18 respectively. Specifically, the second steel belt 16 is connected to the outer peripheral surface of the third driving wheel 15 that is far from the fourth driving wheel 18, and the second steel belt 16 at the connection and on both sides thereof can contact the semi-circumference of the third driving wheel 15. Similarly, the second steel belt 16 is connected to the outer peripheral surface of the fourth driving wheel 18 that is far from the third driving wheel 15, and the second steel belt 16 at the connection and on both sides thereof can contact the semi-circumference of the fourth driving wheel 18. Such a structural design can make the connection stable and reliable, realize the precise movement of the parallelogram structure of the robotic arm, and obtain sufficient rigid support during movement. Tensioning blocks 12 are connected to the third driving wheel 15 and the fourth driving wheel 18 through tensioning screws 13 for tensioning the second steel belt 16 on the outer peripheral surfaces of the third driving wheel 15 and the fourth driving wheel 18.

[0030] The inner wall of the fourth driving wheel 18 is connected to the second driving shaft 17 through a third bearing. The second driving shaft 17 is fixedly connected to the first connecting rod 3. The second driving shaft 17 passes through the second assembly hole provided on the first connecting rod 3 and the third assembly hole on the second connecting rod 4. The other end of the second driving shaft 17 is located in the inner cavity of the second connecting rod 4. The fourth driving wheel 18 passes through the second assembly hole and is fixedly connected to the second connecting rod 4. A fifth driving wheel 19 is fixedly provided on the second driving shaft 17 in the inner cavity of the second connecting rod 4.

[0031] The fifth driving wheel 19 and the sixth driving wheel 22 are driven by a third steel belt 20. The third steel belt 20 is annular. The third steel belt 20 is fixedly connected to the outer peripheral surfaces of the fifth driving wheel 19 and the sixth driving wheel 22 respectively. Specifically, the third steel belt 20 is connected to the outer peripheral surface of the fifth driving wheel 19 that is far from the sixth driving wheel 22, and the third steel belt 20 at the connection and on both sides thereof can contact the semi-circumference of the fifth driving wheel 19. Similarly, the third steel belt 20 is connected to the outer peripheral surface of the sixth driving wheel 22 that is far from the fifth driving wheel 19, and the third steel belt 20 at the connection and on both sides thereof can contact the semi-circumference of the sixth driving wheel 22. Such a structural design can make the connection stable and reliable, realize the precise movement of the parallelogram structure of the robotic arm, and obtain sufficient rigid support during movement. Tensioning blocks 12 are connected to the fifth driving wheel 19 and the sixth driving wheel 22 through tensioning screws 13 for tensioning the third steel belt 20 on the outer peripheral surfaces of the fifth driving wheel 19 and the sixth driving wheel 22.

[0032] The sixth drive wheel 22 is connected to the third drive shaft 21 via a fourth bearing. The third drive shaft 21 is fixed to the second connecting rod 4. The sixth drive wheel 22 passes through a fourth assembly hole provided in the second connecting rod 4 and is fixedly connected to an adapter seat 23, and the adapter seat 23 is also fixedly connected to the instrument lifting seat 5.

[0033] To improve the transmission accuracy, a first set of tension sensors is provided in the inverted L-shaped arm rod 2 for detecting the tension of the first steel belt 10. Based on the fact that the first steel belt 10 is annular, the first set of tension sensors includes two tension sensors (denoted as the first tension sensor 24 and the second tension sensor 25), which are respectively used to detect the tension of two segments of the first steel belt 10 located between the first drive wheel 9 and the second drive wheel 11. The first set of tension sensors is connected to a control unit. The tension sensors can adopt pulley tension sensors of model LZ-ZL6. Each tension sensor in the first set of tension sensors will read the reverse pressure value of the first steel belt 10 and transmit it to the control unit as a parameter for judging whether the robotic arm can work normally. If the pressure value becomes smaller and is less than the set lower limit pressure, the control unit will send a pressure alarm signal and terminate the movement of the robotic arm.

[0034] Similarly, a second set of tension sensors is provided in the first connecting rod 3 for detecting the tension of the second steel belt 16. Based on the fact that the second steel belt 16 is annular, the second set of tension sensors includes two tension sensors (denoted as the third tension sensor 26 and the fourth tension sensor 27), which are respectively used to detect the tension of two segments of the second steel belt 16 located between the third drive wheel 15 and the fourth drive wheel 18. The second set of tension sensors is connected to a control unit. The tension sensors can adopt pulley tension sensors of model LZ-ZL6. Each tension sensor in the second set of tension sensors will read the reverse pressure value of the second steel belt 16 and transmit it to the control unit as a parameter for judging whether the robotic arm can work normally. If the pressure value becomes smaller and is less than the set lower limit pressure, the control unit will send a pressure alarm signal and terminate the movement of the robotic arm.

[0035] In the second link 4, a third set of tension sensors is provided for detecting the tension of the third steel belt 20. Based on the fact that the third steel belt 20 is in a ring shape, the third set of tension sensors includes two tension sensors (denoted as the fifth tension sensor 28 and the sixth tension sensor 29), which are respectively used for detecting the tension of two segments of the third steel belt 20 located between the fifth driving wheel 19 and the sixth driving wheel 22. The third set of tension sensors is connected to the control unit. The tension sensors can adopt pulley tension sensors of model LZ-ZL6. Each tension sensor in the third set of tension sensors will read the reverse pressure value of the third steel belt 20 and transmit it to the control unit as a parameter for judging whether the robotic arm can work normally. If the pressure value becomes smaller and is less than the set lower limit pressure, the control unit will send out a pressure alarm signal and terminate the movement of the robotic arm.

[0036] To further improve the safety of transmission, the first steel belt 10, the second steel belt 16, and the third steel belt 20 all adopt a double-layer steel belt superimposed structure, and such a design can also improve the transmission accuracy.

[0037] During the specific use process, assume that the robotic arm is in the retracted state. Control the driving motor 8 to act, so that the first driving wheel 9 rotates in the reverse direction around the first axis by a certain angle. The direction of the first driving wheel 9 rotating counterclockwise is denoted as the reverse direction, and the direction of the first driving wheel 9 rotating clockwise is denoted as the forward direction. Through the transmission of the first steel belt 10, it can drive the second driving wheel 11 together with the first drive shaft 14 and the first link 3 to rotate in the reverse direction around the second axis. The second axis is parallel to the first axis; since the third driving wheel 15 is fixed on the inverted L-shaped arm 2 and does not move, when the first link 3 rotates in the reverse direction around the second axis, it will cause the fourth driving wheel 18 to rotate in the forward direction around the third axis. The third axis is parallel to the second axis. The fourth driving wheel 18 drives the second link 4 to rotate in the forward direction around the third axis by the same angle; since the second drive shaft 17 is fixed on the first link 3 and the fifth driving wheel 19 is fixed on the second drive shaft 17, when the second link 4 rotates in the forward direction around the third axis, the sixth driving wheel 22 will rotate in the reverse direction around the fourth axis. The fourth axis is parallel to the third axis; the sixth driving wheel 22 drives the instrument lifting seat 5 to rotate in the reverse direction around the fourth axis by the same angle through the adapter seat 23. At this time, the robotic arm is in the deployed state. The above actions meet the requirement of the parallelogram structure rotating by a certain angle around the fixed point.

[0038] The robotic arm adopting a rigid transmission structure involved in the present application has the characteristics of simple structure, convenient use, low cost, easy installation and debugging, good transmission effect, high safety performance, etc. By adopting a rigid transmission structure, not only the overall rigidity of the parallelogram link transmission mechanism of the robotic arm is improved, but also the robotic arm and the end surgical instrument can be transmitted in place quickly, accurately and smoothly, reducing the surgical operation error and enhancing the accuracy and safety of the surgical operation.

[0039] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application, according to the technical solution and concept of the present application, making equivalent substitutions or changes, should be covered by the protection scope of the present application.

Claims

1. A robotic arm adopting a rigid transmission structure, characterized in that: It includes an inverted L-shaped arm, a first link, a second link, an instrument lifting seat, a quick-change seat, and a surgical instrument or an endoscope. The horizontal part of the inverted L-shaped arm is rotatably mounted on the slave base at the surgical end of the patient. The quick-change seat can move up and down on the instrument lifting seat. The surgical instrument or the endoscope is assembled at the quick-change seat. The inverted L-shaped arm, the first link, and the second link are driven by a steel belt between the inverted L-shaped arm and the first link, between the first link and the second link, and between the second link and the instrument lifting seat, so that the inverted L-shaped arm, the first link, and the second link form a parallelogram structure and can drive the instrument lifting seat to rotate accordingly.

2. The robotic arm adopting a rigid transmission structure according to claim 1, wherein: A driving motor is provided on the inverted L-shaped arm. The driving motor can drive a first driving wheel to rotate. The first driving wheel and the second driving wheel are driven by a first steel belt. The second driving wheel is fixed on a first driving shaft. The first driving shaft is connected to the first assembly hole at the lower end of the vertical part of the inverted L-shaped arm through a first bearing. The other end of the first driving shaft is fixed on the first link. A third driving wheel is connected to the outer wall of the first driving shaft in the inner cavity of the first link through a second bearing. The third driving wheel is fixedly connected to the vertical part of the inverted L-shaped arm. The third driving wheel and the fourth driving wheel are driven by a second steel belt. The inner wall of the fourth driving wheel is connected to a second driving shaft through a third bearing. The second driving shaft is fixedly connected to the first link. The second driving shaft passes through the second assembly hole provided on the first link and the third assembly hole provided on the second link. The other end of the second driving shaft is in the inner cavity of the second link. The fourth driving wheel passes through the second assembly hole and is fixedly connected to the second link. A fifth driving wheel is fixedly provided on the second driving shaft in the inner cavity of the second link. The fifth driving wheel and the sixth driving wheel are driven by a third steel belt. The sixth driving wheel is connected to a third driving shaft through a fourth bearing. The third driving shaft is fixed on the second link. The sixth driving wheel passes through the fourth assembly hole provided on the second link and is fixedly connected to the adapter seat. The adapter seat is also fixedly connected to the instrument lifting seat.

3. The robotic arm with a rigid transmission structure according to claim 2, wherein: The first steel belt is annular. The first steel belt is fixedly connected to the outer peripheral surfaces of the first driving wheel and the second driving wheel respectively. Tensioning blocks are connected to the first driving wheel and the second driving wheel to tension the first steel belt on the outer peripheral surfaces of the first driving wheel and the second driving wheel.

4. The robotic arm adopting a rigid transmission structure according to claim 3, characterized in that: The first steel belt is connected to the outer peripheral surface of the first driving wheel away from the second driving wheel. The first steel belt at the connection and on both sides thereof can contact the semi-circumference of the first driving wheel. The first steel belt is connected to the outer peripheral surface of the second driving wheel away from the first driving wheel. The first steel belt at the connection and on both sides thereof can contact the semi-circumference of the second driving wheel.

5. The robotic arm adopting a rigid transmission structure according to claim 2, characterized in that: The second steel belt is annular, and the second steel belt is fixedly connected to the outer peripheral surfaces of the third driving wheel and the fourth driving wheel respectively. Tension blocks are connected to the third driving wheel and the fourth driving wheel for tensioning the second steel belt on the outer peripheral surfaces of the third driving wheel and the fourth driving wheel.

6. The robotic arm adopting a rigid transmission structure according to claim 5, characterized in that: The second steel belt is connected to the outer peripheral surface of the third driving wheel away from the fourth driving wheel, and the second steel belt at the connection and on both sides thereof can contact the semi-circumference of the third driving wheel; the second steel belt is connected to the outer peripheral surface of the fourth driving wheel away from the third driving wheel, and the second steel belt at the connection and on both sides thereof can contact the semi-circumference of the fourth driving wheel.

7. The robotic arm adopting a rigid transmission structure according to claim 2, characterized in that: The third steel belt is annular, and the third steel belt is fixedly connected to the outer peripheral surfaces of the fifth driving wheel and the sixth driving wheel respectively. Tension blocks are connected to the fifth driving wheel and the sixth driving wheel for tensioning the third steel belt on the outer peripheral surfaces of the fifth driving wheel and the sixth driving wheel.

8. The robotic arm adopting a rigid transmission structure according to claim 7, characterized in that: The third steel belt is connected to the outer peripheral surface of the fifth driving wheel away from the sixth driving wheel, and the third steel belt at the connection and on both sides thereof can contact the semi-circumference of the fifth driving wheel; the third steel belt is connected to the outer peripheral surface of the sixth driving wheel away from the fifth driving wheel, and the third steel belt at the connection and on both sides thereof can contact the semi-circumference of the sixth driving wheel.

9. The robotic arm adopting a rigid transmission structure according to claim 1, characterized in that: A first group of tension sensors is provided in the inverted L-shaped arm rod for detecting the tension of the first steel belt. The first group of tension sensors is connected to the control unit. A second group of tension sensors is provided in the first link for detecting the tension of the second steel belt. The second group of tension sensors is connected to the control unit. A third group of tension sensors is provided in the second link for detecting the tension of the third steel belt. The third group of tension sensors is connected to the control unit. The control unit controls whether to terminate the movement of the robotic arm according to the data transmitted by the first group of tension sensors, the second group of tension sensors, and the third group of tension sensors.

10. The robotic arm adopting a rigid transmission structure according to claim 1, characterized in that: The first steel belt, the second steel belt, and the third steel belt all adopt a double-layer steel belt stacking structure.

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