Spatial five-degree-of-freedom mechanical arm

Abstract

The utility model provides a spatial five-degree-of-freedom mechanical arm. A base is included; the base is rotationally connected with a first support arm, the end part of the first support arm is rotationally connected with a second support arm, the end part of the second support arm is rotationally connected with a third support arm, and the end part of the third support arm is rotationally connected with a manipulator; locking assemblies are arranged at the connecting point of the first supporting arm and the second supporting arm, the connecting point of the second supporting arm and the third supporting arm and the connecting point of the third supporting arm and the mechanical arm. The first supporting arm is of a telescopic structure which ascends and descends in the vertical direction, a visual recognizer and a distance sensor are arranged on the third supporting arm, the output end of the visual recognizer and the output end of the distance sensor are connected with a plc, and the plc is electrically connected with the first supporting arm. The mechanical arm is widely applied to the technical field of mechanical arm equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm devices, and more particularly to a space five-degree-of-freedom mechanical arm. BACKGROUND

[0002] With the continuous development of medical technology, mechanical arms are widely used in surgical auxiliary operations and have various forms and structures. A mechanical arm is an automatic or semi-automatic device that can complete various tasks through programming or remote control, and can provide a stable support platform for surgical operations to assist medical staff in performing complex minimally invasive surgeries and effectively improve the accuracy and safety of surgeries.

[0003] A five-degree-of-freedom mechanical arm refers to a mechanical arm with five independent movement axes and capable of achieving five degrees of freedom, including translation along the X, Y, and Z axes and rotation around the three axes. Traditional mechanical arms have defects such as large movement inertia, poor isotropicity, and limited carrying capacity. In the context of minimally invasive surgery, compared with traditional mechanical arms, a five-degree-of-freedom mechanical arm can reach more surgical areas that are difficult for traditional mechanical arms to reach, overcome the drawbacks of traditional mechanical arms in terms of movement inertia and isotropicity, and make the surgical operation process more accurate and stable. However, in actual application, the five-degree-of-freedom mechanical arm is adjusted passively during surgery, i.e., the mechanical arm is in a locked state, and medical staff need to manually apply force to the mechanical arm to move it to the desired position and rely on a mechanical locking mechanism to keep it at that position. Although this adjustment method can meet the positioning requirements to some extent, the accuracy and precision of the adjusted position depend on the experience and proficiency of medical staff. In addition, when an accident occurs, the mechanical arm is prone to sliding downward, which poses a certain safety hazard. CONTENT OF THE UTILITY MODEL

[0004] To solve the above-mentioned problems, the utility model adopts the technical scheme of providing a space five-degree-of-freedom mechanical arm, which comprises a base; the base is rotationally connected with a first supporting arm; the end of the first supporting arm is rotationally connected with a second supporting arm; the end of the second supporting arm is rotationally connected with a third supporting arm; the end of the third supporting arm is rotationally connected with a mechanical hand; the connecting points of the first supporting arm and the second supporting arm, the connecting points of the second supporting arm and the third supporting arm, and the connecting points of the third supporting arm and the mechanical hand are all provided with locking assemblies; the first supporting arm is a telescopic structure that can be lifted along the vertical direction; the third supporting arm is provided with a visual identifier and a distance sensor; the output ends of the visual identifier and the distance sensor are connected with a plc controller; and the plc controller is electrically connected with the first supporting arm.

[0005] Preferably, the first supporting arm comprises a guide rod and a sleeve base that are connected in sliding mode; the sleeve base is rotationally connected with the base; and the end of the guide rod is rotationally connected with the second supporting arm; the sleeve base and the guide rod are provided with a driving assembly that drives the guide rod to lift along the vertical direction; and the driving assembly is electrically connected with the plc controller.

[0006] Preferably, the detection end of the distance sensor is aligned with the position of the mechanical arm.

[0007] Preferably, the locking assembly comprises an electromagnetic brake, which is electrically connected with the PLC controller.

[0008] Preferably, the base is coaxial with the first supporting arm.

[0009] Preferably, the mechanical arm is coaxial with the third supporting arm.

[0010] Preferably, the driving assembly is a pneumatic cylinder.

[0011] The beneficial effects of the utility model are: the third supporting arm is provided with a visual recognizer and a distance sensor, which, through cooperation with a PLC controller, recognize and detect target positions and distances, accurately control the lifting distance of the first supporting arm, improve positioning accuracy, automatically recognize, detect and adjust during the whole process, do not require medical staff to manually operate, and reduce the operation learning cost of medical staff. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 It is a structural schematic view of the utility model;

[0014] Figure 2 It is a structural schematic view of the utility model from another angle.

[0015] Symbol explanation in the drawing: 1. base; 2. first supporting arm; 3. second supporting arm; 4. third supporting arm; 5. locking assembly; 6. visual recognizer; 7. distance sensor; 8. mechanical arm. DETAILED DESCRIPTION

[0016] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the following will further describe the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0017] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate orientations or positional relationships based on the orientations or positional relationships as shown in the drawings, and are used only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be construed as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application.

[0018] It should be noted that the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0019] Now a spatial five-degree-of-freedom mechanical arm provided by the embodiments of the present application will be described.

[0020] Please refer to Figure 1 and Figure 2The utility model discloses a structure schematic drawing, the space five degrees of freedom mechanical arm includes base 1, base 1 rotationally connected with first branch arm 2, and the end of first branch arm 2 is rotationally connected with second branch arm 3, and the end of second branch arm 3 is rotationally connected with third branch arm 4, and the end of third branch arm 4 is rotationally connected with mechanical hand 8, in the surgical process, through the initiative control and cooperation of first branch arm 2, second branch arm 3 and third branch arm 4, mechanical hand 8 reaches the designated position vicinity and assists the surgery to carry out, satisfies the demand of various complex space task. The connecting point of first branch arm 2 and second branch arm 3, the connecting point of second branch arm 3 and third branch arm 4, the connecting point of third branch arm 4 and mechanical hand 8 all are equipped with locking assembly 5 for locking the position of mechanical arm in surgery. First branch arm 2 is telescopic structure along vertical direction, and third branch arm 4 is equipped with visual identifier 6 and distance sensor 7, and the output of visual identifier 6 and distance sensor 7 is connected with plc controller, and plc controller is electrically connected with first branch arm 2. Specifically, when third branch arm 4 drives mechanical hand 8 to approach the designated position, visual identifier 6 and distance sensor 7 start working, after visual identifier 6 detects the image, distance sensor 7 sends the detected data into plc controller, and plc controller compares the detection data with the pre-set value, and then controls first branch arm 2 to go up and down, accurately adjusts the position of mechanical hand 8. In the lifting process of first branch arm 2, the connecting place of first branch arm 2, second branch arm 3 and third branch arm 4 are all in the locking state, guarantee the stability of mechanical arm structure, make mechanical hand 8 in the lifting process exempt from the interference of the shaking of connecting place. The plc controller controls first branch arm 2 to go up and down according to the data detected by distance sensor 7, makes mechanical hand 8 accurately reach the designated position, compared with passive adjustment, improves the positioning accuracy.

[0021] Further, the first branch arm 2 includes a slidingly connected guide rod and a sleeve base 1, the sleeve base 1 is rotationally connected with the base 1, and the end of the guide rod is rotationally connected with the second branch arm 3; the sleeve base 1 and the guide rod are provided with a driving assembly for driving the guide rod to lift in the vertical direction, and the driving assembly is electrically connected with the plc controller. Specifically, the plc controller sends a lifting instruction to the driving assembly, and the driving assembly drives the guide rod to slide in the vertical direction, thereby realizing the lifting of the first branch arm 2.

[0022] Further, the detection end of the distance sensor 7 is aligned with the position of the mechanical hand 8 to ensure the accuracy of the detection data.

[0023] Further, the locking assembly 5 comprises an electromagnetic brake, which is electrically connected with the PLC controller.When the third arm 4 drives the mechanical hand 8 to approach the designated position, the visual identifier 6 and the distance sensor 7 transmit signals to the PLC controller, and the PLC controller starts the electromagnetic brake to lock the connecting points of the first arm 2 and the second arm 3, the connecting points of the second arm 3 and the third arm 4, and the connecting points of the third arm 4 and the mechanical hand 8, so as to provide a stable environment for subsequent accurate lifting adjustment, prevent unnecessary rotation of the connecting points due to external force or self-gravity and the like, and ensure that the mechanical arm remains stable during subsequent lifting.

[0024] Further, the base 1 is coaxial with the first arm 2.

[0025] Further, the mechanical hand 8 is coaxial with the third arm 4.

[0026] In the embodiment, the driving assembly is a gas cylinder.When the PLC controller issues an instruction, the gas cylinder drives the guide rod to ascend or descend, and the response speed is fast; the structure is simple, and the installation and maintenance are convenient.When the locking assembly 5 fails due to an accident or the mechanical arm slides during the operation, the gas in the gas cylinder absorbs part of the impact energy, slows down the mechanical arm, and avoids causing harm to the patient's body.

[0027] The working process of the utility model is as follows: in use, medical staff pre-set the working position of the mechanical hand 8, the third arm 4 drives the mechanical hand 8 to approach the working position, the visual identifier 6 and the distance sensor 7 start to work, the visual identifier 6 sends a signal to the PLC controller after identifying the image, the PLC controller controls the electromagnetic brake to start, and the locking assembly 5 locks the connecting points of the first arm 2 and the second arm 3, the connecting points of the second arm 3 and the third arm 4, and the connecting points of the third arm 4 and the mechanical hand 8.The distance sensor 7 sends the detected data to the PLC controller, and the PLC controller compares the detected data with the pre-set value, controls the first arm 2 to ascend and descend, and makes the mechanical hand 8 ascend and descend to the designated position to perform the operation.

[0028] In the utility model, the third arm 4 is provided with the visual identifier 6 and the distance sensor 7, which identify and detect the target position and distance through cooperation with the PLC controller, accurately control the lifting distance of the first arm 2, improve the positioning accuracy, automatically identify, detect and adjust in the whole process, do not need medical staff to operate artificially, and reduce the operation learning cost of the medical staff.The PLC controller controls the locking assembly 5 at each connecting point to lock during lifting, ensures the stability of the mechanical arm structure, provides a stable environment for subsequent accurate lifting adjustment, prevents unnecessary rotation of the connecting points due to external force or self-gravity and the like, and ensures that the mechanical arm remains stable during subsequent lifting.

[0029] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A spatial five degree of freedom robotic arm comprising a base, characterized in that: The base is rotationally connected with a first supporting arm, an end of the first supporting arm is rotationally connected with a second supporting arm, an end of the second supporting arm is rotationally connected with a third supporting arm, and an end of the third supporting arm is rotationally connected with a mechanical hand; the connecting points of the first supporting arm and the second supporting arm, the connecting points of the second supporting arm and the third supporting arm, and the connecting points of the third supporting arm and the mechanical hand are all provided with locking assemblies; the first supporting arm is a telescopic structure that can be lifted along a vertical direction, the third supporting arm is provided with a visual identifier and a distance sensor, output ends of the visual identifier and the distance sensor are connected with a plc controller, and the plc controller is electrically connected with the first supporting arm.

2. A spatial five degree of freedom manipulator according to claim 1, wherein: The first supporting arm comprises a guide rod and a sleeve base that are slidingly connected, the sleeve base is rotationally connected with the base, and an end of the guide rod is rotationally connected with the second supporting arm; the sleeve base and the guide rod are provided with a driving assembly that drives the guide rod to be lifted along a vertical direction, and the driving assembly is electrically connected with the plc controller.

3. A spatial five-degree-of-freedom manipulator according to claim 1, wherein: A detection end of the distance sensor is aligned with the position of the mechanical hand.

4. A spatial five-degree-of-freedom manipulator according to claim 1, wherein: The locking assembly comprises an electromagnetic brake, and the electromagnetic brake is electrically connected with the plc controller.

5. A spatial five-degree-of-freedom manipulator according to claim 1, wherein: The base is coaxial with the first supporting arm.

6. A spatial five-degree-of-freedom robotic arm as claimed in claim 1, characterized in that: The mechanical hand is coaxial with the third supporting arm.

7. A spatial five-degree-of-freedom robotic arm as claimed in claim 2, characterized in that: The driving assembly is a pneumatic cylinder.

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