Robotic Arm Joint Force Amplification for Medical Load Handling
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Solution Overview
Problem
Existing medical robotic arms face challenges in achieving sufficient locking force to handle larger loads, especially under miniature conditions, and require manual locking and unlocking, increasing operation intensity for medical professionals.
Innovation Solution
The robotic arm incorporates a first and second joint structure with force amplification apparatuses and locking elements, allowing the driving mechanisms to apply an amplified acting force to the locking elements, thereby increasing the locking force and enabling larger load applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a pure mechanical locking mechanism is used, then the structure is simple, but the locking force is insufficient and manual locking increases operation intensity
Solution Approach 1:
The patent replaces the pure mechanical locking system with an electromechanical or pneumomechanical system. Motors or pneumatic cylinders provide automated locking and unlocking actions, eliminating manual operation while generating sufficient locking force through electrical or pneumatic power sources.
Solution Approach 2:
The patent employs pneumatic cylinders to provide both the locking force and automated control. Compressed gas drives the cylinders to apply locking force to the joint structures, achieving high locking force without manual intervention and allowing easy unlocking by reversing the pneumatic pressure.
2Force
If hydraulic, pneumatic, or electric driving modes are used, then the locking force is improved, but the load for the robotic arm decreases under miniature conditions
Solution Approach 1:
The patent nests the driving mechanisms (motors or pneumatic cylinders) within the robotic arm structure itself, integrating them into the joint structures. This nesting approach minimizes additional external components and reduces the overall load on the robotic arm while maintaining sufficient locking force through efficient space utilization.
Solution Approach 2:
The patent divides the locking function into separate joint structures at different locations. Each joint structure has its own driving mechanism and locking elements, allowing distributed force application and reducing the concentration of load on any single component of the robotic arm.
3Device complexity
If manual locking and unlocking is required, then the device complexity is low, but the operation intensity for medical professionals increases
Solution Approach 1:
The patent implements self-service locking and unlocking through automated control systems. The motors or pneumatic cylinders automatically perform the locking and unlocking actions based on control signals, eliminating the need for manual intervention and significantly reducing operation intensity for medical professionals.
Solution Approach 2:
The patent incorporates feedback mechanisms to monitor the locking state and automatically adjust the driving mechanisms. Sensors detect whether joints are properly locked and provide feedback to the control system, ensuring reliable locking without requiring manual verification or adjustment by operators.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The implementation of force amplification apparatuses in the joint structures significantly enhances the locking force of the robotic arm, allowing it to meet the requirements for larger load applications while reducing the operational intensity for medical professionals through electric or pneumatic locking.
Implementation Method 1
the first driving mechanism and the second driving mechanism apply an acting force to the first locking element and/or the second locking element by the first force amplification apparatus and/or the second force amplification apparatus
Data Source
AI summary
The present invention relates to a robotic arm, including: an upper arm and a front arm; a first joint structure, by which the upper arm and the front arm are articulated together; a second joint structure, arranged at an end of the upper arm and/or an end of the front arm; a first driving mechanism, arranged in the upper arm; and a second driving mechanism, arranged in the front arm, where the first joint structure includes a first force amplification apparatus and a first locking element, the second joint structure includes a second force amplification apparatus and a second locking element, and the first driving mechanism and the second driving mechanism apply an acting force to the first locking element and/or the second locking element by the first force amplification apparatus and/or the second force amplification apparatus. According to the robotic arm in the present invention, the force amplification apparatuses are arranged in the joint structures, which amplifies a locking force and enables the robotic arm to meet the requirements for large load applications under a miniature condition.