Source: https://patents.google.com/patent/CN106618736B/en
Timestamp: 2020-02-19 12:09:12
Document Index: 316915802

Matched Legal Cases: ['art 601', 'art 602', 'art 603', 'art 602', 'art 402', 'art 601', 'art 601', 'art 601', 'art 403', 'art 603', 'art 601', 'art 603', 'art 603', 'art 601', 'art 401']

CN106618736B - Mechanical arm and operating robot with double freedom - Google Patents
Mechanical arm and operating robot with double freedom Download PDF
CN106618736B
CN106618736B CN201611169108.9A CN201611169108A CN106618736B CN 106618736 B CN106618736 B CN 106618736B CN 201611169108 A CN201611169108 A CN 201611169108A CN 106618736 B CN106618736 B CN 106618736B
CN201611169108.9A
CN106618736A (en
戴婷萍
2016-12-16 Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
2016-12-16 Priority to CN201611169108.9A priority Critical patent/CN106618736B/en
2017-05-10 Publication of CN106618736A publication Critical patent/CN106618736A/en
2019-03-08 Publication of CN106618736B publication Critical patent/CN106618736B/en
The present invention provides a kind of mechanical arm and operating robot with double freedom swings small the upper arm member by the driving of the second drive mechanism, to realize the stretching motion of opposite fixed point；Middle the upper arm member is swung by the driving of the first drive mechanism, then so that device element is done same swing by the first flexible piece, to realize the pendulum motion around fixed point, i.e., the described mechanical arm with double freedom realizes double freedom that is flexible and swinging.
Mechanical arm and operating robot with double freedom
The present invention relates to minimally invasive surgery robot and/or the mechanical arm of surgical instrument, in particular to it is a kind of have it is double from By the mechanical arm and operating robot spent.
Minimally invasive surgery refer to by small notch by elongated laparoscope, thoracoscope and surgical instrument be sent into patient's body into A kind of new technology of row operation.It has many advantages, such as that wound is small, pain is light, restores fast, the hospital stays is short, bleeding is few.Although micro- Trauma operation has so many advantage compared to traditional operation, but the minimally invasive surgery of early stage is limited to the small wound of body surface, doctor Raw operating space is opposite to be reduced, and in addition doctor operates direction and in Microendoscopic when endoscope assistant holds instrumentation The desired orientation observed is opposite.This defect considerably increases the difficulty of operation, and doctor needs could be suitable by long-term training The operation instrument of benefit.
With the reach of science, solution is had found in the problem of early stage minimally invasive surgery, countries in the world are opened Begin research robot assisted minimally invasive surgery technology, and minimally invasive surgery robot comes out.Operative doctor passes through at master operating station Display equipment on master operating station observes the 2D/3D picture of Microendoscopic patient's body, shows surgical procedure point in picture And two surgical instruments.Doctor is remotely controlled in a manner of master & slave control by the operating stick on operation master console from operation machine Mechanical arm and surgical instrument on people complete operation.The human-aided minimally invasive surgery of surgical machine can be improved the operation essence of doctor Degree, can also make doctor by it is a kind of it is identical with traditional operation in a manner of and perception perform the operation, substantially reduce minimally invasive surgery Difficulty.
Countries in the world are all in the research for carrying out operating robot at present, wherein there is a small number of products to have been realized in commercialization. The Da Vinci surgical robot system of Intuitive Surgical company, the U.S. is wherein representative product.But it is deposited In the disadvantages of bulky, structure is complicated, expensive.
The constraint condition that operating robot can complete minimally invasive surgery is: from robot is operated in the process of movement In, the wound part of the surgical instrument and patient contact installed on instrument arm should be a fixed point.This requires from operation The mechanical arm of robot has a fixed point mechanism.
Mechanical arm configuration with fixed point mechanism is an emphasis direction of operating robot technical research, but current Research invention all has certain shortcoming.Such as Chinese patent application CN201310556341.2, describe a kind of using double The mechanical arm of parallelogram mechanism realizes the fixed point of instrument end.Double parallel quadrangle fixed point mechanism only one Freedom degree, instrument can only do a certain range of pendulum motion around fixed point.Chinese patent application CN201010274701.6, Using connecting rod double parallel quadrangular mechanism, a kind of mechanical arm of big space is completed, and fixed point is enable to occur partially It moves, but its instrument is in movement still only one freedom degree of fixed point.
Mechanical arm configuration described in above-mentioned two patent uses double parallel quadrangle all to realize distal end fixed point, mechanical Arm and instrument fixed point space only around motionless spot wobble one degree of freedom.To realize that instrument is flexible free up and down Degree, which need to just increase, slides up and down component.The volume of mechanical arm is increased, design difficulty is increased.
Therefore, this field needs a kind of double freedom mechanical arm that can be stretched relative to fixed point with pendulum motion.
The purpose of the present invention is to provide a kind of mechanical arm and operating robot with double freedom, to solve existing skill Mechanical arm in art only have around motionless spot wobble i.e. only one freedom degree the problem of.
In order to solve the above technical problems, the present invention provides a kind of mechanical arm with double freedom, it is described with double free The mechanical arm of degree includes: support construction, the first drive mechanism, the second drive mechanism and linkage structure；
The support construction includes suspention support rod, large arm support rod, middle arm support rod, forearm support rod and instrument portion Part；
Wherein, the suspention support rod is rotatablely connected by first rotating shaft and the large arm support rod, the large arm support Bar is rotatablely connected by the second shaft and the middle arm support rod, and the middle arm support rod passes through third shaft and the forearm branch Strut rotation connection, the device element include instrument supports seat and the instrument mounting rod that is arranged on the instrument supports seat, The forearm support rod is rotatablely connected by the 4th shaft and the instrument supports seat, the axis of the first rotating shaft and second turn The axis of axis, third shaft and the 4th shaft is vertical；
First drive mechanism is swung for controlling the middle arm support rod；
Second drive mechanism is swung for controlling the forearm support rod；
The linkage structure includes sliding block, first connecting rod, second connecting rod, third connecting rod and third drive mechanism, wherein
The sliding block is rotatablely connected by the 5th shaft and the large arm support rod, and the first connecting rod and the sliding block are sliding Dynamic connection, the proximal side of the first connecting rod pass through the 5th shaft, the second connecting rod proximally by the 6th shaft It is rotatablely connected with the middle arm support rod, the second connecting rod is rotated by the proximal end of the 7th shaft and the third connecting rod to be connected It connecing, the distal end of the third connecting rod is rotatablely connected by eight revolution axis and the forearm support rod, and
6th shaft, the 7th shaft, the eight revolution axis and the third shaft axial connecting line be one flat Row quadrangle,
The third drive mechanism includes the first runner, the second runner, third runner, the 4th runner and the first flexible piece, Wherein,
Second runner is rotatablely connected by the 9th shaft and the second connecting rod, and second runner and described the The distal end of one connecting rod is fixedly connected, and first runner is rotatablely connected by the 4th shaft and the forearm support rod, and described First runner and the instrument supports seat rotate synchronously, and second runner is equal with the diameter of first runner,
The third runner is connect with the 7th shaft, the 4th runner and the eight revolution axis connection, and described the Three runners are equal with the diameter of the 4th runner, first flexible piece respectively with first runner and second rotaring wheeling sleeve It connects, and the side far from the device element of first flexible piece from the third runner and the 4th runner is logical It crosses；
The axle center distance of second shaft and the 6th shaft, the distance of shaft centers with second shaft and third shaft There are the first ratio between, first ratio is configured as the first ratio；7th shaft and the 6th shaft There are the second ratio between axle center distance, with the axle center of the 6th shaft and the 9th shaft distance, second ratio is matched It is set to the first ratio；9th rotating shaft core forms a First Line to the vertical line section between the proximal side of the first connecting rod Section, the 4th shaft to the instrument mounting rod vertical line section formation one second line segment, first line segment length with it is described There are third ratio between second line segment, the third ratio is configured as the first ratio；
7th shaft is located at below the first line of the axle center formation of the 6th shaft and the 9th shaft, and The second line that the axle center of first line and the 6th shaft and the 7th shaft is formed forms the first angle, described First angle is configured as first angle value；6th shaft is located at the axle center shape of second shaft and the third shaft At third line on the left of, and the 4th line shape that the axle center of third line and second shaft and the 6th shaft is formed At the second angle, second angle is configured as first angle value；One passes through the 4th shaft and is parallel to first line segment Parallel lines and second line segment between form third angle, the third angle is configured as first angle value, and described parallel Line rotates clockwise after first angle value to the second line segment.
Optionally, in the mechanical arm with double freedom, first drive mechanism includes: the first power part Part, the tenth shaft, the 5th runner, the 6th runner and the second flexible piece, wherein
Tenth shaft is arranged in large arm support rod proximal end, and the 5th runner is arranged in the tenth shaft On, the 6th runner is rotatablely connected by the second shaft and the large arm support rod, and synchronous with the middle arm support rod turn Dynamic, second flexible piece is fixedly connected with the 5th runner and the 6th runner respectively, first power part Output shaft is connect with the tenth shaft, to drive the tenth shaft.
Optionally, in the mechanical arm with double freedom, first drive mechanism further includes the first braking Component, first brake component brake first drive mechanism.
Optionally, in the mechanical arm with double freedom, first brake component is installed on the described tenth Shaft.
Optionally, in the mechanical arm with double freedom, the first rotating shaft setting is supported in the large arm The proximal end of bar.
Optionally, in the mechanical arm with double freedom, the mechanical arm with double freedom further includes Second power part, the first rotating shaft are fixedly connected with the output shaft of second power part, and/or,
The mechanical arm further includes first bearing, and the first bearing is socketed in the first rotating shaft.
Optionally, in the mechanical arm with double freedom, second drive mechanism includes: third power part Part, the 11st shaft, the 7th runner, eight revolution wheel and third flexible piece, wherein
11st shaft is arranged in the proximal end of the middle arm support rod, and the 7th runner is arranged the described 11st In shaft, the eight revolution wheel is rotatablely connected by the third shaft and the middle arm support rod, and with the forearm branch Strut synchronous rotation, the third flexible piece are fixedly connected with the 7th runner and the eight revolution wheel respectively, the third The output shaft of power part is connect with the 11st shaft, to drive the 11st shaft.
Optionally, in the mechanical arm with double freedom, second drive mechanism further includes the second braking Component, second brake component brake second drive mechanism.
Optionally, in the mechanical arm with double freedom, the linkage structure further includes fourth link, described Fourth link is rotatablely connected by the 12nd shaft and the second connecting rod, and passes through the 13rd shaft and the forearm support rod Rotation connection, the 7th shaft, the eight revolution axis, the 13rd shaft and the 12nd rotating shaft core line be one flat Row quadrangle.
Optionally, in the mechanical arm with double freedom, the mechanical arm with double freedom further includes Base supports bar, the base supports bar are rotatablely connected by the 14th shaft and the suspention support rod, and the described 14th The axis of shaft is vertical with the axis of second shaft, the third shaft and the 4th shaft.
Optionally, in the mechanical arm with double freedom, the axis and described first of the 14th shaft The axis co-planar of shaft.
Optionally, in the mechanical arm with double freedom, first ratio is 1/12~1/2.
Optionally, in the mechanical arm with double freedom, the first angle value is 0~30 °.
The present invention also provides a kind of operating robot, the operating robot includes arm tool, and the arm tool is as above Any one of mechanical arm with double freedom.
In the mechanical arm and operating robot provided by the invention with double freedom, pass through the drive of the second drive mechanism It is dynamic to swing small the upper arm member, to realize the stretching motion of opposite fixed point；Make middle arm by the driving of the first drive mechanism Part is swung, then so that device element is done same swing by the first flexible piece, to realize the pendulum motion around fixed point, i.e. institute Stating the mechanical arm with double freedom realizes double freedom that is flexible and swinging.
Fig. 1 is the structural schematic diagram of the mechanical arm with double freedom of the embodiment of the present invention one；
Fig. 2 is the schematic cross-sectional view of the mechanical arm with double freedom of the embodiment of the present invention one；
Fig. 3 is the partial enlarged view of the mechanical arm with double freedom of the embodiment of the present invention one；
Fig. 4 is another structural schematic diagram of the mechanical arm with double freedom of the embodiment of the present invention one；
Fig. 5 is the structural schematic diagram of the mechanical arm with double freedom of the embodiment of the present invention two；
Wherein, support rod 10, large arm support rod 20, middle arm support rod 30, forearm support rod 40, instrument supports seat are suspended in midair 50, instrument mounting rod 51, base supports bar 60；First rotating shaft 101, the second shaft 102, third shaft 103, the 4th shaft 104, 5th shaft 105, the 6th shaft 106, the 7th shaft 107, eight revolution axis 108, the 9th shaft 109, the tenth shaft the 110, the tenth One shaft 111；12nd shaft 112；13rd shaft 113；14th shaft 114；First runner 201, the second runner 202, Third runner 203, the 4th runner 204, the 5th runner 205, the 6th runner 206, the 7th runner 207, eight revolution wheel 208；First Connecting rod 301, second connecting rod 302, third connecting rod 303, fourth link 304；First flexible piece 401, the second flexible piece 402, third Flexible piece 403；Slide block structure 501；First power part 601, the second power part 602, third power part 603；Third system Dynamic component 701, the 4th brake component 702；First bearing 801, second bearing 802；Fixed point D.
Below in conjunction with the drawings and specific embodiments to the mechanical arm and surgical machine proposed by the present invention with double freedom People is described in further detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.It needs to illustrate , attached drawing is all made of very simplified form and using non-accurate ratio, only conveniently, lucidly to aid in illustrating originally The purpose of inventive embodiments.Particularly, since each attached drawing wants content outstanding different, different ratios is often used.
In following embodiment, if not otherwise specified, " distal end " refers to that " proximal end " refers to far close to one end of fixed point One end from fixed point.
Fig. 1 is please referred to Fig. 3, wherein Fig. 1 is that the structure of the mechanical arm with double freedom of the embodiment of the present invention one is shown It is intended to；Fig. 2 is the schematic cross-sectional view of the mechanical arm with double freedom of the embodiment of the present invention one；Fig. 3 is the embodiment of the present invention The partial enlarged view of one mechanical arm with double freedom.
As shown in Figure 1 to Figure 3, the mechanical arm with double freedom includes: the support for playing mechanical arm supporting role Structure, for driving first drive mechanism of the mechanical upper-arm circumference around motionless spot wobble, for driving mechanical arm to do relative to fixed point Second drive mechanism of stretching motion and the linkage structure for playing joint motions linkage.Institute may be implemented by above-mentioned component combination Mechanical arm is stated around motionless spot wobble, and the stretching motion relative to fixed point.
Specifically, support construction includes suspention support rod 10, large arm support rod 20, middle arm support rod 30, forearm support Bar 40 and device element, the suspention support rod 10 are rotatablely connected by first rotating shaft 101 and the large arm support rod 20, institute It states large arm support rod 20 to be rotatablely connected by the second shaft 102 and the middle arm support rod 30, the middle arm support rod 30 passes through Third shaft 103 and the forearm support rod 40 are rotatablely connected, and the device element includes instrument supports seat 50 and is arranged in institute The instrument mounting rod 51 on instrument supports seat 50 is stated, the forearm support rod 40 passes through the 4th shaft 104 and the instrument supports Seat 50 is rotatablely connected, the axis of the axis of the first rotating shaft 101 and the second shaft 102, third shaft 103 and the 4th shaft 104 Line is vertical.
The proximal end of the suspention support rod 10 is equipped with the second power part 602 to drive turning for the large arm support rod 20 It is dynamic.Here " proximal end " refers to the suspention support rod 10 close to one end of the large arm support rod 20.Further, the suspention branch The proximal end of strut 10 is additionally provided with third brake component 701, and the third brake component 701 is for braking the large arm support rod 20 Rotation.Specifically, the third brake component 701 is connect with the suspention support rod 10, the large arm support rod 20, work as institute When stating third brake component 701 and being in releasing orientation, the large arm support rod 20 can be with the opposite fortune of the suspention support rod 10 It is dynamic, when the third brake component 701 is in on-position, the third brake component 701 and the large arm support rod 20 Enough frictional force is generated, to guarantee that suspention support rod 10 does not relatively rotate with large arm support rod 20.Further, described Suspending support rod 10 in midair further includes first bearing 801, with the better support to the large arm support rod 20, reduces pivoting friction Power.
The forearm support rod 40 is connect by the third shaft 103 with the middle arm support rod 30.Further, described Forearm support rod 40 is fixedly connected with eight revolution wheel 208 by the third shaft 103 or is directly fixed with eight revolution wheel 208 Connection rotates synchronously the forearm support rod 40 with the eight revolution wheel 208.In addition, 40 distal end of forearm support rod is set There is the 4th shaft 104 to be rotatablely connected with the device element.
The device element includes instrument supports seat 50 and the instrument mounting rod 51 that is arranged on the instrument supports seat 50. The instrument supports seat 50 is rotatablely connected by the 4th shaft 104 with the forearm support rod 40.4th shaft, 104 axle center Vertical line section to 51 axis of instrument mounting rod forms second line segment.Obviously, it is known that the position of second line segment and length, It may know that the position of 51 axis of instrument mounting rod.
First drive mechanism is swung for controlling the middle arm support rod 30.First drive mechanism includes: first dynamic Power component 601, the tenth shaft 110, the 5th runner 205, the 6th runner 206 and the second flexible piece 402.Wherein, the described ten turn Axis 110 is arranged in the proximal end of the large arm support rod 10, and the 5th runner 205 is arranged in the tenth shaft 110.It is described 6th runner 206 is rotatablely connected by the second shaft 102 with the large arm support rod 20, and synchronous with the middle arm support rod 30 Rotation.It is preferred that the 6th runner 206 and the middle arm support rod 30, are fixedly connected with the second shaft 102 or described 6th runner 206 is directly connected to the middle arm support rod 30, is rotated synchronously with realizing.Second flexible piece 402 described above divides It is not fixedly connected with the 5th runner 205 and the 6th runner 206." being fixedly connected " described here refers to that described second is soft Property part 402 around the 5th runner 205 and the 6th runner 206, and with the 5th runner 205 and 6th turn described Without opposite sliding between wheel 206, guarantee that the 5th runner 205 and the 6th runner 206 are capable of forming fixed conveyor Than.First power part 601 passes through the 5th runner 205, described second to drive the tenth shaft 110 Flexible piece 402, the 6th runner 206 and second shaft 102 realize the driving to the middle arm support rod 30.It is excellent Choosing, the output shaft of first power part 601 is directly connected to the tenth shaft 110 or first power part 601 output shaft is connect with the tenth shaft 110 by transmission mechanism.Further, first drive mechanism further includes One brake component, so that first drive mechanism is also at braking shape when first brake component is in on-position State.The present invention only need to guarantee that first brake component exists for the installation site and without limitation of first brake component It can guarantee that first drive mechanism is in on-position under on-position.Equally, the first brake component in the present invention The object of effect is also not particularly limited, as long as realizing for the 5th runner 205, the 6th runner 206 and institute State the braking of one or more component in the second flexible piece 402.In the present embodiment first brake component with Tenth shaft 110 is co-axially mounted, for braking the tenth shaft 110.
Second drive mechanism is swung for controlling the forearm support rod 40.Second drive mechanism includes: that third is dynamic Power component 603, the 11st shaft 111, the 7th runner 207, eight revolution wheel 208 and third flexible piece 403.Wherein, the described tenth One shaft 111 is arranged in the proximal end of the middle arm support rod 30, and the 7th runner 207 is arranged in the 11st shaft 111 On.The eight revolution wheel 208 is rotatablely connected by the third shaft 103 and the middle arm support rod 30, and with it is described small Arm support rod 40 rotates synchronously.It is preferred that the eight revolution wheel 208 and the forearm support rod 40, fixed with third shaft 103 Connection or the eight revolution wheel 208 are directly connected to the forearm support rod 40, are rotated synchronously with realizing.The third is soft Property part 403 is fixedly connected with the 7th runner 207 and the eight revolution wheel 208 respectively." being fixedly connected " described here refers to The third flexible piece 403 around the 7th runner 207 and the eight revolution wheel 208, and with the 7th runner 207 and Without opposite sliding between the eight revolution wheel 208, to guarantee that the 7th runner 207 and the eight revolution wheel 208 can shapes At fixed drive ratio.Third power part 603 to drive the 11st shaft 111, meanwhile, pass through the 7th runner 207, third Flexible piece 403, eight revolution wheel 208 and third shaft 103 realize the driving to the forearm support rod 40.It is preferred that third is dynamic The output shaft of power component 603 is directly fixedly connected with the 11st shaft 111, can also pass through transmission mechanism and the described tenth The connection of one shaft 111.Further, second drive mechanism further includes the second brake component, so as to work as second braking parts When part is in on-position, second drive mechanism is also at on-position.The present invention is for second brake component Installation site and without limitation, only need to guarantee second brake component in the braking state lower can to guarantee that second transmission is tied Structure is in on-position.In addition, as long as its realization of the second brake component is for the 7th runner 207, institute in the present invention State the braking of eight revolution wheel 208 and one or more component in the third flexible piece 403.Institute in the present embodiment It states the second brake component to be co-axially mounted with the 11st shaft 111, for braking the 11st shaft 111.The third power The output shaft of component 603 is connect with the 11st shaft 111, to drive the 11st shaft 111.
The linkage structure includes sliding block 501, first connecting rod 301, second connecting rod 302, third connecting rod 303 and third transmission Structure.Wherein, the sliding block 501 is rotatablely connected by the 5th shaft 105 with the large arm support rod 20, the first connecting rod 301 are slidably connected with the sliding block 501, and the first connecting rod 301 passes through the 5th shaft 105.More specifically, described first Connecting rod 301 has the proximal side far from the device element and the distal side close to the device element, is herein institute Plane where stating the proximal side of first connecting rod 301 passes through the 5th shaft 105.Here " being slidably connected ", refers to institute It states first connecting rod 301 and the slide block structure 501 forms guide rail slide block structure, i.e., the described first connecting rod 301 can only be along described The direction that slide block structure 501 constrains is mobile.The second connecting rod 302 is supported proximally by the 6th shaft 106 and the middle arm Bar 30 is rotatablely connected, and is rotatablely connected by the 7th shaft 107 and the proximal end of third connecting rod 303.303 distal end of third connecting rod It is rotatablely connected by eight revolution axis 108 and the forearm support rod 40.Here " proximal end " obviously refers to third connecting rod 303 close to the One end of two connecting rods 302, " distal end " are the one end of third connecting rod 303 far from second connecting rod 302.Further, the 6th shaft 106, The axial connecting line of 7th shaft 107, eight revolution axis 108 and third shaft 103 is a parallelogram.
The axle center distance of second shaft 102 and the 6th shaft 106 turns with second shaft 102 and third There are the first ratio between the axle center distance of axis 103, first ratio is configured as the first ratio；7th shaft 107 Between axle center distance between the axle center distance of the 6th shaft 106, with the 6th shaft 106 and the 9th shaft 109 There are the second ratio, second ratio is configured as the first ratio；9th shaft, 109 axle center is to the first connecting rod Vertical line section between 301 proximal side forms one first line segment, 104 axle center of the 4th shaft to the instrument mounting rod 51 Vertical line section form a second line segment, there are third ratio between first line segment length and the second line segment, described the Three ratios are configured as the first ratio.It is preferred that first ratio range is 1/12~1/2, more preferably 1/6.
The third drive mechanism includes the first runner 201, the second runner 202, third runner 203, the 4th runner 204 And first flexible piece 401.Wherein, second runner 202 is rotatablely connected by the 9th shaft 109 with the second connecting rod 302, And second runner 202 is fixedly connected with the distal end of the first connecting rod 301.9th shaft 109 to it is described first connect Vertical line section between the proximal side of bar 301 forms one first line segment.First runner 201 passes through the 4th shaft 104 and institute State the rotation connection of forearm support rod 40, and first runner 201 by the 4th shaft 104 or directly with the instrument branch Support seat 50 is fixedly connected, so that the instrument supports seat 50 and first runner 201 rotate synchronously.Second runner 202 It is equal with the diameter of the first runner 201.The third runner 203 is connect with the 7th shaft 107, the 4th runner 204 It is connect with the eight revolution axis 108, the third runner 203 is equal with the diameter of the 4th runner 204.First flexible piece 401 are socketed with first runner 201 and second runner 202 respectively, and the enough ambassadors first of active force between each other Flexible piece 401 is moved synchronously with first runner 201 and second runner 202, and relative displacement, and described does not occur One flexible piece 401 passes through from the side far from the device element of the third runner 203 and the 4th runner 204.
In this way, point of contact when first flexible piece 401 leaves the third runner 203 and entering the 4th runner The line at the point of contact formed when 204 and the line in the axle center of the third runner 203 and the 4th runner 204 are parallel to each other. That is, first flexible piece 401 passes through from the side of the third runner 203 and the 4th runner 204, and with the third Runner 203 is formed with the first wrap angle, is formed with the second wrap angle with the 4th runner 204, in driving force effect in sliding block Structure 501 or the first power part 601 drive the 5th runner 205, third power part 603 to drive the 7th runner Under 207, the change value and the change value of the second wrap angle of first wrap angle are numerically equal.
Please continue to refer to Fig. 1 and Fig. 2, in the embodiment of the present application, the second connecting rod 302 is a pole.I.e. described Seven shafts 107 are located at below the first line of the axle center formation of the 6th shaft 106 and the 9th shaft 109, and described The first angle that the second line that the axle center of first line and the 6th shaft 106 and the 7th shaft 107 is formed is formed It is configured as first angle value.In the embodiment of the present application, the 6th shaft 106 is located at second shaft 102 and described On the left of the third line that the axle center of third shaft 103 is formed, and third line and second shaft 102 and the 6th shaft The second angle that the 4th line that 106 axle center is formed is formed is configured as first angle value.Meanwhile one passes through the 4th shaft 104 and the third angle that is parallel between the parallel lines and second line segment of first line segment be configured as first angle value, and The parallel lines rotate clockwise after first angle value to the second line segment.It is preferred that first angle value range is 0~30 °, more It is selected as 15 °.In this way, the line in the axle center of second shaft 102 and the 5th shaft 105 is with second shaft 102 The intersection point that line formed by the first angle value and 51 axis of instrument mounting rod are rotated clockwise for endpoint is fixed point D。
In the embodiment of the present application, forearm support rod 40 is swung by the driving of third power part 603, just realizes phase To the stretching motion of fixed point D；Swing middle arm support rod 30 by the driving of the first power part 601, then soft by first Property part 401 so that device element is done same swing, it is to realize the pendulum motion around fixed point D, i.e., described that there is double freedom Mechanical arm realize double freedom that is flexible and swinging.
Please continue to refer to Fig. 1 and Fig. 2, in the embodiment of the present application, the support knot of the mechanical arm with double freedom Structure further includes base supports bar 60, and the base supports bar 60, which passes through, is arranged in the 14th turn for suspending 10 distal end of support rod in midair Axis 114 and the suspention support rod 10 are rotatablely connected, and the axis of the 14th shaft 114 and the second shaft 102, third shaft 103 and the 4th shaft 104 axis it is vertical.Preferably, the axis of the axis of the 14th shaft 114 and first rotating shaft 101 Line is coplanar.Here " distal end " refers to the suspention support rod 10 close to one end of base supports bar 60.Further, the base Seat supports bar 60 is additionally provided with second bearing 802, and the second bearing 802 can preferably support the suspention support rod 10, Reduce rotation friction.The base supports bar 60 is additionally provided with the 4th brake component 702, and the 4th brake component 702 is used for Brake the rotation of the suspention support rod 10.Specifically, when the 4th brake component 702 is in releasing orientation, it is described outstanding Hang support rod 10 can with 60 relative motion of base supports bar, when the 4th brake component 702 is in on-position, 4th brake component 702 forms enough frictional force with the suspention support rod 10, guarantees suspention support rod 10 and pedestal Support rod 60 does not relatively rotate.
In the embodiment of the present application, the suspention support rod 10 is located at the lower section of the base supports bar 60, at this point, usually , the large arm support rod 20, middle arm support rod 30, forearm support rod 40 and device element are respectively positioned on the base supports bar 60 lower section.In the other embodiments of the application, the suspention support rod 10 can also be located at the base supports bar 60 Top (specifically refers to Fig. 4), at this point, common, the large arm support rod 20, middle arm support rod 30, forearm support rod 40 with And device element is respectively positioned on the top of base supports portion bar 60.
Please also refer to Fig. 5 and Fig. 2, the present embodiment two and embodiment one the difference is that: it is described in the present embodiment two Linkage structure further includes fourth link 304, and the fourth link 304 passes through the 12nd shaft 112 and 302 turns of the second connecting rod Dynamic connection, and be rotatablely connected by the 13rd shaft 113 with the forearm support rod 40；12nd shaft 112, described The line in the axle center of 13 shafts 113, the 7th shaft 107 and the eight revolution axis 108 forms parallelogram.Here, The reinforcing structure with passive constraint can be formed by the fourth link 304.Further, the fourth link 304 can position In the side of the second connecting rod 302 far from the device element；Or the fourth link 304 can also be located at described second Connecting rod 302 is close to the side of the device element.
The invention also discloses a kind of operating robots, including doctor terminal and patient end, and wherein patient end includes pedestal, adjust Whole arm, arm tool and surgical instrument, the arm tool are above-mentioned any one of the mechanical arm with double freedom.
1. a kind of mechanical arm with double freedom, which is characterized in that the mechanical arm with double freedom includes: support knot Structure, the first drive mechanism, the second drive mechanism and linkage structure；
The support construction includes suspention support rod, large arm support rod, middle arm support rod, forearm support rod and device element；
Wherein, the suspention support rod is rotatablely connected by first rotating shaft and the large arm support rod, and the large arm support rod is logical It crosses the second shaft and the middle arm support rod is rotatablely connected, the middle arm support rod passes through third shaft and the forearm support rod Rotation connection, the device element includes instrument supports seat and the instrument mounting rod that is arranged on the instrument supports seat, described Forearm support rod is rotatablely connected by the 4th shaft and the instrument supports seat, the axis of the first rotating shaft and the second shaft, The axis of third shaft and the 4th shaft is vertical；
The sliding block is rotatablely connected by the 5th shaft and the large arm support rod, and the first connecting rod and sliding block sliding connect Connect, the proximal side of the first connecting rod passes through the 5th shaft, the second connecting rod proximally by the 6th shaft and institute Middle arm support rod rotation connection is stated, the second connecting rod is rotatablely connected by the proximal end of the 7th shaft and the third connecting rod, institute The distal end for stating third connecting rod is rotatablely connected by eight revolution axis and the forearm support rod, and
6th shaft, the 7th shaft, the eight revolution axis and the third shaft axial connecting line be one parallel four Side shape,
The third drive mechanism includes the first runner, the second runner, third runner, the 4th runner and the first flexible piece, In,
Second runner is rotatablely connected by the 9th shaft and the second connecting rod, and second runner and described first connects The distal end of bar is fixedly connected, and first runner is rotatablely connected by the 4th shaft and the forearm support rod, and described first Runner and the instrument supports seat rotate synchronously, and second runner is equal with the diameter of first runner,
The third runner is connect with the 7th shaft, and the 4th runner and the eight revolution axis connection, the third turn Wheel is equal with the diameter of the 4th runner, and first flexible piece is socketed with first runner and second runner respectively, and And first flexible piece passes through from the side far from the device element of the third runner and the 4th runner；
The axle center distance of second shaft and the 6th shaft, with the axle center of second shaft and third shaft apart from it Between there are the first ratio, first ratio is configured as the first ratio；The axle center of 7th shaft and the 6th shaft There are the second ratio between distance, with the axle center of the 6th shaft and the 9th shaft distance, second ratio is configured as First ratio；9th rotating shaft core forms one first line segment to the vertical line section between the proximal side of the first connecting rod, The vertical line section of 4th shaft to the instrument mounting rod forms a second line segment, first line segment length and described second There are third ratio between line segment, the third ratio is configured as the first ratio；
7th shaft is located at below the first line of the axle center formation of the 6th shaft and the 9th shaft, and described The second line the first angle of formation that the axle center of first line and the 6th shaft and the 7th shaft is formed, described first Angle is configured as first angle value；6th shaft is located at the axle center formation of second shaft and the third shaft On the left of third line, and the 4th line that is formed of the axle center of third line and second shaft and the 6th shaft forms the Two angles, second angle are configured as first angle value；One passes through the 4th shaft and is parallel to the flat of first line segment Third angle is formed between line and second line segment, the third angle is configured as first angle value, and the parallel lines are suitable To the second line segment after hour hands rotation first angle value.
2. as described in claim 1 with the mechanical arm of double freedom, which is characterized in that first drive mechanism includes: First power part, the tenth shaft, the 5th runner, the 6th runner and the second flexible piece, wherein
Tenth shaft is arranged in large arm support rod proximal end, and the 5th runner is arranged in the tenth shaft, institute It states the 6th runner to be rotatablely connected by the second shaft and the large arm support rod, and is rotated synchronously with the middle arm support rod, institute It states the second flexible piece to be fixedly connected with the 5th runner and the 6th runner respectively, the output shaft of first power part It is connect with the tenth shaft, to drive the tenth shaft.
3. as claimed in claim 2 with the mechanical arm of double freedom, which is characterized in that first drive mechanism further includes First brake component, first brake component brake first drive mechanism.
4. as claimed in claim 3 with the mechanical arm of double freedom, which is characterized in that first brake component is installed on Tenth shaft.
5. as described in claim 1 with the mechanical arm of double freedom, which is characterized in that the first rotating shaft is arranged described The proximal end of large arm support rod.
6. as claimed in claim 5 with the mechanical arm of double freedom, which is characterized in that the machinery with double freedom Arm further includes the second power part, and the first rotating shaft is fixedly connected with the output shaft of second power part, and/or,
7. as described in claim 1 with the mechanical arm of double freedom, which is characterized in that second drive mechanism includes: Third power part, the 11st shaft, the 7th runner, eight revolution wheel and third flexible piece, wherein
11st shaft is arranged in the proximal end of the middle arm support rod, and the 7th runner is arranged in the 11st shaft On, the eight revolution wheel is rotatablely connected by the third shaft and the middle arm support rod, and with the forearm support rod It rotates synchronously, the third flexible piece is fixedly connected with the 7th runner and the eight revolution wheel respectively, the third power The output shaft of component is connect with the 11st shaft, to drive the 11st shaft.
8. as described in claim 1 with the mechanical arm of double freedom, which is characterized in that second drive mechanism further includes Second brake component, second brake component brake second drive mechanism.
9. as described in claim 1 with the mechanical arm of double freedom, which is characterized in that the linkage structure further includes the 4th Connecting rod, the fourth link are rotatablely connected by the 12nd shaft and the second connecting rod, and by the 13rd shaft with it is described Forearm support rod rotation connection, the 7th shaft, the eight revolution axis, the 13rd shaft and the 12nd shaft axle center Line be a parallelogram.
10. the mechanical arm with double freedom as described in claim 1 or 9, which is characterized in that described with double freedom Mechanical arm further includes base supports bar, and the base supports bar is rotatablely connected by the 14th shaft and the suspention support rod, And the axis of the 14th shaft is vertical with the axis of second shaft, the third shaft and the 4th shaft.
11. as claimed in claim 10 with the mechanical arm of double freedom, which is characterized in that the axis of the 14th shaft With the axis co-planar of the first rotating shaft.
12. as described in claim 1 with double freedom mechanical arm, which is characterized in that first ratio be 1/12~ 1/2。
13. as described in claim 1 with double freedom mechanical arm, which is characterized in that the first angle value be 0~ 30°。
14. a kind of operating robot, including arm tool, the arm tool is as described in any in claim 1-13 with double The mechanical arm of freedom degree.
CN201611169108.9A 2016-12-16 2016-12-16 Mechanical arm and operating robot with double freedom CN106618736B (en)
CN201611169108.9A CN106618736B (en) 2016-12-16 2016-12-16 Mechanical arm and operating robot with double freedom
BR112019011283A BR112019011283A2 (en) 2016-12-16 2017-12-15 robotic manipulator possessing two degrees of freedom and surgical robot
US16/470,150 US20200016741A1 (en) 2016-12-16 2017-12-15 Robotic manipulator having two degrees of freedom and surgical robot
PCT/CN2017/116480 WO2018108153A1 (en) 2016-12-16 2017-12-15 Robotic manipulator having two degrees of freedom and surgical robot
EP20170880696 EP3556314A4 (en) 2016-12-16 2017-12-15 Robotic manipulator having two degrees of freedom and surgical robot
CN106618736A CN106618736A (en) 2017-05-10
CN106618736B true CN106618736B (en) 2019-03-08
ID=58823914
US (1) US20200016741A1 (en)
EP (1) EP3556314A4 (en)
CN (1) CN106618736B (en)
BR (1) BR112019011283A2 (en)
WO (1) WO2018108153A1 (en)
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2016-12-16 CN CN201611169108.9A patent/CN106618736B/en active IP Right Grant
2017-12-15 WO PCT/CN2017/116480 patent/WO2018108153A1/en active Application Filing
2017-12-15 BR BR112019011283A patent/BR112019011283A2/en unknown
2017-12-15 US US16/470,150 patent/US20200016741A1/en active Pending
2017-12-15 EP EP20170880696 patent/EP3556314A4/en active Pending
EP3556314A1 (en) 2019-10-23
WO2018108153A1 (en) 2018-06-21
US20200016741A1 (en) 2020-01-16
BR112019011283A2 (en) 2019-10-15
EP3556314A4 (en) 2019-12-25
CN106618736A (en) 2017-05-10
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